def __init__(self, overlaid_object):
# Call the constructor of the parent class
MorseOverlay.__init__(self, overlaid_object)
# set random initial charge
# minimum 20% to avoid initially broken down robots
self.overlaid_object.local_data['charge'] = random.uniform(20., 100.)
def __init__(self, overlaid_object):
# Call the constructor of the parent class
MorseOverlay.__init__(self, overlaid_object)
# if is object at hand
self.is_obj = False
# if current action is executed
self.is_gr = False # has grasped
self.is_po = False # has pointed out
self.is_ca = False # has canceled
def __init__(self, overlaid_object, namespace = None):
# Call the constructor of the parent class
MorseOverlay.__init__(self, overlaid_object)
joints = list(overlaid_object.local_data.keys())
self.namespace = namespace
name = self.name().replace(".", "/")
rospy.set_param(name + "/joints", joints)
rospy.set_param(name + "/joint_trajectory_action/joints", joints)
def __init__(self, overlaid_object, namespace=None):
# Call the constructor of the parent class
MorseOverlay.__init__(self, overlaid_object)
joints = list(overlaid_object.local_data.keys())
self.namespace = namespace
name = self.name().replace(".", "/")
rospy.set_param(name + "/joints", joints)
rospy.set_param(name + "/joint_trajectory_action/joints", joints)
def __init__(self, overlaid_object):
# Call the constructor of the parent class
MorseOverlay.__init__(self, overlaid_object)
self.ctrl = DummyPoster('fingerCntrl')
def __init__(self, overlaid_object):
# Call the constructor of the parent class
MorseOverlay.__init__(self, overlaid_object)
self._cntrl = DummyPoster("stereopixelCntrl")
def name(self):
if self.namespace:
return self.namespace
else:
return MorseOverlay.name(self)
def __init__(self, overlaid_object):
# Call the constructor of the parent class
MorseOverlay.__init__(self, overlaid_object)
def __init__(self, overlaid_object):
# Call the constructor of the parent class
MorseOverlay.__init__(self, overlaid_object)
self._cntrl = DummyPoster("viamCntrl")
def interrupt(self):
if self._clean_track:
self.overlaid_object.input_functions.pop()
self.completed(status.PREEMPTED)
self._interrupt()
MorseOverlay.interrupt(self)
def __init__(self, overlaid_object):
# Call the constructor of the parent class
MorseOverlay.__init__(self, overlaid_object)
self._clean_track = False
self._rot = 1.0
self.cntrl = DummyPoster("platineCntrl")
def interrupt(self):
self.overlaid_object.stop()
if self._clean_track:
self.overlaid_object.input_functions.pop()
MorseOverlay.interrupt(self)
def __init__(self, overlaid_object):
# Call the constructor of the parent class
MorseOverlay.__init__(self, overlaid_object)
# if current action is executed
self.is_reset = False # if human has returned to the initial position
def name(self):
if self.namespace:
return self.namespace
else:
return MorseOverlay.name(self)
