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hpp-manipulation-corba 6.0.0
Corba server for manipulation planning
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Public Member Functions | |
| __init__ (self, robot) | |
| selectProblem (self, name) | |
| getAvailable (self, type) | |
| getSelected (self, type) | |
| getEnvironmentContactNames (self) | |
| getRobotContactNames (self) | |
| getEnvironmentContact (self, name) | |
| getRobotContact (self, name) | |
| createPlacementConstraints (self, placementName, shapeName, envContactName, width=0.05) | |
| createQPStabilityConstraint (self, *args) | |
| registerConstraints (self, *args) | |
| balanceConstraints (self) | |
| getConstantRightHandSide (self, constraintName) | |
| lockFreeFlyerJoint (self, freeflyerBname, lockJointBname, values=(0, 0, 0, 0, 0, 0, 1)) | |
| lockPlanarJoint (self, jointName, lockJointName, values=(0, 0, 1, 0)) | |
| setTargetState (self, stateId) | |
Definition of a manipulation planning problem This class wraps the Corba client to the server implemented by libhpp-manipulation-corba.so Some method implemented by the server can be considered as private. The goal of this class is to hide them and to expose those that can be considered as public.
| manipulation.problem_solver.ProblemSolver.__init__ | ( | self, | |
| robot | |||
| ) |
| manipulation.problem_solver.ProblemSolver.balanceConstraints | ( | self | ) |
Return balance constraints created by method ProblemSolver.createStaticStabilityConstraints
| manipulation.problem_solver.ProblemSolver.createPlacementConstraints | ( | self, | |
| placementName, | |||
| shapeName, | |||
| envContactName, | |||
width = 0.05 |
|||
| ) |
Create placement and pre-placement constraints \\param width set to None to skip creation of pre-placement constraint \\return names of the placement and preplacement constraints See hpp::corbaserver::manipulation::Problem::createPlacementConstraint and hpp::corbaserver::manipulation::Problem::createPrePlacementConstraint
| manipulation.problem_solver.ProblemSolver.createQPStabilityConstraint | ( | self, | |
| * | args | ||
| ) |
Create QP Static stability constraint \\copydoc hpp::corbaserver::manipulation::Problem::createQPStabilityConstraint
| manipulation.problem_solver.ProblemSolver.getAvailable | ( | self, | |
| type | |||
| ) |
Return a list of available elements of type type
\\param type enter "type" to know what types I know of.
This is case insensitive.
| manipulation.problem_solver.ProblemSolver.getConstantRightHandSide | ( | self, | |
| constraintName | |||
| ) |
Get whether right hand side of a numerical constraint is constant \\param constraintName Name of the numerical constraint, \\return whether right hand side is constant
| manipulation.problem_solver.ProblemSolver.getEnvironmentContact | ( | self, | |
| name | |||
| ) |
\\copydoc hpp::corbaserver::manipulation::Problem::getEnvironmentContact
| manipulation.problem_solver.ProblemSolver.getEnvironmentContactNames | ( | self | ) |
\\copydoc hpp::corbaserver::manipulation::Problem::getEnvironmentContactNames
| manipulation.problem_solver.ProblemSolver.getRobotContact | ( | self, | |
| name | |||
| ) |
\\copydoc hpp::corbaserver::manipulation::Problem::getRobotContact
| manipulation.problem_solver.ProblemSolver.getRobotContactNames | ( | self | ) |
\\copydoc hpp::corbaserver::manipulation::Problem::getRobotContactNames
| manipulation.problem_solver.ProblemSolver.getSelected | ( | self, | |
| type | |||
| ) |
Return a list of selected elements of type type
\\param type enter "type" to know what types I know of.
This is case insensitive.
\\note For most of the types, the list will contain only one element.
| manipulation.problem_solver.ProblemSolver.lockFreeFlyerJoint | ( | self, | |
| freeflyerBname, | |||
| lockJointBname, | |||
values = (0, 0, 0, 0, 0, 0, 1) |
|||
| ) |
Lock degree of freedom of a FreeFlyer joint
\\param freeflyerBname base name of the joint
(It will be completed by '_xyz' and '_SO3'),
\\param lockJointBname base name of the LockedJoint constraints
(It will be completed by '_xyz' and '_SO3'),
\\param values config of the locked joints (7 float)
| manipulation.problem_solver.ProblemSolver.lockPlanarJoint | ( | self, | |
| jointName, | |||
| lockJointName, | |||
values = (0, 0, 1, 0) |
|||
| ) |
Lock degree of freedom of a planar joint
\\param jointName name of the joint
(It will be completed by '_xy' and '_rz'),
\\param lockJointName name of the LockedJoint constraint
\\param values config of the locked joints (4 float)
| manipulation.problem_solver.ProblemSolver.registerConstraints | ( | self, | |
| * | args | ||
| ) |
\\copydoc hpp::corbaserver::manipulation::Problem::registerConstraints
| manipulation.problem_solver.ProblemSolver.selectProblem | ( | self, | |
| name | |||
| ) |
Select a problem by its name. If no problem with this name exists, a new hpp::manipulation::ProblemSolver is created and selected. \\param name the problem name. \\return true if a new problem was created.
| manipulation.problem_solver.ProblemSolver.setTargetState | ( | self, | |
| stateId | |||
| ) |
Set the problem target to stateId The planner will look for a path from the init configuration to a configuration in state stateId