Module ImportFrom alias Import alias identifier Import alias identifier ImportFrom alias ImportFrom alias identifier ImportFrom alias identifier ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias ClassDef bases NameLoad body FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults Str Str body Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr ListLoad AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Dict Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr Str AttributeLoad NameLoad attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Return BinOpAdd Call NameLoad BinOpAdd Call AttributeLoad AttributeLoad NameLoad attr attr ListLoad Num Num decorator_list FunctionDef arguments args NameParam NameParam defaults Num body Return ListComp BinOpAdd BinOpAdd Call NameLoad BinOpAdd Call AttributeLoad AttributeLoad NameLoad attr attr ListLoad Num Num NameLoad comprehension NameStore Call NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults NameLoad NameLoad body If CompareIs NameLoad NameLoad body Assign NameStore Call AttributeLoad NameLoad attr orelse If CompareIn NameLoad AttributeLoad NameLoad attr body Return SubscriptLoad AttributeLoad NameLoad attr Index NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign SubscriptStore AttributeLoad NameLoad attr Index NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults Num body Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Assign AttributeStore NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr ListLoad Call NameLoad NameLoad Assign AttributeStore NameLoad attr ListLoad NameLoad Assign AttributeStore NameLoad attr ListLoad Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body For NameStore Call NameLoad AttributeLoad NameLoad attr body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr SubscriptLoad AttributeLoad NameLoad attr Index NameLoad Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index NameLoad If CompareNotIn NameLoad AttributeLoad NameLoad attr body Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad orelse Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index NameLoad Expr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam NameParam NameParam NameParam defaults ListLoad Num Num ListLoad Num Num Num AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr body Assign NameStore Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call NameLoad Assign NameStore Call AttributeLoad NameLoad attr TupleLoad Call AttributeLoad NameLoad attr Num UnaryOpUSub Call AttributeLoad NameLoad attr Num Assign NameStore Call AttributeLoad NameLoad attr TupleLoad NameLoad UnaryOpUSub Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Assign AttributeStore NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Str NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpSub SubscriptLoad NameLoad Slice Num BinOpDiv NameLoad Num Assign NameStore BinOpAdd SubscriptLoad NameLoad Slice Num BinOpDiv NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr TupleLoad UnaryOpUSub Call AttributeLoad NameLoad attr Num Call AttributeLoad NameLoad attr Num Assign NameStore Call AttributeLoad NameLoad attr TupleLoad UnaryOpUSub NameLoad NameLoad Return TupleLoad NameLoad NameLoad decorator_list decorator_list
N/A __future__ division N/A numpy np N/A drc lcmdrc director irisUtils director applogic app director objectmodel om director transformUtils director lcmUtils director robotstate director.terrainitem TerrainRegionItem director.lcmframe positionMessageFromFrame director.utime getUtime IRISDriver N/A object N/A __init__ N/A N/A self jointController footstepParams request_channel response_channel N/A IRIS_REGION_REQUEST IRIS_REGION_RESPONSE N/A N/A N/A self jointController jointController N/A N/A self params footstepParams N/A N/A self map_mode_map N/A N/A N/A lcmdrc footstep_plan_params_t FOOT_PLANE N/A N/A lcmdrc footstep_plan_params_t