hpp-python 6.1.0
python bindings for HPP, based on boost python
Public Types | Public Member Functions | Public Attributes | List of all members
pyhpp::manipulation::PyWGraph Struct Reference

Python wrapper for Graph. More...

#include <pyhpp/manipulation/graph.hh>

Public Types

typedef hpp::constraints::ImplicitPtr_t ImplicitPtr_t
 
typedef hpp::constraints::NumericalConstraints_t NumericalConstraints_t
 

Public Member Functions

 PyWGraph (const GraphPtr_t &object)
 
 PyWGraph (const std::string &name, const PyWDevicePtr_t &d, const PyWProblemPtr_t &problem)
 
void maxIterations (size_type iterations)
 
size_type maxIterations () const
 
void errorThreshold (const value_type &threshold)
 
value_type errorThreshold () const
 
PyWStatePtr_t createState (const std::string &nodeName, bool waypoint, int priority)
 
PyWEdgePtr_t createTransition (PyWStatePtr_t nodeFrom, PyWStatePtr_t nodeTo, const std::string &transitionName, int w, PyWStatePtr_t isInState)
 
PyWEdgePtr_t createWaypointTransition (PyWStatePtr_t nodeFrom, PyWStatePtr_t nodeTo, const std::string &edgeName, int nb, int w, PyWStatePtr_t isInState, bool automaticBuilder)
 
PyWEdgePtr_t createLevelSetTransition (PyWStatePtr_t nodeFrom, PyWStatePtr_t nodeTo, const std::string &edgeName, int w, PyWStatePtr_t isInState)
 
void setContainingNode (PyWEdgePtr_t edge, PyWStatePtr_t node)
 
std::string getContainingNode (PyWEdgePtr_t edge)
 
void setShort (PyWEdgePtr_t edge, bool isShort)
 
bool isShort (PyWEdgePtr_t edge)
 
void getNodesConnectedByTransition (PyWEdgePtr_t edge, std::string &nodeFrom, std::string &nodeTo)
 
void setWeight (PyWEdgePtr_t edge, int weight)
 
size_t getWeight (PyWEdgePtr_t edge)
 
void setWaypoint (PyWEdgePtr_t waypointEdge, int index, PyWEdgePtr_t edge, PyWStatePtr_t state)
 
void addNumericalConstraintsToGraph (const boost::python::list &py_constraints)
 
PyWEdgePtr_t getTransition (const std::string &edgeName)
 
PyWStatePtr_t getState (const std::string &stateName)
 
boost::python::list getTransitions ()
 
boost::python::list getStates ()
 
boost::python::list getTransitionNames ()
 
boost::python::list getStateNames ()
 
std::string getStateFromConfiguration (ConfigurationIn_t input)
 
void addNumericalConstraint (PyWStatePtr_t node, const ImplicitPtr_t &constraint)
 
void addNumericalConstraintsToState (PyWStatePtr_t component, const boost::python::list &py_constraints)
 
void addNumericalConstraintsToTransition (PyWEdgePtr_t component, const boost::python::list &py_constraints)
 
void addNumericalConstraintsForPath (PyWStatePtr_t component, const boost::python::list &py_constraints)
 
void resetConstraints (PyWStatePtr_t component)
 
void registerConstraints (const ImplicitPtr_t &constraint, const ImplicitPtr_t &complement, const ImplicitPtr_t &both)
 
boost::python::tuple createPlacementConstraint (const std::string &name, const boost::python::list &py_surface1, const boost::python::list &py_surface2, const value_type &margin)
 
ImplicitPtr_t createPrePlacementConstraint (const std::string &name, const boost::python::list &py_surface1, const boost::python::list &py_surface2, const value_type &width, const value_type &margin)
 
boost::python::tuple createPlacementConstraint1 (const std::string &name, const boost::python::list &py_surface1, const boost::python::list &py_surface2, const value_type &margin)
 
boost::python::tuple createPlacementConstraint2 (const std::string &name, const boost::python::list &py_surface1, const boost::python::list &py_surface2)
 
