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hpp-manipulation-corba 6.0.0
Corba server for manipulation planning
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Public Member Functions | |
| __init__ (self, graphfactory, graph) | |
| buildGrasp (self, g, h) | |
| buildPlacement (self, o) | |
Public Member Functions inherited from manipulation.constraint_graph_factory.ConstraintFactoryAbstract | |
| getGrasp (self, gripper, handle) | |
| g (self, gripper, handle, what) | |
| getPlacement (self, object) | |
| p (self, object, what) | |
Public Attributes | |
| graph | |
| gfields | |
| pfields | |
Public Attributes inherited from manipulation.constraint_graph_factory.ConstraintFactoryAbstract | |
| graphfactory | |
Static Public Attributes | |
| bool | removeEmptyConstraints = True |
| tuple | gfields = ("grasp", "graspComplement", "preGrasp") |
| tuple | pfields = ("placement", "placementComplement", "prePlacement") |
Protected Member Functions | |
| _removeEmptyConstraints (self, problem, constraints) | |
Additional Inherited Members | |
Protected Attributes inherited from manipulation.constraint_graph_factory.ConstraintFactoryAbstract | |
| _grasp | |
| _placement | |
Default implementation of ConstraintFactoryAbstract
| manipulation.constraint_graph_factory.ConstraintFactory.__init__ | ( | self, | |
| graphfactory, | |||
| graph | |||
| ) |
Reimplemented from manipulation.constraint_graph_factory.ConstraintFactoryAbstract.
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protected |
| manipulation.constraint_graph_factory.ConstraintFactory.buildGrasp | ( | self, | |
| g, | |||
| h | |||
| ) |
Calls ConstraintGraph.createGraph and ConstraintGraph.createPreGrasp \\param g gripper string \\param h handle string \note if the grasp constraint already exists, it is not created.
Reimplemented from manipulation.constraint_graph_factory.ConstraintFactoryAbstract.
| manipulation.constraint_graph_factory.ConstraintFactory.buildPlacement | ( | self, | |
| o | |||
| ) |
This implements placement manifolds, where the parameterization constraints is the complement of the placement constraint. \\param o string
Reimplemented from manipulation.constraint_graph_factory.ConstraintFactoryAbstract.
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static |
| manipulation.constraint_graph_factory.ConstraintFactory.gfields |
| manipulation.constraint_graph_factory.ConstraintFactory.graph |
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static |
| manipulation.constraint_graph_factory.ConstraintFactory.pfields |
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static |