.. _package-rst-robot:
===================
Package rst.robot
===================
*Not documented*
Messages
========
.. container:: mess4ge-multi
.. container:: mess4ge-graph
.. digraph:: message_graph
fontname="Arial";
fontsize=11;
stylesheet="../_static/graphs.css";
node [fontsize=11,fontname="Arial"]
edge [fontsize=11,fontname="Arial"]
"6" [label=< | ForceApplication |
|
| ASCII-STRING | link |
| Forces | force |
| Translation | application_point |
>,shape=box,style=filled,fillcolor="white"];
"8" [label=< | Translation |
|
| FLOAT64 | x |
| FLOAT64 | y |
| FLOAT64 | z |
| ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"7" [label=< | Forces |
|
| FLOAT32 | x |
| FLOAT32 | y |
| FLOAT32 | z |
>,shape=box,style=filled,fillcolor="white"];
"1" [label=< | JointStateCollection |
|
| JointState | element |
>,shape=box,style=filled,fillcolor="white"];
"2" [label=< | JointState |
|
| JointAngles | angles |
| JointVelocities | velocities |
| JointTorques | torques |
>,shape=box,style=filled,fillcolor="white"];
"5" [label=< | JointTorques |
|
| FLOAT32 | torques |
>,shape=box,style=filled,fillcolor="white"];
"4" [label=< | JointVelocities |
|
| FLOAT32 | velocities |
>,shape=box,style=filled,fillcolor="white"];
"3" [label=< | JointAngles |
|
| FLOAT32 | angles |
>,shape=box,style=filled,fillcolor="white"];
"6":application_point -> "8"[];
"6":force -> "7"[];
"1":element -> "2"[];
"2":torques -> "5"[];
"2":velocities -> "4"[];
"2":angles -> "3"[];
.. container:: mess4ge-list
.. container:: messages
* :ref:`JointStateCollection `
* :ref:`JointState `
* :ref:`ForceApplication `
.. container:: clearer
clearer: should be made invisible via css
.. _message-rst-robot-jointstatecollection:
Message JointStateCollection
----------------------------
.. container:: message-rst-robot-jointstatecollection-multi
.. container:: message-rst-robot-jointstatecollection-documentation
.. py:class:: rst.robot.JointStateCollection
Collection of :py:class:`JointState ` instances.
Auto-generated.
.. py:attribute:: element
:type: array of :py:class:`rst.robot.JointState`
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated
entries etc. are use case specific.
.. container:: message-rst-robot-jointstatecollection-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/sandbox/rst/robot/JointStateCollection.proto
:lines: 14-24
:language: protobuf
:emphasize-lines: 9-9
.. _message-rst-robot-jointstate:
Message JointState
------------------
.. container:: message-rst-robot-jointstate-multi
.. container:: message-rst-robot-jointstate-documentation
.. py:class:: rst.robot.JointState
Contains the feedback of multiple robotic joints.
.. codeauthor:: Dennis Leroy
@create_collection
.. py:attribute:: angles
:type: :py:class:`rst.kinematics.JointAngles`
Joint angles
.. py:attribute:: velocities
:type: :py:class:`rst.kinematics.JointVelocities`
Joint velocities
.. py:attribute:: torques
:type: :py:class:`rst.dynamics.JointTorques`
Joint torques
.. container:: message-rst-robot-jointstate-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/sandbox/rst/robot/JointState.proto
:lines: 17-34
:language: protobuf
:emphasize-lines: 6-6,11-11,16-16
.. _message-rst-robot-forceapplication:
Message ForceApplication
------------------------
.. container:: message-rst-robot-forceapplication-multi
.. container:: message-rst-robot-forceapplication-documentation
.. py:class:: rst.robot.ForceApplication
A force vector applied to a kinematic link at a particular position.
.. codeauthor:: Jan Moringen
.. py:attribute:: link
:type: :py:class:`ASCII-STRING`
The name of the link in the kinematic chain to which the force
should be applied.
.. py:attribute:: force
:type: :py:class:`rst.dynamics.Forces`
The force vector that should be applied to the link.
Expressed in world coordinates.
.. py:attribute:: application_point
:type: :py:class:`rst.geometry.Translation`
The point in world coordinates at which :py:attr:`force ` should be
applied.
.. container:: message-rst-robot-forceapplication-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-trunk/upstream/RST-0.19.0-Linux/share/rst0.19/proto/sandbox/rst/robot/ForceApplication.proto
:lines: 15-36
:language: protobuf
:emphasize-lines: 7-7,14-14,20-20