hpp.corbaserver.robot.Robot Class Reference

Inheritance diagram for hpp.corbaserver.robot.Robot:

Public Member Functions
def	__init__ (self, robotName=None, rootJointType=None, load=True, client=None, hppcorbaClient=None)
def	rebuildRanks (self)
def	urdfSrdfFilenames (self)
def	urdfSrdfString (self)
def	loadModel (self, robotName, rootJointType)
def	urdfPath (self)
def	srdfPath (self)
def	getConfigSize (self)
def	getNumberDof (self)
def	getJointNames (self)
def	getJointTypes (self)
def	getAllJointNames (self)
def	getParentFrame (self, frameName)
def	getChildFrames (self, frameName, recursive=False)
def	getParentJoint (self, jointName)
def	getChildJoints (self, jointName, recursive=False)
def	getJointPosition (self, jointName)
def	getRootJointPosition (self)
def	setRootJointPosition (self, position)
def	setJointPosition (self, jointName, position)
def	getCurrentTransformation (self, jointName)
def	getJointNumberDof (self, jointName)
def	getJointConfigSize (self, jointName)
def	setJointBounds (self, jointName, inJointBound)
def	getJointBounds (self, jointName)
def	getSaturated (self, q)
def	getLinkPosition (self, linkName)
def	getLinkNames (self, jointName)
def	setCurrentConfig (self, q)
def	getCurrentConfig (self)
def	setCurrentVelocity (self, v)
def	getCurrentVelocity (self)
def	shootRandomConfig (self)
def	getJointInnerObjects (self, jointName)
def	getJointOuterObjects (self, jointName)
def	getObjectPosition (self, objectName)
def	removeObstacleFromJoint (self, objectName, jointName)
def	isConfigValid (self, cfg)
def	configIsValid (self, cfg)
def	distancesToCollision (self)
def	getRobotAABB (self)
def	getMass (self)
def	getCenterOfMass (self)
def	getJacobianCenterOfMass (self)

Public Attributes
	client
	hppcorba
	name
	rootJointType
	displayName
	jointNames
	allJointNames
	rankInConfiguration
	rankInVelocity
	childFrames
	parentJoint
	childJoints

Constructor & Destructor Documentation

__init__()

def hpp.corbaserver.robot.Robot.__init__	(		self,
			robotName = None,
			rootJointType = None,
			load = True,
			client = None,
			hppcorbaClient = None
	)

Reimplemented in hpp.corbaserver.robot.RobotXML, and hpp.corbaserver.robot.HumanoidRobot.

Member Function Documentation

configIsValid()

def hpp.corbaserver.robot.Robot.configIsValid	(		self,
			cfg
	)

distancesToCollision()

def hpp.corbaserver.robot.Robot.distancesToCollision

(

self

)

getAllJointNames()

def hpp.corbaserver.robot.Robot.getAllJointNames

(

self

)

getCenterOfMass()

def hpp.corbaserver.robot.Robot.getCenterOfMass

(

self

)

getChildFrames()

def hpp.corbaserver.robot.Robot.getChildFrames	(		self,
			frameName,
			recursive = False
	)

getChildJoints()

def hpp.corbaserver.robot.Robot.getChildJoints	(		self,
			jointName,
			recursive = False
	)

getConfigSize()

def hpp.corbaserver.robot.Robot.getConfigSize

(

self

)

getCurrentConfig()

def hpp.corbaserver.robot.Robot.getCurrentConfig

(

self

)

getCurrentTransformation()

def hpp.corbaserver.robot.Robot.getCurrentTransformation	(		self,
			jointName
	)

getCurrentVelocity()

def hpp.corbaserver.robot.Robot.getCurrentVelocity

(

self

)

getJacobianCenterOfMass()

def hpp.corbaserver.robot.Robot.getJacobianCenterOfMass

(

self

)

getJointBounds()

def hpp.corbaserver.robot.Robot.getJointBounds	(		self,
			jointName
	)

getJointConfigSize()

def hpp.corbaserver.robot.Robot.getJointConfigSize	(		self,
			jointName
	)

getJointInnerObjects()

def hpp.corbaserver.robot.Robot.getJointInnerObjects	(		self,
			jointName
	)

getJointNames()

def hpp.corbaserver.robot.Robot.getJointNames

(

self

)

