def set_slew_rate_proportion(self,v,ind=None): slew_rates = [] if ind is not None: for i in range(len(ind)): slew_rates.append(self.max_slew_rates[ind[i]]*max(0.0,min(1.0,v[i]))) else: for i in range(len(v)): slew_rates.append(self.max_slew_rates[i]*max(0.0,min(1.0,v[i]))) M3Component.set_float_array(self,self.command.q_slew_rate,slew_rates,ind)
def set_slew_rate_proportion(self, v, ind=None):
slew_rates = []
if ind is not None:
for i in range(len(ind)):
slew_rates.append(self.max_slew_rates[ind[i]] *
max(0.0, min(1.0, v[i])))
else:
for i in range(len(v)):
slew_rates.append(self.max_slew_rates[i] *
max(0.0, min(1.0, v[i])))
M3Component.set_float_array(self, self.command.q_slew_rate, slew_rates,
ind)
def set_steer_torques(self, tq, ind=None):
"""
Sets steer torque values for selected casters. A list of caster indexes can be supplied
to set specific caster torques, or the index
can be omitted if the length of tq is equal to the number of degrees of casters.
:param tq: Steer torque values in Nm.
:type tq: array_like
:param ind: Index of casters.
:type ind: array_like, shape(len(tq)), optional
:See Also:
:meth:`M3OmniBase.set_mode_caster_torque`
:meth:`M3OmniBase.set_roll_torques`
"""
M3Component.set_float_array(self,self.command.steer_torque_desired,tq,ind)
def set_steer_torques(self, tq, ind=None):
"""
Sets steer torque values for selected casters. A list of caster indexes can be supplied
to set specific caster torques, or the index
can be omitted if the length of tq is equal to the number of degrees of casters.
:param tq: Steer torque values in Nm.
:type tq: array_like
:param ind: Index of casters.
:type ind: array_like, shape(len(tq)), optional
:See Also:
:meth:`M3OmniBase.set_mode_caster_torque`
:meth:`M3OmniBase.set_roll_torques`
"""
M3Component.set_float_array(self, self.command.steer_torque_desired,
tq, ind)
def set_roll_velocities(self, v, ind=None):
M3Component.set_float_array(self,self.command.roll_velocity_desired,v,ind)
def set_stiffness(self, v, ind=None):
M3Component.set_float_array(self, self.command.q_stiffness, v, ind)
def set_slew_rate(self, v):
M3Component.set_float_array(self, self.command.q_slew_rate, v, ind)
def set_theta_rad(self, v, ind=None):
M3Component.set_float_array(self, self.command.q_desired,
rad2deg(nu.array(v)), ind)
def set_theta_deg(self, v, ind=None):
M3Component.set_float_array(self, self.command.q_desired, v, ind)
def set_steer_theta(self, th, ind=None):
M3Component.set_float_array(self,self.command.steer_theta_desired,th,ind)
def set_torque_inLb(self, v, ind=None):
M3Component.set_float_array(self, self.command.tq_desired,
inLb2mNm(nu.array(v)), ind)
def set_slew_rate(self,v):
M3Component.set_float_array(self,self.command.q_slew_rate,v,ind)
def set_steer_theta(self, th, ind=None):
M3Component.set_float_array(self, self.command.steer_theta_desired, th,
ind)
def set_stiffness(self,v,ind=None):
M3Component.set_float_array(self,self.command.q_stiffness,v,ind)
def set_theta_deg(self,v,ind=None):
M3Component.set_float_array(self,self.command.q_desired,v,ind)
def set_theta_rad(self,v,ind=None):
M3Component.set_float_array(self,self.command.q_desired,rad2deg(nu.array(v)),ind)
def set_torque_inLb(self,v,ind=None):
M3Component.set_float_array(self,self.command.tq_desired,inLb2mNm(nu.array(v)),ind)
def set_torque_mNm(self,v,ind=None):
M3Component.set_float_array(self,self.command.tq_desired,v,ind)
def set_roll_velocities(self, v, ind=None):
M3Component.set_float_array(self, self.command.roll_velocity_desired,
v, ind)
def set_torque_mNm(self, v, ind=None):
M3Component.set_float_array(self, self.command.tq_desired, v, ind)
