horizon.ros package¶

Submodules¶

horizon.ros.replay_trajectory module¶

horizon.ros.replay_trajectory.normalize_quaternion(q)¶

class horizon.ros.replay_trajectory.replay_trajectory(dt, joint_list, q_replay, frame_force_mapping=None, force_reference_frame=<ReferenceFrame.LOCAL: 1>, kindyn=None)¶

Bases: object

publishContactForces(time, qk, k)¶

publish_joints(qk, is_floating_base=True)¶

replay(is_floating_base=True)¶

setSlowDownFactor(slow_down_factor)¶: Set a slow down factor for the replay of the trajectory :param slow_down_factor: fator to slow down

sleep(secs)¶: Set sleep time between trajectory sequences :param secs: time to sleep in seconds

horizon.ros.tf_broadcaster_simple module¶

class horizon.ros.tf_broadcaster_simple.TransformBroadcaster¶