script_sinus_frame

Creates a temporary frame that lives as long as the parent skill is active. The frame moves in the given coordinate with a sinus

Defined at line 208 of file scripts/geometry.xml in package pitasc_library.

Meta data

Categories
frames
Prototypes
script_temp_frame, script_kinematic_graph, script, object, dictionary, base, descriptive

Parameters

Required parameters:

frame : string
Name of the frame to be created
source : string
Name of the frame to be copied
parent : string
Name of the parent frame to of ‘frame’
coordinate : string
Coordinate that will be updated by a sine.
amplitude : float
Amplitude of the sine.
period : float
Period of the sine in [s].

Basic parameters:

on_start : bool
Execute the script before or after the skill.
Default: True
tf_broadcast : bool
Broadcast the frame to TF?
Default: False

Hidden parameters:

kinematic_graph : dict
Graph of kinematic links

Examples

script_sinus_frame is used in the following examples: