python.hrpsys_config.HrpsysConfigurator Class Reference

Public Member Functions
def	connectComps
def	activateComps
def	createComp
def	createComps
def	findComp
def	findComps
def	getRTCList
def	getRTCListUnstable
def	getJointAngleControllerList
def	getRTCInstanceList
def	getBodyInfo
def	getSensors
def	connectLoggerPort
def	setupLogger
def	waitForRTCManager
def	waitForRobotHardware
def	checkSimulationMode
def	waitForRTCManagerAndRoboHardware
def	findModelLoader
def	waitForModelLoader
def	setSelfGroups
def	goActual
def	setJointAngle
def	setJointAngles
def	setJointAnglesOfGroup
def	loadPattern
def	waitInterpolation
def	waitInterpolationOfGroup
def	getJointAngles
def	getCurrentPose
def	getCurrentPosition
def	getCurrentRotation
def	getCurrentRPY
def	getReferencePose
def	getReferencePosition
def	getReferenceRotation
def	getReferenceRPY
def	setTargetPose
def	setTargetPoseRelative
def	clear
def	clearOfGroup
def	saveLog
def	clearLog
def	lengthDigitalInput
def	lengthDigitalOutput
def	writeDigitalOutput
def	writeDigitalOutputWithMask
def	readDigitalInput
def	getActualState
def	isCalibDone
def	isServoOn
def	flat2Groups
def	servoOn
def	servoOff
def	checkEncoders
def	init
def	__init__

Public Attributes
	configurator_name

Static Public Attributes
	rh = None
	rh_svc = None
	ep_svc = None
	seq = None
	seq_svc = None
	sh = None
	sh_svc = None
	fk = None
	fk_svc = None
	tf = None
	kf = None
	vs = None
	rmfo = None
	ic = None
	abc = None
	st = None
	co = None
	co_svc = None
	gc = None
	gc_svc = None
	el = None
	el_svc = None
	te = None
	te_svc = None
	tl = None
	tl_svc = None
	tc = None
	tc_svc = None
	log = None
	log_svc = None
	ms = None
	hgc = None
	simulation_mode = None
	sensors = None
list	Groups = []

Constructor & Destructor Documentation

def python.hrpsys_config.HrpsysConfigurator.__init__	(		self,
			cname = "[hrpsys.py] "
	)

References python.rtm.initCORBA().

Member Function Documentation

def python.hrpsys_config.HrpsysConfigurator.activateComps

(

self

)

References python.hrpsys_config.HrpsysConfigurator.getRTCInstanceList().

Referenced by python.hrpsys_config.HrpsysConfigurator.init().

def python.hrpsys_config.HrpsysConfigurator.checkEncoders	(		self,
			jname = 'all',
			option = ''
	)

Run the encoder checking sequence for specified joints,
run goActual and turn on servos.

@type jname: str
@param jname: The value 'all' works iteratively for all servos.
@type option: str
@param option: Possible values are follows (w/o double quote):\
        "-overwrite": Overwrite calibration value.

References python.hrpsys_config.HrpsysConfigurator.configurator_name, python.hrpsys_config.HrpsysConfigurator.goActual(), python.hrpsys_config.HrpsysConfigurator.isCalibDone(), and python.hrpsys_config.HrpsysConfigurator.isServoOn().

def python.hrpsys_config.HrpsysConfigurator.checkSimulationMode

(

self

)

References python.hrpsys_config.HrpsysConfigurator.configurator_name, python.hrpsys_config.HrpsysConfigurator.ep_svc, python.rtm.findRTC(), python.hrpsys_config.HrpsysConfigurator.hgc, python.rtm.narrow(), python.hrpsys_config.HrpsysConfigurator.rh_svc, and python.hrpsys_config.HrpsysConfigurator.simulation_mode.

