Python RosSotRobotModel.curConfの例

コード例 #1

ファイル: robot.py プロジェクト: Karsten1987/sot_controller

class RobotBuilder(AbstractHumanoidRobot):
    """
    This class instanciates a robot.
    """

    #OperationalPoints = ['right-wrist','left-wrist','waist','right-ankle','left-ankle']
    #OperationalPoints = ['right-wrist','left-wrist','waist','gaze']

    tracedSignals = {
        'dynamic': ["com", "zmp", "position", "velocity", "acceleration"],
        'device': ['zmp', 'control', 'state']
        }

    def __init__(self, name, device=None, tracer=None, ns='sot_controller'):
        AbstractHumanoidRobot.__init__ (self, name, tracer)
        self.device = device
        self.dynamic = RosSotRobotModel("{0}_dynamic".format(name))
        self.dynamic.setNamespace(ns)
        self.dynamic.loadFromParameterServer()
        self.halfSitting = self.dynamic.curConf()
        self.dimension = self.dynamic.getDimension()
        self.initializeRobot()

コード例 #2

class RobotBuilder(AbstractHumanoidRobot):
    """
    This class instanciates a robot.
    """

    #OperationalPoints = ['right-wrist','left-wrist','waist','right-ankle','left-ankle']
    #OperationalPoints = ['right-wrist','left-wrist','waist','gaze']

    tracedSignals = {
        'dynamic': ["com", "zmp", "position", "velocity", "acceleration"],
        'device': ['zmp', 'control', 'state']
    }

    def __init__(self, name, device=None, tracer=None, ns='sot_controller'):
        AbstractHumanoidRobot.__init__(self, name, tracer)
        self.device = device
        self.dynamic = RosSotRobotModel("{0}_dynamic".format(name))
        self.dynamic.setNamespace(ns)
        self.dynamic.loadFromParameterServer()
        self.halfSitting = self.dynamic.curConf()
        self.dimension = self.dynamic.getDimension()
        self.initializeRobot()