ImplicitPtr_t createPrePlacementConstraint1 (const std::string &name, const boost::python::list &py_surface1, const boost::python::list &py_surface2, const value_type &width, const value_type &margin)
 
ImplicitPtr_t createPrePlacementConstraint2 (const std::string &name, const boost::python::list &py_surface1, const boost::python::list &py_surface2, const value_type &width)
 
boost::python::list createGraspConstraint (const std::string &name, const std::string &gripper, const std::string &handle)
 
ImplicitPtr_t createPreGraspConstraint (const std::string &name, const std::string &gripper, const std::string &handle)
 
boost::python::list getNumericalConstraintsForState (PyWStatePtr_t component)
 
boost::python::list getNumericalConstraintsForEdge (PyWEdgePtr_t component)
 
boost::python::list getNumericalConstraintsForGraph ()
 
boost::python::tuple getConfigErrorForState (PyWStatePtr_t component, ConfigurationIn_t input)
 
boost::python::tuple getConfigErrorForTransition (PyWEdgePtr_t edge, ConfigurationIn_t input)
 
boost::python::tuple getConfigErrorForTransitionLeaf (const PyWEdgePtr_t &edge, ConfigurationIn_t leafConfig, ConfigurationIn_t config) const
 
boost::python::tuple getConfigErrorForTransitionTarget (const PyWEdgePtr_t &edge, ConfigurationIn_t leafConfig, ConfigurationIn_t config) const
 
ConstraintResult applyStateConstraints (PyWStatePtr_t state, ConfigurationIn_t input)
 
ConstraintResult applyLeafConstraints (PyWEdgePtr_t transition, ConfigurationIn_t q_rhs, ConfigurationIn_t input)
 
ConstraintResult generateTargetConfig (PyWEdgePtr_t transition, ConfigurationIn_t q_rhs, ConfigurationIn_t input)
 
void addLevelSetFoliation (PyWEdgePtr_t edge, const boost::python::list &condNC, const boost::python::list &paramNC)
 
boost::python::list getSecurityMarginMatrixForTransition (PyWEdgePtr_t edge)
 
void setSecurityMarginForTransition (PyWEdgePtr_t edge, const char *joint1, const char *joint2, double margin)
 
boost::python::list getRelativeMotionMatrix (PyWEdgePtr_t edge)
 
void removeCollisionPairFromTransition (PyWEdgePtr_t edge, const char *joint1, const char *joint2)
 
void createSubGraph (const char *subgraphName, hpp::core::RoadmapPtr_t roadmap)
 
void setTargetNodeList (const boost::python::list &nodes)
 
std::string displayStateConstraints (PyWStatePtr_t state)
 
std::string displayTransitionConstraints (PyWEdgePtr_t edge)
 
std::string displayTransitionTargetConstraints (PyWEdgePtr_t edge)
 
void display (const char *filename)
 
void initialize ()
 

Public Attributes

std::map< std::string, std::size_t > id
 
GraphPtr_t obj
 
PyWDevicePtr_t robot
 
PyWProblemPtr_t problem
 
ConstraintsAndComplements_t constraintsAndComplements
 

Detailed Description

Python wrapper for Graph.

Member Typedef Documentation

◆ ImplicitPtr_t

typedef hpp::constraints::ImplicitPtr_t pyhpp::manipulation::PyWGraph::ImplicitPtr_t

◆ NumericalConstraints_t

typedef hpp::constraints::NumericalConstraints_t pyhpp::manipulation::PyWGraph::NumericalConstraints_t

Constructor & Destructor Documentation

◆ PyWGraph() [1/2]

pyhpp::manipulation::PyWGraph::PyWGraph ( const GraphPtr_t &  object)

◆ PyWGraph() [2/2]

pyhpp::manipulation::PyWGraph::PyWGraph ( const std::string &  name,
const PyWDevicePtr_t &  d,
const PyWProblemPtr_t &  problem 
)

Member Function Documentation

◆ addLevelSetFoliation()

void pyhpp::manipulation::PyWGraph::addLevelSetFoliation ( PyWEdgePtr_t  edge,
const boost::python::list &  condNC,
const boost::python::list &  paramNC 
)

◆ addNumericalConstraint()

void pyhpp::manipulation::PyWGraph::addNumericalConstraint ( PyWStatePtr_t  node,
const ImplicitPtr_t &  constraint 
)

◆ addNumericalConstraintsForPath()

void pyhpp::manipulation::PyWGraph::addNumericalConstraintsForPath ( PyWStatePtr_t  component,
const boost::python::list &  py_constraints 
)

◆ addNumericalConstraintsToGraph()

void pyhpp::manipulation::PyWGraph::addNumericalConstraintsToGraph ( const boost::python::list &  py_constraints)

◆ addNumericalConstraintsToState()

void pyhpp::manipulation::PyWGraph::addNumericalConstraintsToState ( PyWStatePtr_t  component,
const boost::python::list &  py_constraints 
)

◆ addNumericalConstraintsToTransition()

void pyhpp::manipulation::PyWGraph::addNumericalConstraintsToTransition ( PyWEdgePtr_t  component,
const boost::python::list &  py_constraints 
)

◆ applyLeafConstraints()

ConstraintResult pyhpp::manipulation::PyWGraph::applyLeafConstraints ( PyWEdgePtr_t  transition,
ConfigurationIn_t  q_rhs,
ConfigurationIn_t  input 
)

◆ applyStateConstraints()

ConstraintResult pyhpp::manipulation::PyWGraph::applyStateConstraints ( PyWStatePtr_t  state,
ConfigurationIn_t  input 
)

◆ createGraspConstraint()

boost::python::list pyhpp::manipulation::PyWGraph::createGraspConstraint ( const std::string &  name,
const std::string &  gripper,
const std::string &  handle 
)

◆ createLevelSetTransition()

PyWEdgePtr_t pyhpp::manipulation::PyWGraph::createLevelSetTransition ( PyWStatePtr_t  nodeFrom,
PyWStatePtr_t  nodeTo,
const std::string &  edgeName,
int  w,
PyWStatePtr_t  isInState 
)

◆ createPlacementConstraint()

boost::python::tuple pyhpp::manipulation::PyWGraph::createPlacementConstraint ( const std::string &  name,
const boost::python::list &  py_surface1,
const boost::python::list &  py_surface2,
const value_type &  margin = 1e-4 
)

◆ createPlacementConstraint1()

boost::python::tuple pyhpp::manipulation::PyWGraph::createPlacementConstraint1 ( const std::string &  name,
const boost::python::list &  py_surface1,
const boost::python::list &  py_surface2,
const value_type &  margin 
)

◆ createPlacementConstraint2()

boost::python::tuple pyhpp::manipulation::PyWGraph::createPlacementConstraint2 ( const std::string &  name,
const boost::python::list &  py_surface1,
const boost::python::list &  py_surface2 
)

◆ createPreGraspConstraint()

ImplicitPtr_t pyhpp::manipulation::PyWGraph::createPreGraspConstraint ( const std::string &  name,
const std::string &  gripper,
const std::string &  handle 
)

◆ createPrePlacementConstraint()

ImplicitPtr_t pyhpp::manipulation::PyWGraph::createPrePlacementConstraint ( const std::string &  name,
const boost::python::list &  py_surface1,
const boost::python::list &  py_surface2,
const value_type &  width,
const value_type &  margin = 1e-4 
)

◆ createPrePlacementConstraint1()

ImplicitPtr_t pyhpp::manipulation::PyWGraph::createPrePlacementConstraint1 ( const std::string &  name,
const boost::python::list &  py_surface1,
const boost::python::list &  py_surface2,
const value_type &  width,
const value_type &  margin 
)

◆ createPrePlacementConstraint2()

ImplicitPtr_t pyhpp::manipulation::PyWGraph::createPrePlacementConstraint2 ( const std::string &  name,
const boost::python::list &  py_surface1,
const boost::python::list &  py_surface2,
const value_type &  width 
)

