def goto_pose_matrix (self, matrix4, ref_frame, targ_frame, filter_options=-1):
"""
Moves the arm such that the transform between ref_frame and
targ_frame is matrix4. Also uses filter_options as specified
in self.planner (by default).
"""
if filter_options==-1:
filter_options = self.planner.filter_options
Arm.goto_pose_matrix(self, matrix4, ref_frame, targ_frame, filter_options)
def cart_to_joint(self, matrix4, ref_frame, targ_frame, filter_options=-1):
"""
Calculates IK for given transform between ref_frame and targ_frame.
"""
if filter_options==-1:
filter_options = self.planner.filter_options
return Arm.cart_to_joint(self, matrix4, ref_frame, targ_frame, filter_options)
def __init__ (self, pr2, rl):
Arm.__init__(self, pr2, rl)
self.planner = IKInterpolationPlanner(self, self.lr)