hpp-manipulation-corba  4.15.1
Corba server for manipulation planning
manipulation.constraint_graph_factory.ConstraintGraphFactory Class Reference
Inheritance diagram for manipulation.constraint_graph_factory.ConstraintGraphFactory:
Collaboration diagram for manipulation.constraint_graph_factory.ConstraintGraphFactory:

Classes

class  StateAndManifold
 

Public Member Functions

def __init__ (self, graph)
 
def makeState (self, grasps, priority)
 
def makeLoopTransition (self, state)
 
def makeTransition (self, stateFrom, stateTo, ig)
 
def setPreplacementDistance (self, obj, distance)
 
def getPreplacementDistance (self, obj)
 
def setPreplaceGuide (self, preplaceGuide)
 
- Public Member Functions inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
def __init__ (self)
 
def setGrippers (self, grippers)
 
def setObjects (self, objects, handlesPerObjects, contactsPerObjects)
 
def environmentContacts (self, envContacts)
 
def setRules (self, rules)
 
def generate (self)
 
def makeState (self, grasps, priority)
 
def makeLoopTransition (self, state)
 
def transitionIsAllowed (self, stateFrom, stateTo)
 
def makeTransition (self, stateFrom, stateTo, ig)
 

Public Attributes

 constraints
 
 graph
 
 preplaceGuide
 
- Public Attributes inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
 graspIsAllowed
 
 states
 
 transitions
 
 handles
 
 grippers
 
 envContacts
 
 objects
 
 handlesPerObjects
 
 objectFromHandle
 
 contactsPerObjects
 

Static Public Attributes

float defaultPreplaceDist = 0.05
 
 preplaceDistance = dict()
 

Detailed Description

Default implementation of ConstraintGraphFactory

The minimal usage is the following:
>>> graph = ConstraintGraph(robot, "graph")

# Required calls
>>> factory = ConstraintGraphFactory(graph)
>>> factory.setGrippers(["gripper1", ... ])
>>> factory.setObjects(["object1", ], [ [ "object1/handle1", ... ] ], [ [] ])

# Optionally
>>> factory.environmentContacts(["contact1", ... ])
>>> factory.setRules([ Rule(["gripper1", ..], ["handle1", ...], True), ... ])

>>> factory.generate()

# graph is initialized

Constructor & Destructor Documentation

◆ __init__()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.__init__ (   self,
  graph 
)
\\param graph an instance of ConstraintGraph

Member Function Documentation

◆ getPreplacementDistance()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.getPreplacementDistance (   self,
  obj 
)
Get preplacement distance
\\param obj name of the object

◆ makeLoopTransition()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.makeLoopTransition (   self,
  state 
)

◆ makeState()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.makeState (   self,
  grasps,
  priority 
)

◆ makeTransition()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.makeTransition (   self,
  stateFrom,
  stateTo,
  ig 
)
Make transition between to states

\\param stateFrom initial state,
\\param stateTo new state
\\param ig index of gripper

stateTo grasps are the union of stateFrom grasps with a set containing
a grasp by gripper of index ig in list <c>self.grippers</c> of a handle.
The index of the newly grasped handle can be found by
<c>stateTo.grasps[ig]</c>

◆ setPreplaceGuide()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.setPreplaceGuide (   self,
  preplaceGuide 
)

◆ setPreplacementDistance()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.setPreplacementDistance (   self,
  obj,
  distance 
)
Set preplacement distance
\\param obj name of the object
\\param distance distance of object to surface in preplacement
 configuration

Member Data Documentation

◆ constraints

manipulation.constraint_graph_factory.ConstraintGraphFactory.constraints

◆ defaultPreplaceDist

float manipulation.constraint_graph_factory.ConstraintGraphFactory.defaultPreplaceDist = 0.05
static

◆ graph

manipulation.constraint_graph_factory.ConstraintGraphFactory.graph

◆ preplaceDistance

manipulation.constraint_graph_factory.ConstraintGraphFactory.preplaceDistance = dict()
static

◆ preplaceGuide

manipulation.constraint_graph_factory.ConstraintGraphFactory.preplaceGuide

The documentation for this class was generated from the following file: