|
hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
|
Public Member Functions | |
| __init__ (self, robot, hppcorbaClient=None) | |
| loadPlugin (self, pluginName) | |
| setRandomSeed (self, seed) | |
| setMaxNumThreads (self, n) | |
| getMaxNumThreads (self) | |
| getAvailable (self, type) | |
| getSelected (self, type) | |
| setParameter (self, name, value) | |
| getParameter (self, name, keep_any=False) | |
| getParameterDoc (self, name) | |
| selectProblem (self, name) | |
| movePathToProblem (self, pathId, problemName, jointNames) | |
| setInitialConfig (self, dofArray) | |
| getInitialConfig (self) | |
| addGoalConfig (self, dofArray) | |
| setGoalConstraints (self, constraints) | |
| resetGoalConstraints (self) | |
| getGoalConfigs (self) | |
| resetGoalConfigs (self) | |
| loadObstacleFromUrdf (self, *args) | |
| removeObstacleFromJoint (self, objectName, jointName, collision, distance) | |
| cutObstacle (self, objectName, aabb) | |
| moveObstacle (self, objectName, cfg) | |
| getObstaclePosition (self, objectName) | |
| getObstacleNames (self, collision, distance) | |
| getObstacleLinkPosition (self, objectName) | |
| getObstacleLinkNames (self) | |
| createOrientationConstraint (self, constraintName, joint1Name, joint2Name, p, mask) | |
| createTransformationConstraint (self, constraintName, joint1Name, joint2Name, ref, mask) | |
| createLockedJoint (self, lockedDofName, jointName, value, comp=None) | |
| createLockedExtraDof (self, lockedDofName, index, value) | |
| createRelativeComConstraint (self, constraintName, comName, jointLName, point, mask) | |
| createComBeetweenFeet (self, constraintName, comName, jointLName, jointRName, pointL, pointR, jointRefName, mask) | |
| addPartialCom (self, comName, jointNames) | |
| getPartialCom (self, comName) | |
| createPositionConstraint (self, constraintName, joint1Name, joint2Name, point1, point2, mask) | |
| createDistanceBetweenJointConstraint (self, constraintName, joint1Name, joint2Name, distance) | |
| createDistanceBetweenJointAndObjects (self, constraintName, joint1Name, objects, distance) | |
| resetConstraints (self) | |
| resetConstraintMap (self) | |
| addNumericalConstraints (self, name, names, priorities=None) | |
| addLockedJointConstraints (self, name, names) | |
| setRightHandSide (self, rhs) | |
| setRightHandSideByName (self, constraintName, rhs) | |
| setRightHandSideFromConfig (self, config) | |
| setRightHandSideFromConfigByName (self, constraintName, config) | |
| applyConstraints (self, q) | |
| optimize (self, q) | |
| computeValueAndJacobian (self, q) | |
| addPassiveDofs (self, name, dofNames) | |
| setConstantRightHandSide (self, constraintName, constant) | |
| getConstantRightHandSide (self, constraintName) | |
| generateValidConfig (self, maxIter) | |
| getErrorThreshold (self) | |
| setErrorThreshold (self, threshold) | |
| setDefaultLineSearchType (self, type) | |
| getMaxIterPathPlanning (self) | |
| setMaxIterPathPlanning (self, iterations) | |
| getTimeOutPathPlanning (self) | |
| setTimeOutPathPlanning (self, timeOut) | |
| getMaxIterProjection (self) | |
| setMaxIterProjection (self, iterations) | |
| filterCollisionPairs (self) | |
| selectPathPlanner (self, pathPlannerType) | |
| selectConfigurationShooter (self, configurationShooterType) | |
| addPathOptimizer (self, pathOptimizerType) | |
| clearPathOptimizers (self) | |
| selectPathValidation (self, pathValidationType, tolerance) | |
| addConfigValidation (self, configValidationType) | |
| clearConfigValidations (self) | |
| selectPathProjector (self, pathProjectorType, tolerance) | |
| selectDistance (self, distanceType) | |
| selectSteeringMethod (self, steeringMethodType) | |
| prepareSolveStepByStep (self) | |
| executeOneStep (self) | |
| finishSolveStepByStep (self) | |
| solve (self) | |
| directPath (self, startConfig, endConfig, validate) | |
| appendDirectPath (self, pathId, config, validate) | |
| concatenatePath (self, startId, endId) | |
| extractPath (self, pathId, start, end) | |
| erasePath (self, pathId) | |
| projectPath (self, pathId) | |
| numberPaths (self) | |
| optimizePath (self, inPathId) | |
| pathLength (self, inPathId) | |
| configAtParam (self, inPathId, param) | |
| derivativeAtParam (self, inPathId, order, param) | |
| getWaypoints (self, pathId) | |
| interruptPathPlanning (self) | |
| nodes (self) | |
| node (self, nodeId) | |
| numberNodes (self) | |
| numberEdges (self) | |
| edge (self, edgeId) | |
| numberConnectedComponents (self) | |
| nodesConnectedComponent (self, ccId) | |
| getNearestConfig (self, randomConfig, connectedComponentId=-1) | |
| addConfigToRoadmap (self, config) | |
| addEdgeToRoadmap (self, config1, config2, pathId, bothEdges) | |
| clearRoadmap (self) | |
| saveRoadmap (self, filename) | |
| loadRoadmap (self, filename) | |
Public Attributes | |
| client | |
| hppcorba | |
| robot | |
| hpp.corbaserver.problem_solver.ProblemSolver.__init__ | ( | self, | |
| robot, | |||
hppcorbaClient = None |
|||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.addConfigToRoadmap | ( | self, | |
| config | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.addConfigValidation | ( | self, | |
| configValidationType | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.addEdgeToRoadmap | ( | self, | |
