Class Head

Constructor.

Overrides: object.__init__

Check if the head is currently blocked from movement. Get the current pan angle of the head. This can only be true if 'pan_mode' is ACTIVE_CANCELLATION_MODE.

Returns: bool

True if the head is currently blocked, False otherwise.

Get the mode the head is currently acting in.

@rtype: string
@return: current mode -
         'PASSIVE_MODE'(0) : Compliant to user-induced external movement
         'ACTIVE_MODE' (1)  : Actively responds to absolute commanded
                            position
                            Command limits are actual joint limits.
         'ACTIVE_CANCELLATION_MODE' (2) : Actively responds to commanded
                                   head position relative to the
                                   current position of robot base frame

Get the current pan angle of the head.

Returns: float

current angle in radians

Check if the head is currently panning.

Returns: bool

True if the head is currently panning, False otherwise.

Pan at the given speed to the desired angle.

Parameters:

• angle (float) - Desired pan angle in radians.
• speed (int) - Desired speed to pan at, range is 0-1.0 [1.0]
• timeout (float) - Seconds to wait for the head to pan to the specified angle. If 0, just command once and return. [10]
• active_cancellation (bool) - Specifies if the head should aim at a location in the base frame. If this is set to True, the "angle" param is measured with respect to the "/base" frame, rather than the actual head joint value. Valid range is [-pi, pi) radians.