getJointNumberDof()

def hpp.corbaserver.robot.Robot.getJointNumberDof	(		self,
			jointName
	)

getJointOuterObjects()

def hpp.corbaserver.robot.Robot.getJointOuterObjects	(		self,
			jointName
	)

getJointPosition()

def hpp.corbaserver.robot.Robot.getJointPosition	(		self,
			jointName
	)

getJointTypes()

def hpp.corbaserver.robot.Robot.getJointTypes

(

self

)

getLinkNames()

def hpp.corbaserver.robot.Robot.getLinkNames	(		self,
			jointName
	)

getLinkPosition()

def hpp.corbaserver.robot.Robot.getLinkPosition	(		self,
			linkName
	)

getMass()

def hpp.corbaserver.robot.Robot.getMass

(

self

)

getNumberDof()

def hpp.corbaserver.robot.Robot.getNumberDof

(

self

)

getObjectPosition()

def hpp.corbaserver.robot.Robot.getObjectPosition	(		self,
			objectName
	)

getParentFrame()

def hpp.corbaserver.robot.Robot.getParentFrame	(		self,
			frameName
	)

getParentJoint()

def hpp.corbaserver.robot.Robot.getParentJoint	(		self,
			jointName
	)

getRobotAABB()

def hpp.corbaserver.robot.Robot.getRobotAABB

(

self

)

getRootJointPosition()

def hpp.corbaserver.robot.Robot.getRootJointPosition

(

self

)

getSaturated()

def hpp.corbaserver.robot.Robot.getSaturated	(		self,
			q
	)

isConfigValid()

def hpp.corbaserver.robot.Robot.isConfigValid	(		self,
			cfg
	)

loadModel()

def hpp.corbaserver.robot.Robot.loadModel	(		self,
			robotName,
			rootJointType
	)

Reimplemented in hpp.corbaserver.robot.HumanoidRobot, and hpp.corbaserver.robot.RobotXML.

rebuildRanks()

def hpp.corbaserver.robot.Robot.rebuildRanks

(

self

)

removeObstacleFromJoint()

def hpp.corbaserver.robot.Robot.removeObstacleFromJoint	(		self,
			objectName,
			jointName
	)

setCurrentConfig()

def hpp.corbaserver.robot.Robot.setCurrentConfig	(		self,
			q
	)

setCurrentVelocity()

def hpp.corbaserver.robot.Robot.setCurrentVelocity	(		self,
			v
	)

setJointBounds()

def hpp.corbaserver.robot.Robot.setJointBounds	(		self,
			jointName,
			inJointBound
	)

setJointPosition()

def hpp.corbaserver.robot.Robot.setJointPosition	(		self,
			jointName,
			position
	)

setRootJointPosition()

def hpp.corbaserver.robot.Robot.setRootJointPosition	(		self,
			position
	)

shootRandomConfig()

def hpp.corbaserver.robot.Robot.shootRandomConfig

(

self

)

srdfPath()

def hpp.corbaserver.robot.Robot.srdfPath

(

self

)

urdfPath()

def hpp.corbaserver.robot.Robot.urdfPath

(

self

)

Reimplemented in hpp.corbaserver.robot.RobotXML.

urdfSrdfFilenames()

def hpp.corbaserver.robot.Robot.urdfSrdfFilenames

(

self

)

urdfSrdfString()

def hpp.corbaserver.robot.Robot.urdfSrdfString

(

self

)

Member Data Documentation

allJointNames

hpp.corbaserver.robot.Robot.allJointNames

childFrames

hpp.corbaserver.robot.Robot.childFrames

childJoints

hpp.corbaserver.robot.Robot.childJoints

client

hpp.corbaserver.robot.Robot.client

displayName

hpp.corbaserver.robot.Robot.displayName

hppcorba

hpp.corbaserver.robot.Robot.hppcorba

jointNames

hpp.corbaserver.robot.Robot.jointNames

name

hpp.corbaserver.robot.Robot.name

parentJoint

hpp.corbaserver.robot.Robot.parentJoint

rankInConfiguration

hpp.corbaserver.robot.Robot.rankInConfiguration

rankInVelocity

hpp.corbaserver.robot.Robot.rankInVelocity

rootJointType

hpp.corbaserver.robot.Robot.rootJointType

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

• src/hpp/corbaserver/robot.py