Wrapper of a task in SoT and its interface with ROS. More...
Public Member Functions | |
def | __init__ (self, tasks=[], constraints=[], topics={}) |
def | __add__ (self, other) |
def | __iadd__ (self, other) |
def | setControlSelection (self, selection) |
def | pushTo (self, solver) |
def | extendSignalGetters (self, topicName, signalGetters) |
def | addHppJointTopic (self, topicName, jointName=None, velocity=False, signalGetters=frozenset()) |
def | addTfListenerTopic (self, topicName, frame0, frame1, defaultValue=None, signalGetters=frozenset(), maxDelay=1.5) |
def | makeTfListenerDefaultValue (self, name, value, outputs=None) |
Create an If entity whose condition is the transform was found in TF. More... | |
Public Attributes | |
tasks | |
Task to be added to a SoT solver. More... | |
constraints | |
Constraints This is likely not used anymore. More... | |
topics | |
The ROS topics where to read references. More... | |
Static Public Attributes | |
string | sep = "___" |
Wrapper of a task in SoT and its interface with ROS.
This class represents a task as defined in the Stack of Tasks (dynamic_graph.sot.core.Task). It contains a dictionary the keys of which are the names of the SoT signals
Each child class sets a default value for the gain.
def agimus_sot.task.task.Task.__init__ | ( | self, | |
tasks = [] , |
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constraints = [] , |
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topics = {} |
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) |
def agimus_sot.task.task.Task.__add__ | ( | self, | |
other | |||
) |
References agimus_sot.task.task.Task.constraints, agimus_sot.task.com.COM.tasks, agimus_sot.solver.Solver.tasks, agimus_sot.task.task.Task.tasks, agimus_sot.task.foot.Foot.tasks, agimus_sot.task.posture.Posture.tasks, agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.tasks, agimus_sot.task.end_effector.EndEffector.tasks, agimus_sot.task.grasp.Grasp.tasks, agimus_sot.task.pre_grasp.PreGrasp.tasks, agimus_sot.factory.Factory.tasks, agimus_sot.task.task.Task.topics, and agimus_sot.task.posture.Posture.topics.
def agimus_sot.task.task.Task.__iadd__ | ( | self, | |
other | |||
) |
References agimus_sot.task.task.Task.constraints, agimus_sot.task.task.Task.extendSignalGetters(), agimus_sot.task.com.COM.tasks, agimus_sot.solver.Solver.tasks, agimus_sot.task.task.Task.tasks, agimus_sot.task.foot.Foot.tasks, agimus_sot.task.posture.Posture.tasks, agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.tasks, agimus_sot.task.end_effector.EndEffector.tasks, agimus_sot.task.grasp.Grasp.tasks, agimus_sot.task.pre_grasp.PreGrasp.tasks, agimus_sot.factory.Factory.tasks, agimus_sot.task.task.Task.topics, and agimus_sot.task.posture.Posture.topics.
def agimus_sot.task.task.Task.addHppJointTopic | ( | self, | |
topicName, | |||
jointName = None , |
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velocity = False , |
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signalGetters = frozenset() |
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) |
Add a topic that will received the pose (or velocity) of a joint from HPP - param jointName: When None, uses topicName as the joint name in HPP.
References agimus_sot.task.task.Task.addTfListenerTopic(), agimus_sot.task.task.Task.extendSignalGetters(), agimus_sot.task.task.Task.topics, and agimus_sot.task.posture.Posture.topics.
Referenced by agimus_sot.task.pre_grasp.PreGrasp.makeTasks().
def agimus_sot.task.task.Task.addTfListenerTopic | ( | self, | |
topicName, | |||
frame0, | |||
frame1, | |||
defaultValue = None , |
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signalGetters = frozenset() , |
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maxDelay = 1.5 |
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) |
signals | should be a set of:
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References agimus_sot.task.task.Task.extendSignalGetters(), agimus_sot.task.task.Task.topics, and agimus_sot.task.posture.Posture.topics.