| config1, | |||
| config2, | |||
| pathId, | |||
| bothEdges | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.addGoalConfig | ( | self, | |
| dofArray | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.addLockedJointConstraints | ( | self, | |
| name, | |||
| names | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.addNumericalConstraints | ( | self, | |
| name, | |||
| names, | |||
priorities = None |
|||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.addPartialCom | ( | self, | |
| comName, | |||
| jointNames | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.addPassiveDofs | ( | self, | |
| name, | |||
| dofNames | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.addPathOptimizer | ( | self, | |
| pathOptimizerType | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.appendDirectPath | ( | self, | |
| pathId, | |||
| config, | |||
| validate | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.applyConstraints | ( | self, | |
| q | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.clearConfigValidations | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.clearPathOptimizers | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.clearRoadmap | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.computeValueAndJacobian | ( | self, | |
| q | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.concatenatePath | ( | self, | |
| startId, | |||
| endId | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.configAtParam | ( | self, | |
| inPathId, | |||
| param | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.createComBeetweenFeet | ( | self, | |
| constraintName, | |||
| comName, | |||
| jointLName, | |||
| jointRName, | |||
| pointL, | |||
| pointR, | |||
| jointRefName, | |||
| mask | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointAndObjects | ( | self, | |
| constraintName, | |||
| joint1Name, | |||
| objects, | |||
| distance | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointConstraint | ( | self, | |
| constraintName, | |||
| joint1Name, | |||
| joint2Name, | |||
| distance | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.createLockedExtraDof | ( | self, | |
| lockedDofName, | |||
| index, | |||
| value | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.createLockedJoint | ( | self, | |
| lockedDofName, | |||
| jointName, | |||
| value, | |||
comp = None |
|||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.createOrientationConstraint | ( | self, | |
| constraintName, | |||
| joint1Name, | |||
| joint2Name, | |||
| p, | |||
| mask | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.createPositionConstraint | ( | self, | |
| constraintName, | |||
| joint1Name, | |||
| joint2Name, | |||
| point1, | |||
| point2, | |||
| mask | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.createRelativeComConstraint | ( | self, | |
| constraintName, | |||
| comName, | |||
| jointLName, | |||
| point, | |||
| mask | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.createTransformationConstraint | ( | self, | |
| constraintName, | |||
| joint1Name, | |||
| joint2Name, | |||
| ref, | |||
| mask | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.cutObstacle | ( | self, | |
| objectName, | |||
| aabb | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.derivativeAtParam | ( | self, | |
| inPathId, | |||
| order, | |||
| param | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.directPath | ( | self, | |
| startConfig, | |||
| endConfig, | |||
| validate | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.edge | ( | self, | |
| edgeId | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.erasePath | ( | self, | |
| pathId | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.executeOneStep | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.extractPath | ( | self, | |
| pathId, | |||
| start, | |||
| end | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.filterCollisionPairs | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.finishSolveStepByStep | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.generateValidConfig | ( | self, | |
| maxIter | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getAvailable | ( | self, | |
| type | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getConstantRightHandSide | ( | self, | |
| constraintName | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getErrorThreshold | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getGoalConfigs | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getInitialConfig | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterPathPlanning | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterProjection | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getMaxNumThreads | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getNearestConfig | ( | self, | |
| randomConfig, | |||
connectedComponentId = -1 |
|||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkNames | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkPosition | ( | self, | |
| objectName | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getObstacleNames | ( | self, | |
| collision, | |||
| distance | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getObstaclePosition | ( | self, | |