Referenced by python.hrpsys_config.HrpsysConfigurator.waitForRTCManagerAndRoboHardware().

def python.hrpsys_config.HrpsysConfigurator.clear

(

self

)

def python.hrpsys_config.HrpsysConfigurator.clearLog

(

self

)

def python.hrpsys_config.HrpsysConfigurator.clearOfGroup	(		self,
			gname,
			tm = 0.0
	)

def python.hrpsys_config.HrpsysConfigurator.connectComps

(

self

)

References python.hrpsys_config.HrpsysConfigurator.abc, python.hrpsys_config.HrpsysConfigurator.co, python.hrpsys_config.HrpsysConfigurator.configurator_name, python.rtm.connectPorts(), python.hrpsys_config.HrpsysConfigurator.el, python.hrpsys_config.HrpsysConfigurator.fk, python.hrpsys_config.HrpsysConfigurator.gc, python.hrpsys_config.HrpsysConfigurator.getJointAngleControllerList(), python.hrpsys_config.HrpsysConfigurator.ic, python.hrpsys_config.HrpsysConfigurator.kf, python.hrpsys_config.HrpsysConfigurator.rh, python.hrpsys_config.HrpsysConfigurator.rmfo, python.hrpsys_config.HrpsysConfigurator.sensors, python.hrpsys_config.HrpsysConfigurator.seq, python.hrpsys_config.HrpsysConfigurator.sh, python.hrpsys_config.HrpsysConfigurator.simulation_mode, python.hrpsys_config.HrpsysConfigurator.st, python.hrpsys_config.HrpsysConfigurator.tc, python.hrpsys_config.HrpsysConfigurator.te, python.hrpsys_config.HrpsysConfigurator.tf, python.hrpsys_config.HrpsysConfigurator.tl, and python.hrpsys_config.HrpsysConfigurator.vs.

Referenced by python.hrpsys_config.HrpsysConfigurator.init().

def python.hrpsys_config.HrpsysConfigurator.connectLoggerPort	(		self,
			artc,
			sen_name,
			log_name = None
	)

References python.hrpsys_config.HrpsysConfigurator.configurator_name, and python.rtm.connectPorts().

Referenced by python.hrpsys_config.HrpsysConfigurator.setupLogger().

def python.hrpsys_config.HrpsysConfigurator.createComp	(		self,
			compName,
			instanceName
	)

References python.hrpsys_config.HrpsysConfigurator.configurator_name, and python.rtm.narrow().

def python.hrpsys_config.HrpsysConfigurator.createComps

(

self

)

References python.hrpsys_config.HrpsysConfigurator.configurator_name, and python.hrpsys_config.HrpsysConfigurator.getRTCList().

Referenced by python.hrpsys_config.HrpsysConfigurator.init().

def python.hrpsys_config.HrpsysConfigurator.findComp	(		self,
			compName,
			instanceName,
			max_timeout_count = 10
	)

References python.hrpsys_config.HrpsysConfigurator.configurator_name, and python.rtm.narrow().

def python.hrpsys_config.HrpsysConfigurator.findComps

(

self

)

References python.hrpsys_config.HrpsysConfigurator.configurator_name, and python.hrpsys_config.HrpsysConfigurator.getRTCList().

def python.hrpsys_config.HrpsysConfigurator.findModelLoader

(

self

)

Referenced by python.hrpsys_config.HrpsysConfigurator.waitForModelLoader().

def python.hrpsys_config.HrpsysConfigurator.flat2Groups	(		self,
			flatList
	)

@type flatList: []
@param flatList: single dimension list with its length of 15
@rtype: [[]]
@return: 2-dimensional list of Groups.

References python.hrpsys_config.HrpsysConfigurator.Groups.

def python.hrpsys_config.HrpsysConfigurator.getActualState

(

self

)

@return: This returns actual states of ther robot, which is defined in
RobotHardware.idl
(https://hrpsys-base.googlecode.com/svn/trunk/idl/RobotHardwareService.idl)
    /**
     * @brief status of the robot
     */
    struct RobotState
    {
      DblSequence               angle;  ///< current joint angles[rad]
      DblSequence               command;///< reference joint angles[rad]
      DblSequence               torque; ///< joint torques[Nm]
      /**
       * @brief servo statuses(32bit+extra states)
       *
       * 0: calib status ( 1 => done )\n
       * 1: servo status ( 1 => on )\n
       * 2: power status ( 1 => supplied )\n
       * 3-18: servo alarms (see @ref iob.h)\n
       * 19-23: unused
       * 24-31: driver temperature (deg)
       */
      LongSequenceSequence              servoState;
      sequence<DblSequence6>    force;    ///< forces[N] and torques[Nm]
      sequence<DblSequence3>    rateGyro; ///< angular velocities[rad/s]
      sequence<DblSequence3>    accel;    ///< accelerations[m/(s^2)]
      double                    voltage;  ///< voltage of power supply[V]
      double                    current;  ///< current[A]
    };

Referenced by python.hrpsys_config.HrpsysConfigurator.isServoOn().

def python.hrpsys_config.HrpsysConfigurator.getBodyInfo	(		self,
			url
	)

References python.hrpsys_config.HrpsysConfigurator.configurator_name.

Referenced by python.hrpsys_config.HrpsysConfigurator.getSensors().

def python.hrpsys_config.HrpsysConfigurator.getCurrentPose	(		self,
			lname = None
	)

@type jointname: str
@rtype: List of float
@return: Rotational matrix and the position of the given joint in
 1-dimensional list, that is:

 [a11, a12, a13, x,
  a21, a22, a23, y,
  a31, a32, a33, z,
   0,   0,   0,  1]

References python.hrpsys_config.HrpsysConfigurator.getCurrentPose(), and python.hrpsys_config.HrpsysConfigurator.Groups.

Referenced by python.hrpsys_config.HrpsysConfigurator.getCurrentPose(), python.hrpsys_config.HrpsysConfigurator.getCurrentPosition(), and python.hrpsys_config.HrpsysConfigurator.getCurrentRotation().

def python.hrpsys_config.HrpsysConfigurator.getCurrentPosition	(		self,
			lname = None
	)

@type jointname: str
@rtype: List of float
@return: List of x, y, z positions about the specified joint.

References python.hrpsys_config.HrpsysConfigurator.getCurrentPose(), python.hrpsys_config.HrpsysConfigurator.getCurrentPosition(), and python.hrpsys_config.HrpsysConfigurator.Groups.

Referenced by python.hrpsys_config.HrpsysConfigurator.getCurrentPosition().

def python.hrpsys_config.HrpsysConfigurator.getCurrentRotation	(		self,
			lname
	)

@type jointname: str
@rtype: List of float
@return: Rotational matrix of the given joint in 2-dimensional list,
 that is:
 [[a11, a12, a13],
  [a21, a22, a23],
  [a31, a32, a33]]

References python.hrpsys_config.HrpsysConfigurator.getCurrentPose(), python.hrpsys_config.HrpsysConfigurator.getCurrentRotation(), and python.hrpsys_config.HrpsysConfigurator.Groups.

Referenced by python.hrpsys_config.HrpsysConfigurator.getCurrentRotation(), and python.hrpsys_config.HrpsysConfigurator.getCurrentRPY().

def python.hrpsys_config.HrpsysConfigurator.getCurrentRPY	(		self,
			lname
	)

@type jointname: str
@rtype: List of float
@return: List of orientation in rpy form about the specified joint.

References python.hrpsys_config.euler_from_matrix(), python.hrpsys_config.HrpsysConfigurator.getCurrentRotation(), python.hrpsys_config.HrpsysConfigurator.getCurrentRPY(), and python.hrpsys_config.HrpsysConfigurator.Groups.

Referenced by python.hrpsys_config.HrpsysConfigurator.getCurrentRPY().

def python.hrpsys_config.HrpsysConfigurator.getJointAngleControllerList

(

self

)

References python.hrpsys_config.HrpsysConfigurator.abc, python.hrpsys_config.HrpsysConfigurator.co, python.hrpsys_config.HrpsysConfigurator.el, python.hrpsys_config.HrpsysConfigurator.gc, python.hrpsys_config.HrpsysConfigurator.ic, python.hrpsys_config.HrpsysConfigurator.st, and python.hrpsys_config.HrpsysConfigurator.tc.

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps().

def python.hrpsys_config.HrpsysConfigurator.getJointAngles

(

self

)

def python.hrpsys_config.HrpsysConfigurator.getReferencePose	(		self,
			lname
	)

This returns reference(commanded) value,
and getCurrentPose returns current(actual) value

@rtype: List of float
@return: Rotational matrix and the position of the given joint in
 1-dimensional list, that is:

 [a11, a12, a13, x,
  a21, a22, a23, y,
  a31, a32, a33, z,
   0,   0,   0,  1]

References python.hrpsys_config.HrpsysConfigurator.getReferencePose(), and python.hrpsys_config.HrpsysConfigurator.Groups.

