本文整理汇总了Python中PyPR2.cancelMoveArmAction方法的典型用法代码示例。如果您正苦于以下问题：Python PyPR2.cancelMoveArmAction方法的具体用法？Python PyPR2.cancelMoveArmAction怎么用？Python PyPR2.cancelMoveArmAction使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类PyPR2的用法示例。
在下文中一共展示了PyPR2.cancelMoveArmAction方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: onHumanTracking
# 需要导入模块: import PyPR2 [as 别名]
# 或者: from PyPR2 import cancelMoveArmAction [as 别名]
def onHumanTracking(tracking_objs):
global HUMAN_COUNTER, st_time,msgTryTimer,x,y,Numpeople,avg_y,avg_x,actionIdentifier,isNearest
#focus_obj = tracking_objs[object_inde x]
Numpeople = len(tracking_objs)
avgPos(tracking_objs)
if len(tracking_objs) == 0:
#PyPR2.cancelMoveBodyAction()
if HUMAN_COUNTER !=0:
PyPR2.removeTimer(msgTryTimer)
PyPR2.moveArmWithJointPos(**initial_left)
PyPR2.moveArmWithJointPos(**initial_right)
#msgTryTimer = -1
#elapsed_time = time.time()-st_time
HUMAN_COUNTER =0
elif len(tracking_objs) > 0:
if HUMAN_COUNTER ==0:
PyPR2.onTimer = timerActions
msgTryTimer = PyPR2.addTimer(1,-1,0.5)
#a +=1
#st_time = time.time()
#no_objTracker.append(elapsed_time)
HUMAN_COUNTER= Numpeople
object_index = closest_obj_index(tracking_objs)
focus_obj = tracking_objs[object_index]
x = focus_obj['est_pos'][0]
y = focus_obj['est_pos'][1]
d = math.sqrt((math.pow(x,2))+(math.pow(y,2)))
if d<0.1:
PyPR2.cancelMoveBodyAction()
PyPR2.cancelMoveArmAction(True)
PyPR2.cancelMoveArmAction(False)
#c+=1
# track_y.append(y)
mid_x = focus_obj['bound'][0] + focus_obj['bound'][2] / 2
mid_y = focus_obj['bound'][1] + focus_obj['bound'][3] / 2
#print "track obj {} mid pt ({}.{})".format(focus_obj['track_id'],mid_x,mid_y)
ofs_x = mid_x - 320
ofs_y = mid_y - 240
chx = chy = 0.0
if math.fabs(ofs_x) > 10:
chx = -ofs_x * 90.0 / 640 * 0.01745329252
#head_yaw_list.append(chx)
if math.fabs(ofs_y) > 10:
chy = ofs_y * 90.0 / 640 * 0.01745329252
PyPR2.updateHeadPos( chx, chy )
if Numpeople ==1:
if x>3.5:
if isNearest == False:
if y>0:
PyPR2.moveArmWithJointPos(**initial_left)
actionIdentifier= "initial_left"
else:
PyPR2.moveArmWithJointPos(**initial_right)
actionIdentifier= "initial_right"
elif 2.5<x<3.5:
PyPR2.moveTorsoBy(0.1,2)
if y>0:
PyPR2.moveArmWithJointPos(**second_left)
actionIdentifier = "second_left"
else:
PyPR2.moveArmWithJointPos(**second_right)
actionIdentifier = "second_right"
elif 1.5<x<2.5:
PyPR2.moveTorsoBy(0.1,2)
isNearest = True
if y>0:
PyPR2.moveArmWithJointPos(**third_left)
actionIdentifier = "third_left"
else:
PyPR2.moveArmWithJointPos(**third_right)
actionIdentifier = "third_right"
else:
isNearest = True
PyPR2.moveArmWithJointPos(**full_stretch_left)
PyPR2.moveArmWithJointPos(**full_stretch_right)
actionIdentifier = "full_stretch"
if 1<Numpeople<3:
#.........这里部分代码省略.........