TERRAIN_HEIGHTS_AND_NORMALS N/A N/A lcmdrc footstep_plan_params_t TERRAIN_HEIGHTS_Z_NORMALS N/A N/A lcmdrc footstep_plan_params_t HORIZONTAL_PLANE N/A N/A self request_channel request_channel N/A N/A self response_channel response_channel N/A N/A self regions N/A N/A N/A self sub N/A N/A lcmUtils addSubscriber N/A self response_channel N/A lcmdrc iris_region_response_t N/A self onIRISRegionResponse N/A N/A self segmentation_sub N/A N/A lcmUtils addSubscriber IRIS_SEGMENTATION_RESPONSE N/A lcmdrc iris_region_response_t N/A self onIRISRegionResponse N/A getNewUID N/A N/A self N/A N/A N/A N/A N/A max N/A N/A N/A N/A self regions keys N/A 0 1 N/A getNewUIDs N/A N/A self num_ids N/A 1 N/A N/A N/A N/A N/A N/A max N/A N/A N/A N/A self regions keys N/A 0 1 i N/A i N/A range num_ids N/A newTerrainItem N/A N/A self tform uid region N/A None None N/A N/A N/A uid None N/A N/A uid N/A N/A self getNewUID N/A N/A N/A uid N/A self regions N/A N/A N/A N/A self regions N/A uid N/A view N/A N/A app getCurrentRenderView N/A item N/A TerrainRegionItem uid view tform self region N/A parentObj N/A N/A om getOrCreateContainer Safe terrain regions N/A N/A N/A om addToObjectModel item parentObj N/A N/A N/A self regions N/A uid item N/A item N/A requestIRISRegion N/A N/A self tform uid bounding_box_width N/A 2 N/A N/A start N/A N/A np asarray N/A N/A tform GetPosition N/A N/A A_bounds b_bounds N/A N/A self getXYBounds start bounding_box_width N/A msg N/A N/A lcmdrc iris_region_request_t N/A N/A msg utime N/A getUtime N/A N/A msg initial_state N/A N/A robotstate drakePoseToRobotState N/A N/A self jointController q N/A N/A msg map_mode N/A N/A self map_mode_map N/A N/A N/A N/A self params properties map_mode N/A N/A msg num_seed_poses 1 N/A N/A msg seed_poses N/A N/A positionMessageFromFrame tform N/A N/A msg region_id N/A uid N/A N/A msg xy_bounds N/A N/A N/A irisUtils encodeLinCon A_bounds b_bounds N/A N/A N/A lcmUtils publish N/A self request_channel msg N/A onIRISRegionResponse N/A N/A self msg N/A N/A N/A i N/A range N/A msg num_iris_regions N/A N/A new_region N/A N/A N/A irisUtils SafeTerrainRegion from_iris_region_t N/A N/A msg iris_regions N/A i N/A uid N/A N/A msg region_id N/A i N/A N/A uid N/A self regions N/A N/A tform N/A new_region tform N/A item N/A N/A self newTerrainItem tform uid new_region N/A N/A item N/A N/A self regions N/A uid N/A N/A N/A item setRegion new_region N/A autoIRISSegmentation N/A N/A self xy_lb xy_ub max_num_regions default_yaw max_slope_angle max_height_variation plane_distance_tolerance plane_angle_tolerance N/A N/A -2 -2 N/A 2 2 10 N/A np nan N/A np nan N/A np nan N/A np nan N/A np nan N/A N/A msg N/A N/A lcmdrc auto_iris_segmentation_request_t N/A N/A msg utime N/A getUtime N/A A N/A N/A np vstack N/A N/A N/A np eye 2 N/A N/A N/A np eye 2 N/A b N/A N/A np hstack N/A xy_ub N/A N/A N/A np asarray xy_lb N/A N/A msg xy_bounds N/A N/A irisUtils encodeLinCon A b N/A N/A msg initial_state N/A N/A robotstate drakePoseToRobotState N/A N/A self jointController q N/A N/A msg map_mode N/A N/A self map_mode_map N/A N/A N/A N/A self params properties map_mode N/A N/A msg num_seed_poses 0 N/A N/A msg max_num_regions max_num_regions N/A N/A msg region_id N/A N/A self getNewUIDs max_num_regions N/A N/A msg default_yaw default_yaw N/A N/A msg max_slope_angle max_slope_angle N/A N/A msg max_height_variation max_height_variation N/A N/A msg plane_distance_tolerance plane_distance_tolerance N/A N/A msg plane_angle_tolerance plane_angle_tolerance N/A N/A N/A lcmUtils publish AUTO_IRIS_SEGMENTATION_REQUEST msg N/A getXYBounds N/A N/A self start bounding_box_width N/A 2 N/A N/A start N/A N/A np asarray start N/A lb N/A N/A start N/A 2 N/A bounding_box_width 2 N/A ub N/A N/A start N/A 2 N/A bounding_box_width 2 N/A A N/A N/A np vstack N/A N/A N/A N/A np eye 2 N/A N/A np eye 2 N/A b N/A N/A np hstack N/A N/A lb ub N/A N/A A b N/A N/A