niryo_libraries.niryo_robot_poses_handlers.transform_handler.PosesTransformHandler

class documentation

class PosesTransformHandler:

Constructor: PosesTransformHandler(grip_manager, pose_handler_node)

View In Hierarchy

This class uses a tfBuffer to handle transforms related to the vision kit.

Static Method transform_from_euler Creates a new stamped transform from translation and euler-orientation
Method __del__ Undocumented
Method __init__ Undocumented
Method disable_debug Stop publishing debug inforation
Method enable_debug Start publishing debug information on /tf and /visualization_marker for debugging using rviz. This will happen in a separate thread.
Method get_calibration_tip_position Retrieves the position of the calibration tip from a given robot pose.
Method get_gripping_transform Reads the transform base_link -> tool_link_target from local tfBuffer
Method get_object_base_transform Reads the transform base_link -> object_base from local tfBuffer
Method get_object_transform Reads the transform base_link -> object_base from local tfBuffer
Method set_grip Updates the transform object_base -> tool_link_target in local tfBuffer :param grip:
Method set_relative_pose_object Updates the transform base_link -> object_base in local tfBuffer
Method __debug_loop Debug loop that will run in a separate thread. (tfBuffer should be threadsafe)
Instance Variable __debug_current_ws Undocumented
Instance Variable __debug_stop_event Undocumented
Instance Variable __debug_thread Undocumented
Instance Variable __grip_manager Undocumented
Instance Variable __pose_handler_node Undocumented
Instance Variable __tf_buffer Undocumented
@staticmethod
def transform_from_euler(x, y, z, roll, pitch, yaw, header_frame_id, child_frame_id):

Creates a new stamped transform from translation and euler-orientation

Parameters
xx translation
yy translation
zz translation
rollorientation roll
pitchorientation pitch
yaworientation yaw
header_frame_idtransform from this frame
child_frame_idtransform to this frame
Returns
transform
def __del__(self):

Undocumented

def __init__(self, grip_manager, pose_handler_node):

Undocumented

def disable_debug(self):

Stop publishing debug inforation

def enable_debug(self):

Start publishing debug information on /tf and /visualization_marker for debugging using rviz. This will happen in a separate thread.

def get_calibration_tip_position(self, robot_pose):

Retrieves the position of the calibration tip from a given robot pose.

Parameters
robot_posepose of the robot's tool_link
Returns
xyz position of calibration tip in robot coordinates
def get_gripping_transform(self):

Reads the transform base_link -> tool_link_target from local tfBuffer

Returns
transform base_link -> tool_link_target
def get_object_base_transform(self):

Reads the transform base_link -> object_base from local tfBuffer

Returns
transform base_link -> object_base
def get_object_transform(self, x_off=0.0, y_off=0.0, z_off=0.0, roll_off=0.0, pitch_off=1.5708, yaw_off=0.0):

Reads the transform base_link -> object_base from local tfBuffer

Returns
transform base_link -> object_base
def set_grip(self, grip):

Updates the transform object_base -> tool_link_target in local tfBuffer :param grip:

def set_relative_pose_object(self, workspace, x_rel, y_rel, yaw_rel, yaw_center=None):

Updates the transform base_link -> object_base in local tfBuffer

Parameters
workspacereference workspace object
x_relobject base x position relative to workspace
y_relobject base y position relative to workspace
yaw_relobject base rotation on z relative to workspace
yaw_centerAvoid over rotation
def __debug_loop(self):

Debug loop that will run in a separate thread. (tfBuffer should be threadsafe)

__debug_current_ws =

Undocumented

__debug_stop_event =

Undocumented

__debug_thread =

Undocumented

__grip_manager =

Undocumented

__pose_handler_node =

Undocumented

__tf_buffer =

Undocumented