def onRobotPlan(self, msg):
playback = planplayback.PlanPlayback()
playback.interpolationMethod = 'pchip'
poseTimes, poses = playback.getPlanPoses(msg)
f = playback.getPoseInterpolator(poseTimes, poses)
jointController = self.robotSystem.teleopJointController
timer = simpletimer.SimpleTimer()
def setPose(pose):
jointController.setPose('plan_playback', pose)
self.jointTeleopPanel.endPose = pose
self.jointTeleopPanel.updateSliders()
commandStream.setGoalPose(pose)
def updateAnimation():
tNow = timer.elapsed()
if tNow > poseTimes[-1]:
pose = poses[-1]
setPose(pose)
return False
pose = f(tNow)
setPose(pose)
self.animationTimer = TimerCallback()
self.animationTimer.targetFps = 60
self.animationTimer.callback = updateAnimation
self.animationTimer.start()
def onRobotPlan(self, msg):
playback = planplayback.PlanPlayback()
playback.interpolationMethod = 'pchip'
poseTimes, poses = playback.getPlanPoses(msg)
f = playback.getPoseInterpolator(poseTimes, poses)
print 'received robot plan, %.2f seconds' % (poseTimes[-1] -
poseTimes[0])
commandStream.applyPlanDefaults()
commandStream.startStreaming()
timer = simpletimer.SimpleTimer()
def setPose(pose):
commandStream.setGoalPose(pose)
def updateAnimation():
tNow = timer.elapsed()
if tNow > poseTimes[-1]:
pose = poses[-1]
setPose(pose)
commandStream.applyDefaults()
print 'plan ended.'
return False
pose = f(tNow)
setPose(pose)
self.animationTimer = TimerCallback()
self.animationTimer.targetFps = 1000
self.animationTimer.callback = updateAnimation
self.animationTimer.start()
from ddapp.consoleapp import ConsoleApp
from ddapp import lcmspy
from ddapp import lcmUtils
from ddapp import simpletimer as st
app = ConsoleApp()
app.setupGlobals(globals())
if app.getTestingInteractiveEnabled():
app.showPythonConsole()
lcmspy.findLCMModulesInSysPath()
timer = st.SimpleTimer()
stats = {}
channelToMsg = {}
items = {}
def item(r, c):
rowDict = items.setdefault(r, {})
try:
return rowDict[c]
except KeyError:
i = QtGui.QTableWidgetItem('')
table.setItem(r, c, i)
rowDict[c] = i
return i