def __init__(self, robot_name='/lwr/left'):
full_name = robot_name+'/torque_analysis'
self.torque_p = yarp_tools.new_port(full_name + '/toRobot_torque', 'in', robot_name+'/robot/torque')
self.torque_raw_p = yarp_tools.new_port(full_name + '/toRobot_torque_raw', 'in', robot_name+'/robot/torque_raw')
self.pos_p = yarp_tools.new_port(full_name + '/toRobot_pos', 'in', robot_name+'/robot/pos')
self.torque_stat = []
self.torque_raw_stat = []
self.pos_stat = Statistics()
for i in range(7):
self.torque_stat.append(Statistics())
self.torque_raw_stat.append(Statistics())
self.max_iter = 100
def __init__(self, port_name='/jacobian', name='/density_viz'):
""" get data from YARP bottle """
self.callback = (lambda x: None)
import yarp
from yarp_tools import yarp_connect_blocking, new_port
self.inport = new_port(name+'/data', 'in', port_name, 'udp')
self._timer = wx.Timer()
self._timer.Bind(wx.EVT_TIMER, self._on_timer)
self._timer.Start(100)