Referenced by agimus_sot.task.task.Task.addHppJointTopic(), and agimus_sot.task.pre_grasp.PreGrasp.makeTasks().
def agimus_sot.task.task.Task.extendSignalGetters | ( | self, | |
topicName, | |||
signalGetters | |||
) |
Add signal getters to a topic
References agimus_sot.task.task.Task.topics, and agimus_sot.task.posture.Posture.topics.
Referenced by agimus_sot.task.task.Task.__iadd__(), agimus_sot.task.task.Task.addHppJointTopic(), agimus_sot.task.task.Task.addTfListenerTopic(), and agimus_sot.task.pre_grasp.PreGrasp.makeTasks().
def agimus_sot.task.task.Task.makeTfListenerDefaultValue | ( | self, | |
name, | |||
value, | |||
outputs = None |
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) |
Create an If entity whose condition is the transform was found in TF.
If the condition is not met, the value
is used instead.
value | either a SignalBase or a transform. |
outputs | a signal or a list of signal that will receive the output of the If entity. |
References agimus_sot.tools.assertEntityDoesNotExist(), agimus_sot.task.foot.Foot.name_prefix, agimus_sot.task.posture.Posture.name_prefix, agimus_sot.task.grasp.Grasp.name_prefix, agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.name_prefix, agimus_sot.task.end_effector.EndEffector.name_prefix, agimus_sot.task.pre_grasp.PreGrasp.name_prefix, agimus_sot.tools.plugMatrixHomo(), agimus_sot.task.com.COM.sep, and agimus_sot.task.task.Task.sep.
def agimus_sot.task.task.Task.pushTo | ( | self, | |
solver | |||
) |
\param solver an object of type agimus_sot.solver.Solver
References agimus_sot.task.com.COM.tasks, agimus_sot.solver.Solver.tasks, agimus_sot.task.task.Task.tasks, agimus_sot.task.foot.Foot.tasks, agimus_sot.task.posture.Posture.tasks, agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.tasks, agimus_sot.task.end_effector.EndEffector.tasks, agimus_sot.task.grasp.Grasp.tasks, agimus_sot.task.pre_grasp.PreGrasp.tasks, and agimus_sot.factory.Factory.tasks.
def agimus_sot.task.task.Task.setControlSelection | ( | self, | |
selection | |||
) |
References agimus_sot.task.com.COM.tasks, agimus_sot.solver.Solver.tasks, agimus_sot.task.task.Task.tasks, agimus_sot.task.foot.Foot.tasks, agimus_sot.task.posture.Posture.tasks, agimus_sot.task.pre_grasp_post_action.PreGraspPostAction.tasks, agimus_sot.task.end_effector.EndEffector.tasks, agimus_sot.task.grasp.Grasp.tasks, agimus_sot.task.pre_grasp.PreGrasp.tasks, and agimus_sot.factory.Factory.tasks.
agimus_sot.task.task.Task.constraints |
Constraints This is likely not used anymore.
Referenced by agimus_sot.task.task.Task.__add__(), and agimus_sot.task.task.Task.__iadd__().
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static |
Referenced by agimus_sot.task.task.Task.makeTfListenerDefaultValue().
agimus_sot.task.task.Task.tasks |
Task to be added to a SoT solver.
Referenced by agimus_sot.task.task.Task.__add__(), agimus_sot.task.task.Task.__iadd__(), agimus_sot.task.task.Task.pushTo(), and agimus_sot.task.task.Task.setControlSelection().
agimus_sot.task.task.Task.topics |
The ROS topics where to read references.
It is a dictionary. The key is the output signal name of a RosQueuedSubscribe entity. The value is a dictionary with:
Referenced by agimus_sot.task.task.Task.__add__(), agimus_sot.task.task.Task.__iadd__(), agimus_sot.task.task.Task.addHppJointTopic(), agimus_sot.task.task.Task.addTfListenerTopic(), and agimus_sot.task.task.Task.extendSignalGetters().