| objectName | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getParameter | ( | self, | |
| name, | |||
keep_any = False |
|||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getParameterDoc | ( | self, | |
| name | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getPartialCom | ( | self, | |
| comName | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getSelected | ( | self, | |
| type | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getTimeOutPathPlanning | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.getWaypoints | ( | self, | |
| pathId | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.interruptPathPlanning | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.loadObstacleFromUrdf | ( | self, | |
| * | args | ||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.loadPlugin | ( | self, | |
| pluginName | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.loadRoadmap | ( | self, | |
| filename | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.moveObstacle | ( | self, | |
| objectName, | |||
| cfg | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.movePathToProblem | ( | self, | |
| pathId, | |||
| problemName, | |||
| jointNames | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.node | ( | self, | |
| nodeId | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.nodes | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.nodesConnectedComponent | ( | self, | |
| ccId | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.numberConnectedComponents | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.numberEdges | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.numberNodes | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.numberPaths | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.optimize | ( | self, | |
| q | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.optimizePath | ( | self, | |
| inPathId | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.pathLength | ( | self, | |
| inPathId | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.prepareSolveStepByStep | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.projectPath | ( | self, | |
| pathId | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.removeObstacleFromJoint | ( | self, | |
| objectName, | |||
| jointName, | |||
| collision, | |||
| distance | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.resetConstraintMap | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.resetConstraints | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConfigs | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConstraints | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.saveRoadmap | ( | self, | |
| filename | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.selectConfigurationShooter | ( | self, | |
| configurationShooterType | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.selectDistance | ( | self, | |
| distanceType | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.selectPathPlanner | ( | self, | |
| pathPlannerType | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.selectPathProjector | ( | self, | |
| pathProjectorType, | |||
| tolerance | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.selectPathValidation | ( | self, | |
| pathValidationType, | |||
| tolerance | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.selectProblem | ( | self, | |
| name | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.selectSteeringMethod | ( | self, | |
| steeringMethodType | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setConstantRightHandSide | ( | self, | |
| constraintName, | |||
| constant | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setDefaultLineSearchType | ( | self, | |
| type | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setErrorThreshold | ( | self, | |
| threshold | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setGoalConstraints | ( | self, | |
| constraints | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setInitialConfig | ( | self, | |
| dofArray | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterPathPlanning | ( | self, | |
| iterations | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterProjection | ( | self, | |
| iterations | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setMaxNumThreads | ( | self, | |
| n | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setParameter | ( | self, | |
| name, | |||
| value | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setRandomSeed | ( | self, | |
| seed | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSide | ( | self, | |
| rhs | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideByName | ( | self, | |
| constraintName, | |||
| rhs | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfig | ( | self, | |
| config | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfigByName | ( | self, | |
| constraintName, | |||
| config | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.setTimeOutPathPlanning | ( | self, | |
| timeOut | |||
| ) |
| hpp.corbaserver.problem_solver.ProblemSolver.solve | ( | self | ) |
| hpp.corbaserver.problem_solver.ProblemSolver.client |
| hpp.corbaserver.problem_solver.ProblemSolver.hppcorba |
| hpp.corbaserver.problem_solver.ProblemSolver.robot |