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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) | |
| getGrasp (self, gripper, handle) | |
| g (self, gripper, handle, what) | |
| getPlacement (self, object) | |
| p (self, object, what) | |
| buildGrasp (self, g, h) | |
| buildPlacement (self, o) | |
Public Attributes | |
| graphfactory | |
Protected Attributes | |
| _grasp | |
| _placement | |
An abstract class which stores the constraints. Child classes are responsible for building them. - \\ref buildGrasp - \\ref buildPlacement
| manipulation.constraint_graph_factory.ConstraintFactoryAbstract.__init__ | ( | self, | |
| graphfactory | |||
| ) |
Reimplemented in manipulation.constraint_graph_factory.ConstraintFactory.
| manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildGrasp | ( | self, | |
| g, | |||
| h | |||
| ) |
Function called to create grasp constraints. Must return a tuple of Constraints objects as: - constraint that validates the grasp - constraint that parameterizes the graph - constraint that validates the pre-grasp \\param g gripper string \\param h handle string
Reimplemented in manipulation.constraint_graph_factory.ConstraintFactory.
| manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildPlacement | ( | self, | |
| o | |||
| ) |
Function called to create placement constraints. Must return a tuple of Constraints objects as: - constraint that validates placement - constraint that parameterizes placement - constraint that validates pre-placement \\param o string
Reimplemented in manipulation.constraint_graph_factory.ConstraintFactory.
| manipulation.constraint_graph_factory.ConstraintFactoryAbstract.g | ( | self, | |
| gripper, | |||
| handle, | |||
| what | |||
| ) |
Get constraints relative to a grasp
\\param gripper name of a gripper or gripper index,
\\param handle name of a handle or handle index,
\\param what a word among <c>['grasp', 'graspComplement', 'preGrasp']</c>.
\\return the corresponding constraints as
\\link manipulation.constraints.Constraints Constraints\\endlink
instances.
\\warning If grasp does not exist, the function creates it.
| manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getGrasp | ( | self, | |
| gripper, | |||
| handle | |||
| ) |
Get constraints relative to a grasp
\\param gripper name of a gripper or gripper index
\\param handle name of a handle or handle index
\\return a dictionary with keys <c>['grasp', 'graspComplement',
'preGrasp']</c> and values the corresponding constraints as
\\link manipulation.constraints.Constraints Constraints\\endlink
instances.
\\warning If grasp does not exist, the function creates it.
| manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getPlacement | ( | self, | |
| object | |||
| ) |
Get constraints relative to an object placement
\\param object object name or index
\\return a dictionary with keys <c>['placement', 'placementComplement',
'prePlacement']</c> and values the corresponding constraints as
\\link manipulation.constraints.Constraints Constraints\\endlink
instances.
\\warning If placement does not exist, the function creates it.
| manipulation.constraint_graph_factory.ConstraintFactoryAbstract.p | ( | self, | |
| object, | |||
| what | |||
| ) |
Get constraints relative to a placement
\\param object object name or index
\\param what a word among <c>['placement', 'placementComplement',
'prePlacement']</c>.
\\return the corresponding constraints as
\\link manipulation.constraints.Constraints Constraints\\endlink
instances.
\\warning If placement does not exist, the function creates it.
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protected |
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protected |
| manipulation.constraint_graph_factory.ConstraintFactoryAbstract.graphfactory |