sdurw_control module

class sdurw_control.sdurw_control.Controller(*args, **kwargs)

Bases: object

interface that defines functionality for control of devices and actuators

getName()

get the unique name of this controller :rtype: string :return: name of the controller.

setName(name)

set the name of the controller :type name: string :param name: [in] the name

property thisown

The membership flag

class sdurw_control.sdurw_control.ControllerCPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

getName()

get the unique name of this controller :rtype: string :return: name of the controller.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_control.sdurw_control.ControllerPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

cptr()
deref()

The pointer stored in the object.

getDeref()

Member access operator.

getName()

get the unique name of this controller :rtype: string :return: name of the controller.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setName(name)

set the name of the controller :type name: string :param name: [in] the name

property thisown

The membership flag

class sdurw_control.sdurw_control.JointController(*args, **kwargs)

Bases: object

the joint controller interface describe how to input to a joint controller. The output Force, Vel, Pos… must be available in the class implementing JointController interface

CNT_POSITION = 2
CURRENT = 16
FORCE = 8
POSITION = 1
VELOCITY = 4
getControlModes()

gets the control mode mask. Defines which types of control the JointController supports

getModel()

get kinematic model of device that is controlled

getQ()

return the current position of the controlled robot

getQd()

return the current velocity

setControlMode(mode)

sets the control mode of this JointController. If the mode is unsupported an exception is thrown

setTargetAcc(vals)

sets the target acceleration

Parameters

vals (Q) – [in] in m/s^2

setTargetPos(vals)

sets the target joint value for the current control mode.

setTargetVel(vals)

sets the target velocity

Parameters

vals (Q) – [in] in m/s

property thisown

The membership flag

class sdurw_control.sdurw_control.JointControllerPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref()

The pointer stored in the object.

getControlModes()

gets the control mode mask. Defines which types of control the JointController supports

getDeref()

Member access operator.

getModel()

get kinematic model of device that is controlled

getQ()

return the current position of the controlled robot

getQd()

return the current velocity

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setControlMode(mode)

sets the control mode of this JointController. If the mode is unsupported an exception is thrown

setTargetAcc(vals)

sets the target acceleration

Parameters

vals (Q) – [in] in m/s^2

setTargetPos(vals)

sets the target joint value for the current control mode.

setTargetVel(vals)

sets the target velocity

Parameters

vals (Q) – [in] in m/s

property thisown

The membership flag

class sdurw_control.sdurw_control.SyncVelocityRamp(*args)

Bases: object

Provides generation of synchronized velocity ramps for a device

The synchronized velocity ramp calculates a profile for moving linearly between two configurations a quick as possible without violating the dynamic limitations specified.

ddx(t)

Returns the accelerations for time t

If t<0 or t>duration() it returns accelerations corresponding to t=0 and t=duration(), respectively.

Parameters

t (float) – [in] time

Return type

Q

Returns

Accelerations at time t

duration()

Returns the time it takes to run the profile :rtype: float :return: The duration

dx(t)

Returns the velocities for time t

If t<0 or t>duration() it returns velocities corresponding to t=0 and t=duration(), respectively.

Parameters

t (float) – [in] time

Return type

Q

Returns

Velocities at time t

getExtremumAccelerations()

Returns the extremum of the acceleration for the joints :rtype: Q :return: Joint extremum accelerations

getExtremumVelocities()

Returns the extremum of the velocities for the joints :rtype: Q :return: Joint extremum velocities

setTarget(qstart, qend)

Specifies from and to where a ramp should be generated. :type qstart: Q :param qstart: [in] The start configuration :type qend: Q :param qend: [in] The end configuration

property thisown

The membership flag

x(t)

Returns the configuration for time t

If t<0 or t>duration() it returns the start and end configurations respectively.

Parameters

t (float) – [in] time

Return type

Q

Returns

Configuration at time t

class sdurw_control.sdurw_control.SyncVelocityRampCPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref()

The pointer stored in the object.

getDeref()

Member access operator.

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown

The membership flag

class sdurw_control.sdurw_control.SyncVelocityRampPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

cptr()
ddx(t)

Returns the accelerations for time t

If t<0 or t>duration() it returns accelerations corresponding to t=0 and t=duration(), respectively.

Parameters

t (float) – [in] time

Return type

Q

Returns

Accelerations at time t

deref()

The pointer stored in the object.

duration()

Returns the time it takes to run the profile :rtype: float :return: The duration

dx(t)

Returns the velocities for time t

If t<0 or t>duration() it returns velocities corresponding to t=0 and t=duration(), respectively.

Parameters

t (float) – [in] time

Return type

Q

Returns

Velocities at time t

getDeref()

Member access operator.

getExtremumAccelerations()

Returns the extremum of the acceleration for the joints :rtype: Q :return: Joint extremum accelerations

getExtremumVelocities()

Returns the extremum of the velocities for the joints :rtype: Q :return: Joint extremum velocities

isNull()

checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared()

check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

setTarget(qstart, qend)

Specifies from and to where a ramp should be generated. :type qstart: Q :param qstart: [in] The start configuration :type qend: Q :param qend: [in] The end configuration

property thisown

The membership flag

x(t)

Returns the configuration for time t

If t<0 or t>duration() it returns the start and end configurations respectively.

Parameters

t (float) – [in] time

Return type

Q

Returns

Configuration at time t

sdurw_control.sdurw_control.ownedPtr(*args)

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