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hpp-manipulation-corba 6.0.0
Corba server for manipulation planning
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Classes | |
| class | StateAndManifold |
Public Member Functions | |
| __init__ (self, graph) | |
| makeState (self, grasps, priority) | |
| makeLoopTransition (self, state) | |
| makeTransition (self, stateFrom, stateTo, ig) | |
| setPreplacementDistance (self, obj, distance) | |
| getPreplacementDistance (self, obj) | |
| setPreplaceGuide (self, preplaceGuide) | |
Public Member Functions inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract | |
| setGrippers (self, grippers) | |
| setObjects (self, objects, handlesPerObjects, contactsPerObjects) | |
| environmentContacts (self, envContacts) | |
| setRules (self, rules) | |
| setPossibleGrasps (self, grasps) | |
| generate (self) | |
| transitionIsAllowed (self, stateFrom, stateTo) | |
Public Attributes | |
| constraints | |
| graph | |
| preplaceGuide | |
| defaultPreplaceDist | |
Public Attributes inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract | |
| graspIsAllowed | |
| states | |
| transitions | |
| handles | |
| grippers | |
| envContacts | |
| objects | |
| handlesPerObjects | |
| objectFromHandle | |
| contactsPerObjects | |
Static Public Attributes | |
| float | defaultPreplaceDist = 0.05 |
| preplaceDistance = dict() | |
Additional Inherited Members | |
Protected Member Functions inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract | |
| _existState (self, grasps) | |
| _makeState (self, grasps, priority) | |
| _isObjectGrasped (self, grasps, object) | |
| _stateName (self, grasps, abbrev=False) | |
| _transitionNames (self, sFrom, sTo, ig) | |
| _loopTransitionName (self, grasps) | |
| _recurse (self, grippers, handles, grasps, depth) | |
Default implementation of ConstraintGraphFactory The minimal usage is the following: >>> graph = ConstraintGraph(robot, "graph") # Required calls >>> factory = ConstraintGraphFactory(graph) >>> factory.setGrippers(["gripper1", ... ]) >>> factory.setObjects(["object1", ], [ [ "object1/handle1", ... ] ], [ [] ]) # Optionally >>> factory.environmentContacts(["contact1", ... ]) >>> factory.setRules([ Rule(["gripper1", ..], ["handle1", ...], True), ... ]) >>> factory.generate() # graph is initialized
| manipulation.constraint_graph_factory.ConstraintGraphFactory.__init__ | ( | self, | |
| graph | |||
| ) |
\\param graph an instance of ConstraintGraph
Reimplemented from manipulation.constraint_graph_factory.GraphFactoryAbstract.
| manipulation.constraint_graph_factory.ConstraintGraphFactory.getPreplacementDistance | ( | self, | |
| obj | |||
| ) |
Get preplacement distance \\param obj name of the object
| manipulation.constraint_graph_factory.ConstraintGraphFactory.makeLoopTransition | ( | self, | |
| state | |||
| ) |
Create a loop transition. \\param state: an object returned by \\ref makeState which represent the state
Reimplemented from manipulation.constraint_graph_factory.GraphFactoryAbstract.
| manipulation.constraint_graph_factory.ConstraintGraphFactory.makeState | ( | self, | |
| grasps, | |||
| priority | |||
| ) |
Create a new state.
\\param grasps a handle index for each gripper,
as in GraphFactoryAbstract.graspIsAllowed.
\\param priority the state priority.
\\return an object representing the state.
Reimplemented from manipulation.constraint_graph_factory.GraphFactoryAbstract.
| manipulation.constraint_graph_factory.ConstraintGraphFactory.makeTransition | ( | self, | |
| stateFrom, | |||
| stateTo, | |||
| ig | |||
| ) |
Make transition between to states \\param stateFrom initial state, \\param stateTo new state \\param ig index of gripper stateTo grasps are the union of stateFrom grasps with a set containing a grasp by gripper of index ig in list <c>self.grippers</c> of a handle. The index of the newly grasped handle can be found by <c>stateTo.grasps[ig]</c>
Reimplemented from manipulation.constraint_graph_factory.GraphFactoryAbstract.
| manipulation.constraint_graph_factory.ConstraintGraphFactory.setPreplaceGuide | ( | self, | |
| preplaceGuide | |||
| ) |
| manipulation.constraint_graph_factory.ConstraintGraphFactory.setPreplacementDistance | ( | self, | |
| obj, | |||
| distance | |||
| ) |
Set preplacement distance \\param obj name of the object \\param distance distance of object to surface in preplacement configuration
| manipulation.constraint_graph_factory.ConstraintGraphFactory.constraints |
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static |
| manipulation.constraint_graph_factory.ConstraintGraphFactory.defaultPreplaceDist |
| manipulation.constraint_graph_factory.ConstraintGraphFactory.graph |
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static |
| manipulation.constraint_graph_factory.ConstraintGraphFactory.preplaceGuide |