test_cimp_tool.py File Reference

Runs test for tool motions in cart_imp mode. More...

Go to the source code of this file.

Namespaces
	scripts.test_cimp_tool
	Integration test.

Functions
def	scripts.test_cimp_tool.planAndExecute (q_dest)

Variables
dictionary	scripts.test_cimp_tool.q_map_starting
dictionary	scripts.test_cimp_tool.q_map_1
	scripts.test_cimp_tool.velma = VelmaInterface()
	scripts.test_cimp_tool.timeout_s
	scripts.test_cimp_tool.diag = velma.getCoreCsDiag()
	scripts.test_cimp_tool.p = Planner(velma.maxJointTrajLen())
	scripts.test_cimp_tool.start_time
	scripts.test_cimp_tool.error = velma.waitForJoint()
	scripts.test_cimp_tool.js = velma.getLastJointState()
	scripts.test_cimp_tool.tolerance
	scripts.test_cimp_tool.js_init = velma.getLastJointState()
	scripts.test_cimp_tool.T_B_Trd = PyKDL.Frame(PyKDL.Rotation.Quaternion( 0.0 , 0.0 , 0.0 , 1.0 ), PyKDL.Vector( 0.7 , -0.3 , 1.3 ))
	scripts.test_cimp_tool.T_B_T_diff = PyKDL.diff(T_B_Trd, velma.getTf("B", "Tr"), 1.0)
	scripts.test_cimp_tool.T_B_Tr = velma.getTf("B", "Tr")
	scripts.test_cimp_tool.T_B_Wr = velma.getTf("B", "Wr")
	scripts.test_cimp_tool.T_Wr_Gr = velma.getTf("Wr", "Gr")

Detailed Description

Runs test for tool motions in cart_imp mode.

Definition in file test_cimp_tool.py.