◆ createState()

PyWStatePtr_t pyhpp::manipulation::PyWGraph::createState ( const std::string &  nodeName,
bool  waypoint,
int  priority 
)

◆ createSubGraph()

void pyhpp::manipulation::PyWGraph::createSubGraph ( const char *  subgraphName,
hpp::core::RoadmapPtr_t  roadmap 
)

◆ createTransition()

PyWEdgePtr_t pyhpp::manipulation::PyWGraph::createTransition ( PyWStatePtr_t  nodeFrom,
PyWStatePtr_t  nodeTo,
const std::string &  transitionName,
int  w,
PyWStatePtr_t  isInState 
)

◆ createWaypointTransition()

PyWEdgePtr_t pyhpp::manipulation::PyWGraph::createWaypointTransition ( PyWStatePtr_t  nodeFrom,
PyWStatePtr_t  nodeTo,
const std::string &  edgeName,
int  nb,
int  w,
PyWStatePtr_t  isInState,
bool  automaticBuilder 
)

◆ display()

void pyhpp::manipulation::PyWGraph::display ( const char *  filename)

◆ displayStateConstraints()

std::string pyhpp::manipulation::PyWGraph::displayStateConstraints ( PyWStatePtr_t  state)

◆ displayTransitionConstraints()

std::string pyhpp::manipulation::PyWGraph::displayTransitionConstraints ( PyWEdgePtr_t  edge)

◆ displayTransitionTargetConstraints()

std::string pyhpp::manipulation::PyWGraph::displayTransitionTargetConstraints ( PyWEdgePtr_t  edge)

◆ errorThreshold() [1/2]

value_type pyhpp::manipulation::PyWGraph::errorThreshold ( ) const

◆ errorThreshold() [2/2]

void pyhpp::manipulation::PyWGraph::errorThreshold ( const value_type &  threshold)

◆ generateTargetConfig()

ConstraintResult pyhpp::manipulation::PyWGraph::generateTargetConfig ( PyWEdgePtr_t  transition,
ConfigurationIn_t  q_rhs,
ConfigurationIn_t  input 
)

◆ getConfigErrorForState()

boost::python::tuple pyhpp::manipulation::PyWGraph::getConfigErrorForState ( PyWStatePtr_t  component,
ConfigurationIn_t  input 
)

◆ getConfigErrorForTransition()

boost::python::tuple pyhpp::manipulation::PyWGraph::getConfigErrorForTransition ( PyWEdgePtr_t  edge,
ConfigurationIn_t  input 
)

◆ getConfigErrorForTransitionLeaf()

boost::python::tuple pyhpp::manipulation::PyWGraph::getConfigErrorForTransitionLeaf ( const PyWEdgePtr_t &  edge,
ConfigurationIn_t  leafConfig,
ConfigurationIn_t  config 
) const

◆ getConfigErrorForTransitionTarget()

boost::python::tuple pyhpp::manipulation::PyWGraph::getConfigErrorForTransitionTarget ( const PyWEdgePtr_t &  edge,
ConfigurationIn_t  leafConfig,
ConfigurationIn_t  config 
) const

◆ getContainingNode()

std::string pyhpp::manipulation::PyWGraph::getContainingNode ( PyWEdgePtr_t  edge)

◆ getNodesConnectedByTransition()

void pyhpp::manipulation::PyWGraph::getNodesConnectedByTransition ( PyWEdgePtr_t  edge,
std::string &  nodeFrom,
std::string &  nodeTo 
)

◆ getNumericalConstraintsForEdge()

boost::python::list pyhpp::manipulation::PyWGraph::getNumericalConstraintsForEdge ( PyWEdgePtr_t  component)

◆ getNumericalConstraintsForGraph()

boost::python::list pyhpp::manipulation::PyWGraph::getNumericalConstraintsForGraph ( )

◆ getNumericalConstraintsForState()

boost::python::list pyhpp::manipulation::PyWGraph::getNumericalConstraintsForState ( PyWStatePtr_t  component)