Referenced by python.hrpsys_config.HrpsysConfigurator.getReferencePose(), python.hrpsys_config.HrpsysConfigurator.getReferencePosition(), and python.hrpsys_config.HrpsysConfigurator.getReferenceRotation().

def python.hrpsys_config.HrpsysConfigurator.getReferencePosition	(		self,
			lname
	)

@rtype: List of float
@return: List of angles (degree) of all joints, in the order defined
 in the member variable 'Groups' (eg. chest, head1, head2, ..).

References python.hrpsys_config.HrpsysConfigurator.getReferencePose(), python.hrpsys_config.HrpsysConfigurator.getReferencePosition(), and python.hrpsys_config.HrpsysConfigurator.Groups.

Referenced by python.hrpsys_config.HrpsysConfigurator.getReferencePosition().

def python.hrpsys_config.HrpsysConfigurator.getReferenceRotation	(		self,
			lname
	)

This seturns reference(commanded) value,
and getCurrentRotation returns current(actual) value

@type jointname: str
@rtype: List of float
@return: Rotational matrix of the given joint in 2-dimensional list,
 that is:
 [[a11, a12, a13],
  [a21, a22, a23],
  [a31, a32, a33]]

References python.hrpsys_config.HrpsysConfigurator.getReferencePose(), and python.hrpsys_config.HrpsysConfigurator.Groups.

Referenced by python.hrpsys_config.HrpsysConfigurator.getReferenceRPY().

def python.hrpsys_config.HrpsysConfigurator.getReferenceRPY	(		self,
			lname
	)

This seturns reference(commanded) value,
and getCurrentRPY returns current(actual) value

@type jointname: str
@rtype: List of float
@return: List of orientation in rpy form about the specified joint.

References python.hrpsys_config.euler_from_matrix(), python.hrpsys_config.HrpsysConfigurator.getReferenceRotation(), python.hrpsys_config.HrpsysConfigurator.getReferenceRPY(), and python.hrpsys_config.HrpsysConfigurator.Groups.

Referenced by python.hrpsys_config.HrpsysConfigurator.getReferenceRPY().

def python.hrpsys_config.HrpsysConfigurator.getRTCInstanceList

(

self

)

References python.hrpsys_config.HrpsysConfigurator.getRTCList(), and python.hrpsys_config.HrpsysConfigurator.rh.

Referenced by python.hrpsys_config.HrpsysConfigurator.activateComps().

def python.hrpsys_config.HrpsysConfigurator.getRTCList

(

self

)

@rtype [[str]]
@rerutrn List of available components. Each element consists of a list
 of abbreviated and full names of the component.

Referenced by python.hrpsys_config.HrpsysConfigurator.createComps(), python.hrpsys_config.HrpsysConfigurator.findComps(), and python.hrpsys_config.HrpsysConfigurator.getRTCInstanceList().

def python.hrpsys_config.HrpsysConfigurator.getRTCListUnstable

(

self

)

@rtype [[str]]
@rerutrn List of available unstable components. Each element consists
 of a list of abbreviated and full names of the component.

def python.hrpsys_config.HrpsysConfigurator.getSensors	(		self,
			url
	)

References python.hrpsys_config.HrpsysConfigurator.getBodyInfo().

Referenced by python.hrpsys_config.HrpsysConfigurator.init().

def python.hrpsys_config.HrpsysConfigurator.goActual

(

self

)

Reset reference joint agnles with actual joint angle values

Referenced by python.hrpsys_config.HrpsysConfigurator.checkEncoders(), and python.hrpsys_config.HrpsysConfigurator.servoOn().

def python.hrpsys_config.HrpsysConfigurator.init	(		self,
			robotname = "Robot",
			url = ""
	)

Calls init from its superclass, which tries to connect RTCManager,
looks for ModelLoader, and starts necessary RTC components. Also runs
config, logger.
Also internally calls setSelfGroups().

@type robotname: str
@type url: str

References python.hrpsys_config.HrpsysConfigurator.activateComps(), python.hrpsys_config.HrpsysConfigurator.configurator_name, python.hrpsys_config.HrpsysConfigurator.connectComps(), python.hrpsys_config.HrpsysConfigurator.createComps(), python.hrpsys_config.HrpsysConfigurator.getSensors(), python.hrpsys_config.HrpsysConfigurator.sensors, python.hrpsys_config.HrpsysConfigurator.setSelfGroups(), python.hrpsys_config.HrpsysConfigurator.setupLogger(), python.hrpsys_config.HrpsysConfigurator.waitForModelLoader(), and python.hrpsys_config.HrpsysConfigurator.waitForRTCManagerAndRoboHardware().

def python.hrpsys_config.HrpsysConfigurator.isCalibDone

(

self

)

Check whether joints have been calibrated.
@rtype bool

References python.hrpsys_config.HrpsysConfigurator.simulation_mode.

Referenced by python.hrpsys_config.HrpsysConfigurator.checkEncoders(), and python.hrpsys_config.HrpsysConfigurator.servoOn().

def python.hrpsys_config.HrpsysConfigurator.isServoOn	(		self,
			jname = 'any'
	)

Check whether servo control has been turned on.
@type jname: str
@param jname: Name of a link (that can be obtained by "hiro.Groups"
      as lists of groups).
@rtype bool

References python.hrpsys_config.HrpsysConfigurator.configurator_name, python.hrpsys_config.HrpsysConfigurator.getActualState(), and python.hrpsys_config.HrpsysConfigurator.simulation_mode.

Referenced by python.hrpsys_config.HrpsysConfigurator.checkEncoders(), python.hrpsys_config.HrpsysConfigurator.servoOff(), and python.hrpsys_config.HrpsysConfigurator.servoOn().

def python.hrpsys_config.HrpsysConfigurator.lengthDigitalInput

(

self

)

def python.hrpsys_config.HrpsysConfigurator.lengthDigitalOutput

(

self

)

Referenced by python.hrpsys_config.HrpsysConfigurator.writeDigitalOutput(), and python.hrpsys_config.HrpsysConfigurator.writeDigitalOutputWithMask().

def python.hrpsys_config.HrpsysConfigurator.loadPattern	(		self,
			fname,
			tm
	)

def python.hrpsys_config.HrpsysConfigurator.readDigitalInput

(

self

)

@return: TODO: elaborate

def python.hrpsys_config.HrpsysConfigurator.saveLog	(		self,
			fname = 'sample'
	)

References python.hrpsys_config.HrpsysConfigurator.configurator_name.

def python.hrpsys_config.HrpsysConfigurator.servoOff	(		self,
			jname = 'all',
			wait = True
	)

@type jname: str
@param jname: The value 'all' works iteratively for all servos.
@type wait: bool
@rtype: int
@return: 1 = all arm servo off. 2 = all servo on arms and hands off.
-1 = Something wrong happened.

References python.hrpsys_config.HrpsysConfigurator.configurator_name, python.hrpsys_config.HrpsysConfigurator.isServoOn(), and python.hrpsys_config.HrpsysConfigurator.simulation_mode.

def python.hrpsys_config.HrpsysConfigurator.servoOn	(		self,
			jname = 'all',
			destroy = 1,
			tm = 3
	)

Turn on/off servos.
Joints need to be calibrated (otherwise error returns).

@type jname: str
@param jname: The value 'all' works iteratively for all servos.
@param destroy: Not used.
@type tm: float
@param tm: Second to complete.
@rtype: int
@return: 1 or -1 indicating success or failure, respectively.

References python.hrpsys_config.HrpsysConfigurator.configurator_name, python.hrpsys_config.HrpsysConfigurator.goActual(), python.hrpsys_config.HrpsysConfigurator.isCalibDone(), and python.hrpsys_config.HrpsysConfigurator.isServoOn().

def python.hrpsys_config.HrpsysConfigurator.setJointAngle	(		self,
			jname,
			angle,
			tm
	)

Set angle to the given joint.

NOTE-1: It's known that this method does not do anything after
some group operation is done.
TODO: at least need elaborated to warn users.

NOTE-2: that while this method does not check angle value range,
any joints could emit position limit over error, which has not yet
been thrown by hrpsys so that there's no way to catch on this client
side. Worthwhile opening an enhancement ticket for that at
hironx' designated issue tracker.

@type jname: str
@type angle: float
@param angle: In degree.
@type tm: float
@param tm: Time to complete.

def python.hrpsys_config.HrpsysConfigurator.setJointAngles	(		self,
			angles,
			tm
	)

NOTE-1: that while this method does not check angle value range,
any joints could emit position limit over error, which has not yet
been thrown by hrpsys so that there's no way to catch on this client
side. Worthwhile opening an enhancement ticket for that at
hironx' designated issue tracker.

@type angles: float
@param angles: In degree.
@type tm: float
@param tm: Time to complete.

def python.hrpsys_config.HrpsysConfigurator.setJointAnglesOfGroup	(		self,
			gname,
			pose,
			tm,
			wait = True
	)

Note that while this method does not check angle value range,
any joints could emit position limit over error, which has not yet
been handled in hrpsys so that there's no way to catch on this client
class level. Please consider opening an enhancement ticket for that
at hironx' designated issue tracker.

@type gname: str
@param gname: Name of joint group.
@type pose: [float]
@param pose: list of positions and orientations
@type tm: float
@param tm: Time to complete.
@type wait: bool
@param wait: If true, SequencePlayer.waitInterpolationOfGroup gets run.
  (TODO: Elaborate what this means...Even after having taken
  a look at its source code I can't tell exactly what it means)

References python.hrpsys_config.HrpsysConfigurator.waitInterpolationOfGroup().

def python.hrpsys_config.HrpsysConfigurator.setSelfGroups

(

self

)

Set to the hrpsys.SequencePlayer the groups of links and joints that
are statically defined as member variables (Groups) within this class.

References python.hrpsys_config.HrpsysConfigurator.Groups.

Referenced by python.hrpsys_config.HrpsysConfigurator.init().

def python.hrpsys_config.HrpsysConfigurator.setTargetPose	(		self,
			gname,
			pos,
			rpy,
			tm,
			frame_name = None
	)

Set absolute pose to a joint.
All d* arguments are in meter.

@param gname: Name of the joint group.
@type pos: float
@type rpy: TODO: ??
@rtype: bool

References python.hrpsys_config.HrpsysConfigurator.setTargetPoseRelative().

Referenced by python.hrpsys_config.HrpsysConfigurator.setTargetPoseRelative().

def python.hrpsys_config.HrpsysConfigurator.setTargetPoseRelative	(		self,
			gname,
			eename,
			dx = 0,
			dy = 0,
			dz = 0,
			dr = 0,
			dp = 0,
			dw = 0,
			tm = 10,
			wait = True
	)

Set angles to a joint group relative to its current pose.
All d* arguments are in meter.

@param gname: Name of the joint group.
@param eename: Name of the link.
@rtype: bool

References python.hrpsys_config.euler_from_matrix(), python.hrpsys_config.HrpsysConfigurator.setTargetPose(), and python.hrpsys_config.HrpsysConfigurator.waitInterpolationOfGroup().

Referenced by python.hrpsys_config.HrpsysConfigurator.setTargetPose().

def python.hrpsys_config.HrpsysConfigurator.setupLogger

(

self

)

References python.hrpsys_config.HrpsysConfigurator.abc, python.hrpsys_config.HrpsysConfigurator.configurator_name, python.hrpsys_config.HrpsysConfigurator.connectLoggerPort(), python.hrpsys_config.HrpsysConfigurator.kf, python.hrpsys_config.HrpsysConfigurator.log, python.hrpsys_config.HrpsysConfigurator.rh, python.hrpsys_config.HrpsysConfigurator.sensors, python.hrpsys_config.HrpsysConfigurator.seq, python.hrpsys_config.HrpsysConfigurator.sh, and python.hrpsys_config.HrpsysConfigurator.st.

Referenced by python.hrpsys_config.HrpsysConfigurator.init().

def python.hrpsys_config.HrpsysConfigurator.waitForModelLoader

(

self

)

References python.hrpsys_config.HrpsysConfigurator.configurator_name, and python.hrpsys_config.HrpsysConfigurator.findModelLoader().

Referenced by python.hrpsys_config.HrpsysConfigurator.init().

def python.hrpsys_config.HrpsysConfigurator.waitForRobotHardware	(		self,
			robotname = "Robot"
	)

References python.hrpsys_config.HrpsysConfigurator.configurator_name, python.hrpsys_config.HrpsysConfigurator.ms, and python.hrpsys_config.HrpsysConfigurator.rh.

Referenced by python.hrpsys_config.HrpsysConfigurator.waitForRTCManagerAndRoboHardware().

def python.hrpsys_config.HrpsysConfigurator.waitForRTCManager	(		self,
			managerhost = nshost
	)

References python.hrpsys_config.HrpsysConfigurator.configurator_name, and python.hrpsys_config.HrpsysConfigurator.ms.

Referenced by python.hrpsys_config.HrpsysConfigurator.waitForRTCManagerAndRoboHardware().

def python.hrpsys_config.HrpsysConfigurator.waitForRTCManagerAndRoboHardware	(		self,
			robotname = "Robot",
			managerhost = nshost
	)

References python.hrpsys_config.HrpsysConfigurator.checkSimulationMode(), python.hrpsys_config.HrpsysConfigurator.waitForRobotHardware(), and python.hrpsys_config.HrpsysConfigurator.waitForRTCManager().

Referenced by python.hrpsys_config.HrpsysConfigurator.init().

def python.hrpsys_config.HrpsysConfigurator.waitInterpolation

(

self

)

def python.hrpsys_config.HrpsysConfigurator.waitInterpolationOfGroup	(		self,
			gname
	)

Lets SequencePlayer wait until the movement currently happening to
finish.
@see: http://wiki.ros.org/joint_trajectory_action. This method
      corresponds to JointTrajectoryGoal in ROS.

@type groupname: str

Referenced by python.hrpsys_config.HrpsysConfigurator.setJointAnglesOfGroup(), and python.hrpsys_config.HrpsysConfigurator.setTargetPoseRelative().

def python.hrpsys_config.HrpsysConfigurator.writeDigitalOutput	(		self,
			dout
	)

@type dout: [int]
@param dout: List of bits. Length might defer depending on
     robot's implementation.
@return: What RobotHardware.writeDigitalOutput returns (TODO: document)

References python.hrpsys_config.HrpsysConfigurator.lengthDigitalOutput().

def python.hrpsys_config.HrpsysConfigurator.writeDigitalOutputWithMask	(		self,
			dout,
			mask
	)

@type dout: [int]
@param dout: List of bits. Length might defer depending on robot's
     implementation.
@type mask: [int]
@param mask: List of masking bits. Length depends on that of dout.
@return: What RobotHardware.writeDigitalOutput returns (TODO: document)

References python.hrpsys_config.HrpsysConfigurator.lengthDigitalOutput().

Member Data Documentation

python.hrpsys_config.HrpsysConfigurator.abc = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), python.hrpsys_config.HrpsysConfigurator.getJointAngleControllerList(), and python.hrpsys_config.HrpsysConfigurator.setupLogger().

python.hrpsys_config.HrpsysConfigurator.co = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), and python.hrpsys_config.HrpsysConfigurator.getJointAngleControllerList().

python.hrpsys_config.HrpsysConfigurator.co_svc = None

static

python.hrpsys_config.HrpsysConfigurator.configurator_name

Referenced by python.hrpsys_config.HrpsysConfigurator.checkEncoders(), python.hrpsys_config.HrpsysConfigurator.checkSimulationMode(), python.hrpsys_config.HrpsysConfigurator.connectComps(), python.hrpsys_config.HrpsysConfigurator.connectLoggerPort(), python.hrpsys_config.HrpsysConfigurator.createComp(), python.hrpsys_config.HrpsysConfigurator.createComps(), python.hrpsys_config.HrpsysConfigurator.findComp(), python.hrpsys_config.HrpsysConfigurator.findComps(), python.hrpsys_config.HrpsysConfigurator.getBodyInfo(), python.hrpsys_config.HrpsysConfigurator.init(), python.hrpsys_config.HrpsysConfigurator.isServoOn(), python.hrpsys_config.HrpsysConfigurator.saveLog(), python.hrpsys_config.HrpsysConfigurator.servoOff(), python.hrpsys_config.HrpsysConfigurator.servoOn(), python.hrpsys_config.HrpsysConfigurator.setupLogger(), python.hrpsys_config.HrpsysConfigurator.waitForModelLoader(), python.hrpsys_config.HrpsysConfigurator.waitForRobotHardware(), and python.hrpsys_config.HrpsysConfigurator.waitForRTCManager().

python.hrpsys_config.HrpsysConfigurator.el = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), and python.hrpsys_config.HrpsysConfigurator.getJointAngleControllerList().

python.hrpsys_config.HrpsysConfigurator.el_svc = None

static

python.hrpsys_config.HrpsysConfigurator.ep_svc = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.checkSimulationMode().

python.hrpsys_config.HrpsysConfigurator.fk = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps().

python.hrpsys_config.HrpsysConfigurator.fk_svc = None

static

python.hrpsys_config.HrpsysConfigurator.gc = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), and python.hrpsys_config.HrpsysConfigurator.getJointAngleControllerList().

python.hrpsys_config.HrpsysConfigurator.gc_svc = None

static

list python.hrpsys_config.HrpsysConfigurator.Groups = []

static

Referenced by python.hrpsys_config.HrpsysConfigurator.flat2Groups(), python.hrpsys_config.HrpsysConfigurator.getCurrentPose(), python.hrpsys_config.HrpsysConfigurator.getCurrentPosition(), python.hrpsys_config.HrpsysConfigurator.getCurrentRotation(), python.hrpsys_config.HrpsysConfigurator.getCurrentRPY(), python.hrpsys_config.HrpsysConfigurator.getReferencePose(), python.hrpsys_config.HrpsysConfigurator.getReferencePosition(), python.hrpsys_config.HrpsysConfigurator.getReferenceRotation(), python.hrpsys_config.HrpsysConfigurator.getReferenceRPY(), and python.hrpsys_config.HrpsysConfigurator.setSelfGroups().

python.hrpsys_config.HrpsysConfigurator.hgc = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.checkSimulationMode().

python.hrpsys_config.HrpsysConfigurator.ic = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), and python.hrpsys_config.HrpsysConfigurator.getJointAngleControllerList().

python.hrpsys_config.HrpsysConfigurator.kf = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), and python.hrpsys_config.HrpsysConfigurator.setupLogger().

python.hrpsys_config.HrpsysConfigurator.log = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.setupLogger().

python.hrpsys_config.HrpsysConfigurator.log_svc = None

static

python.hrpsys_config.HrpsysConfigurator.ms = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.waitForRobotHardware(), and python.hrpsys_config.HrpsysConfigurator.waitForRTCManager().

python.hrpsys_config.HrpsysConfigurator.rh = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), python.hrpsys_config.HrpsysConfigurator.getRTCInstanceList(), python.hrpsys_config.HrpsysConfigurator.setupLogger(), and python.hrpsys_config.HrpsysConfigurator.waitForRobotHardware().

python.hrpsys_config.HrpsysConfigurator.rh_svc = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.checkSimulationMode().

python.hrpsys_config.HrpsysConfigurator.rmfo = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps().

python.hrpsys_config.HrpsysConfigurator.sensors = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), python.hrpsys_config.HrpsysConfigurator.init(), and python.hrpsys_config.HrpsysConfigurator.setupLogger().

python.hrpsys_config.HrpsysConfigurator.seq = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), and python.hrpsys_config.HrpsysConfigurator.setupLogger().

python.hrpsys_config.HrpsysConfigurator.seq_svc = None

static

python.hrpsys_config.HrpsysConfigurator.sh = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), and python.hrpsys_config.HrpsysConfigurator.setupLogger().

python.hrpsys_config.HrpsysConfigurator.sh_svc = None

static

python.hrpsys_config.HrpsysConfigurator.simulation_mode = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.checkSimulationMode(), python.hrpsys_config.HrpsysConfigurator.connectComps(), python.hrpsys_config.HrpsysConfigurator.isCalibDone(), python.hrpsys_config.HrpsysConfigurator.isServoOn(), and python.hrpsys_config.HrpsysConfigurator.servoOff().

python.hrpsys_config.HrpsysConfigurator.st = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), python.hrpsys_config.HrpsysConfigurator.getJointAngleControllerList(), and python.hrpsys_config.HrpsysConfigurator.setupLogger().

python.hrpsys_config.HrpsysConfigurator.tc = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps(), and python.hrpsys_config.HrpsysConfigurator.getJointAngleControllerList().

python.hrpsys_config.HrpsysConfigurator.tc_svc = None

static

python.hrpsys_config.HrpsysConfigurator.te = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps().

python.hrpsys_config.HrpsysConfigurator.te_svc = None

static

python.hrpsys_config.HrpsysConfigurator.tf = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps().

python.hrpsys_config.HrpsysConfigurator.tl = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps().

python.hrpsys_config.HrpsysConfigurator.tl_svc = None

static

python.hrpsys_config.HrpsysConfigurator.vs = None

static

Referenced by python.hrpsys_config.HrpsysConfigurator.connectComps().

---

The documentation for this class was generated from the following file:

• hrpsys_config.py