◆ getRelativeMotionMatrix()

boost::python::list pyhpp::manipulation::PyWGraph::getRelativeMotionMatrix ( PyWEdgePtr_t  edge)

◆ getSecurityMarginMatrixForTransition()

boost::python::list pyhpp::manipulation::PyWGraph::getSecurityMarginMatrixForTransition ( PyWEdgePtr_t  edge)

◆ getState()

PyWStatePtr_t pyhpp::manipulation::PyWGraph::getState ( const std::string &  stateName)

◆ getStateFromConfiguration()

std::string pyhpp::manipulation::PyWGraph::getStateFromConfiguration ( ConfigurationIn_t  input)

◆ getStateNames()

boost::python::list pyhpp::manipulation::PyWGraph::getStateNames ( )

◆ getStates()

boost::python::list pyhpp::manipulation::PyWGraph::getStates ( )

◆ getTransition()

PyWEdgePtr_t pyhpp::manipulation::PyWGraph::getTransition ( const std::string &  edgeName)

◆ getTransitionNames()

boost::python::list pyhpp::manipulation::PyWGraph::getTransitionNames ( )

◆ getTransitions()

boost::python::list pyhpp::manipulation::PyWGraph::getTransitions ( )

◆ getWeight()

size_t pyhpp::manipulation::PyWGraph::getWeight ( PyWEdgePtr_t  edge)

◆ initialize()

void pyhpp::manipulation::PyWGraph::initialize ( )

◆ isShort()

bool pyhpp::manipulation::PyWGraph::isShort ( PyWEdgePtr_t  edge)

◆ maxIterations() [1/2]

size_type pyhpp::manipulation::PyWGraph::maxIterations ( ) const

◆ maxIterations() [2/2]

void pyhpp::manipulation::PyWGraph::maxIterations ( size_type  iterations)

◆ registerConstraints()

void pyhpp::manipulation::PyWGraph::registerConstraints ( const ImplicitPtr_t &  constraint,
const ImplicitPtr_t &  complement,
const ImplicitPtr_t &  both 
)

◆ removeCollisionPairFromTransition()

void pyhpp::manipulation::PyWGraph::removeCollisionPairFromTransition ( PyWEdgePtr_t  edge,
const char *  joint1,
const char *  joint2 
)

◆ resetConstraints()

void pyhpp::manipulation::PyWGraph::resetConstraints ( PyWStatePtr_t  component)

◆ setContainingNode()

void pyhpp::manipulation::PyWGraph::setContainingNode ( PyWEdgePtr_t  edge,
PyWStatePtr_t  node 
)

◆ setSecurityMarginForTransition()

void pyhpp::manipulation::PyWGraph::setSecurityMarginForTransition ( PyWEdgePtr_t  edge,
const char *  joint1,
const char *  joint2,
double  margin 
)

◆ setShort()

void pyhpp::manipulation::PyWGraph::setShort ( PyWEdgePtr_t  edge,
bool  isShort 
)

◆ setTargetNodeList()

void pyhpp::manipulation::PyWGraph::setTargetNodeList ( const boost::python::list &  nodes)

◆ setWaypoint()

void pyhpp::manipulation::PyWGraph::setWaypoint ( PyWEdgePtr_t  waypointEdge,
int  index,
PyWEdgePtr_t  edge,
PyWStatePtr_t  state 
)

◆ setWeight()

void pyhpp::manipulation::PyWGraph::setWeight ( PyWEdgePtr_t  edge,
int  weight 
)

Member Data Documentation

◆ constraintsAndComplements

ConstraintsAndComplements_t pyhpp::manipulation::PyWGraph::constraintsAndComplements

◆ id

std::map<std::string, std::size_t> pyhpp::manipulation::PyWGraph::id

◆ obj

GraphPtr_t pyhpp::manipulation::PyWGraph::obj

◆ problem

PyWProblemPtr_t pyhpp::manipulation::PyWGraph::problem

◆ robot

PyWDevicePtr_t pyhpp::manipulation::PyWGraph::robot
The documentation for this struct was generated from the following files: