pyhpp::manipulation Namespace Reference

Namespaces
namespace	steeringMethod
namespace	urdf

Classes
struct	Device
struct	EndEffectorTrajectory
struct	EndEffectorTrajectorySteeringMethod
struct	GraphSteeringMethod
struct	ManipulationPlanner
struct	modelsInfo
struct	Problem
struct	PyWEdge
	Python wrapper for Edge. More...
struct	PyWGraph
	Python wrapper for Graph. More...
struct	PyWState
	Python wrapper for State. More...
struct	StatesPathFinder
struct	TransitionPlanner

Typedefs
typedef std::shared_ptr< Device >	PyWDevicePtr_t
typedef std::shared_ptr< Problem >	PyWProblemPtr_t
typedef std::shared_ptr< PyWGraph >	PyWGraphPtr_t
typedef std::shared_ptr< GraphSteeringMethod >	PyWGraphSteeringMethodPtr_t
typedef hpp::pinocchio::Model	Model
typedef hpp::pinocchio::Data	Data
typedef hpp::pinocchio::ModelPtr_t	ModelPtr_t
typedef hpp::pinocchio::GeomData	GeomData
typedef hpp::pinocchio::LiegroupSpacePtr_t	LiegroupSpacePtr_t
typedef hpp::pinocchio::GeomModel	GeomModel
typedef hpp::pinocchio::Configuration_t	Configuration_t
typedef hpp::pinocchio::ConfigurationIn_t	ConfigurationIn_t
typedef hpp::pinocchio::vector_t	vector_t
typedef hpp::pinocchio::vector3_t	vector3_t
typedef hpp::pinocchio::size_type	size_type
typedef hpp::pinocchio::value_type	value_type
typedef hpp::pinocchio::Transform3s	Transform3s
typedef hpp::pinocchio::GripperPtr_t	GripperPtr_t
typedef hpp::pinocchio::Gripper	Gripper
typedef hpp::pinocchio::Computation_t	Computation_t
typedef hpp::manipulation::HandlePtr_t	HandlePtr_t
typedef hpp::manipulation::Handle	Handle
typedef hpp::manipulation::DevicePtr_t	DevicePtr_t
typedef hpp::pinocchio::DevicePtr_t	PinDevicePtr_t
typedef hpp::pinocchio::Frame	Frame
typedef hpp::pinocchio::FrameIndex	FrameIndex
typedef hpp::pinocchio::Joint	Joint
typedef hpp::pinocchio::JointIndex	JointIndex
typedef hpp::pinocchio::JointPtr_t	JointPtr_t
typedef std::vector< vector3_t >	Shape_t
typedef std::pair< JointPtr_t, Shape_t >	JointAndShape_t
typedef std::vector< JointAndShape_t >	JointAndShapes_t
typedef hpp::constraints::ImplicitPtr_t	ImplicitPtr_t
typedef hpp::core::PathValidationPtr_t	PathValidationPtr_t
typedef hpp::manipulation::graph::GraphComponent	GraphComponent
typedef hpp::manipulation::graph::GraphComponentPtr_t	GraphComponentPtr_t
typedef hpp::manipulation::ProblemPtr_t	ProblemPtr_t
typedef hpp::manipulation::graph::Edge	Edge
typedef hpp::manipulation::graph::EdgePtr_t	EdgePtr_t
typedef hpp::manipulation::graph::State	State
typedef hpp::manipulation::graph::StatePtr_t	StatePtr_t
typedef hpp::manipulation::graph::GraphPtr_t	GraphPtr_t
typedef hpp::manipulation::ConstraintsAndComplements_t	ConstraintsAndComplements_t
typedef hpp::manipulation::ConstraintAndComplement_t	ConstraintAndComplement_t
typedef std::shared_ptr< PyWState >	PyWStatePtr_t
typedef std::shared_ptr< PyWEdge >	PyWEdgePtr_t
typedef pathOptimization::SplineGradientBased< hpp::core::path::BernsteinBasis, 1 >	SGB1_t
typedef pathOptimization::SplineGradientBased< hpp::core::path::BernsteinBasis, 3 >	SGB3_t
typedef boost::python::tuple	tuple
typedef hpp::core::PathOptimizerPtr_t	PathOptimizerPtr_t
typedef hpp::core::PathProjectorPtr_t	PathProjectorPtr_t
typedef hpp::core::PathPtr_t	PathPtr_t
typedef hpp::core::PathVectorPtr_t	PathVectorPtr_t
typedef hpp::core::RoadmapPtr_t	RoadmapPtr_t
typedef hpp::manipulation::matrixIn_t	matrixIn_t
typedef pyhpp::core::PyWSteeringMethodPtr_t	PyWSteeringMethodPtr_t

Functions
void	exposeDevice ()
void	exposeHandle ()
void	exposeGraph ()
void	exposePathPlanners ()
void	exposeProblem ()
void	exposePathProjector ()
void	exposeManipSteeringMethod ()
void	exposePathOptimizers ()
std::string	getHandleName (const HandlePtr_t &handle)
void	setHandleName (const HandlePtr_t &handle, const std::string &name)
Transform3s	getHandleLocalPosition (const HandlePtr_t &handle)
void	setHandleLocalPosition (const HandlePtr_t &handle, const Transform3s &se3)
std::vector< bool >	getHandleMask (const HandlePtr_t &handle)
void	setHandleMask (const HandlePtr_t &handle, const std::vector< bool > &mask)
std::vector< bool >	getHandleMaskComp (const HandlePtr_t &handle)
void	setHandleMaskComp (const HandlePtr_t &handle, const std::vector< bool > &mask)
vector3_t	getApproachingDirection (const HandlePtr_t &handle)
void	setApproachingDirection (const HandlePtr_t &handle, const vector3_t &dir)
object	asPinDevice (object self)
std::vector< std::vector< double > >	matrixToVectorVector (const Eigen::Ref< const Eigen::Matrix< double, -1, -1 > > &input)
PyObject *	getGraphCapsule (const PyWGraph &self)
template<typename InnerOpt >
hpp::core::PathOptimizerPtr_t	createGraphOptimizer (const hpp::core::ProblemConstPtr_t &problem)
void	exposeSplineGradientBased1 (const char *name)
void	exposeSplineGradientBased3 (const char *name)

Typedef Documentation

Computation_t

typedef hpp::pinocchio::Computation_t pyhpp::manipulation::Computation_t

Configuration_t

typedef hpp::manipulation::Configuration_t pyhpp::manipulation::Configuration_t

ConfigurationIn_t

typedef hpp::core::ConfigurationIn_t pyhpp::manipulation::ConfigurationIn_t

ConstraintAndComplement_t

typedef hpp::manipulation::ConstraintAndComplement_t pyhpp::manipulation::ConstraintAndComplement_t

ConstraintsAndComplements_t

typedef hpp::manipulation::ConstraintsAndComplements_t pyhpp::manipulation::ConstraintsAndComplements_t

Data

typedef hpp::pinocchio::Data pyhpp::manipulation::Data

DevicePtr_t

typedef hpp::manipulation::DevicePtr_t pyhpp::manipulation::DevicePtr_t

Edge

typedef hpp::manipulation::graph::Edge pyhpp::manipulation::Edge

EdgePtr_t

typedef hpp::manipulation::graph::EdgePtr_t pyhpp::manipulation::EdgePtr_t

Frame

typedef hpp::pinocchio::Frame pyhpp::manipulation::Frame

FrameIndex

typedef hpp::pinocchio::FrameIndex pyhpp::manipulation::FrameIndex

GeomData

typedef hpp::pinocchio::GeomData pyhpp::manipulation::GeomData

GeomModel

typedef hpp::pinocchio::GeomModel pyhpp::manipulation::GeomModel

GraphComponent

typedef hpp::manipulation::graph::GraphComponent pyhpp::manipulation::GraphComponent

GraphComponentPtr_t

typedef hpp::manipulation::graph::GraphComponentPtr_t pyhpp::manipulation::GraphComponentPtr_t

GraphPtr_t

typedef hpp::manipulation::graph::GraphPtr_t pyhpp::manipulation::GraphPtr_t

Gripper

typedef hpp::pinocchio::Gripper pyhpp::manipulation::Gripper

GripperPtr_t

typedef hpp::pinocchio::GripperPtr_t pyhpp::manipulation::GripperPtr_t

Handle

typedef hpp::manipulation::Handle pyhpp::manipulation::Handle

HandlePtr_t

typedef hpp::manipulation::HandlePtr_t pyhpp::manipulation::HandlePtr_t

ImplicitPtr_t

typedef hpp::constraints::ImplicitPtr_t pyhpp::manipulation::ImplicitPtr_t

Joint

typedef hpp::pinocchio::Joint pyhpp::manipulation::Joint

JointAndShape_t

typedef std::pair<JointPtr_t, Shape_t> pyhpp::manipulation::JointAndShape_t

JointAndShapes_t

typedef std::vector<JointAndShape_t> pyhpp::manipulation::JointAndShapes_t

JointIndex

typedef hpp::pinocchio::JointIndex pyhpp::manipulation::JointIndex

JointPtr_t

typedef hpp::pinocchio::JointPtr_t pyhpp::manipulation::JointPtr_t

LiegroupSpacePtr_t

typedef hpp::pinocchio::LiegroupSpacePtr_t pyhpp::manipulation::LiegroupSpacePtr_t

matrixIn_t

typedef hpp::manipulation::matrixIn_t pyhpp::manipulation::matrixIn_t

Model

typedef hpp::pinocchio::Model pyhpp::manipulation::Model

ModelPtr_t

typedef hpp::pinocchio::ModelPtr_t pyhpp::manipulation::ModelPtr_t

PathOptimizerPtr_t

typedef hpp::core::PathOptimizerPtr_t pyhpp::manipulation::PathOptimizerPtr_t

PathProjectorPtr_t

typedef hpp::core::PathProjectorPtr_t pyhpp::manipulation::PathProjectorPtr_t

PathPtr_t

typedef hpp::core::PathPtr_t pyhpp::manipulation::PathPtr_t

PathValidationPtr_t

typedef hpp::core::PathValidationPtr_t pyhpp::manipulation::PathValidationPtr_t

PathVectorPtr_t

typedef hpp::core::PathVectorPtr_t pyhpp::manipulation::PathVectorPtr_t

PinDevicePtr_t

typedef hpp::pinocchio::DevicePtr_t pyhpp::manipulation::PinDevicePtr_t

ProblemPtr_t

typedef hpp::manipulation::ProblemPtr_t pyhpp::manipulation::ProblemPtr_t

PyWDevicePtr_t

typedef std::shared_ptr<Device> pyhpp::manipulation::PyWDevicePtr_t

PyWEdgePtr_t

typedef std::shared_ptr<PyWEdge> pyhpp::manipulation::PyWEdgePtr_t

PyWGraphPtr_t

typedef std::shared_ptr< PyWGraph > pyhpp::manipulation::PyWGraphPtr_t

PyWGraphSteeringMethodPtr_t

typedef std::shared_ptr<GraphSteeringMethod> pyhpp::manipulation::PyWGraphSteeringMethodPtr_t

PyWProblemPtr_t

typedef std::shared_ptr<Problem> pyhpp::manipulation::PyWProblemPtr_t

PyWStatePtr_t

typedef std::shared_ptr<PyWState> pyhpp::manipulation::PyWStatePtr_t

PyWSteeringMethodPtr_t

typedef pyhpp::core::PyWSteeringMethodPtr_t pyhpp::manipulation::PyWSteeringMethodPtr_t

RoadmapPtr_t

typedef hpp::core::RoadmapPtr_t pyhpp::manipulation::RoadmapPtr_t

SGB1_t

typedef pathOptimization::SplineGradientBased<hpp::core::path::BernsteinBasis, 1> pyhpp::manipulation::SGB1_t

SGB3_t

typedef pathOptimization::SplineGradientBased<hpp::core::path::BernsteinBasis, 3> pyhpp::manipulation::SGB3_t

Shape_t

typedef std::vector<vector3_t> pyhpp::manipulation::Shape_t

size_type

typedef hpp::manipulation::size_type pyhpp::manipulation::size_type

State

typedef hpp::manipulation::graph::State pyhpp::manipulation::State

StatePtr_t

typedef hpp::manipulation::graph::StatePtr_t pyhpp::manipulation::StatePtr_t

Transform3s

typedef hpp::pinocchio::Transform3s pyhpp::manipulation::Transform3s

tuple

typedef boost::python::tuple pyhpp::manipulation::tuple

value_type

typedef hpp::manipulation::value_type pyhpp::manipulation::value_type

vector3_t

typedef hpp::pinocchio::vector3_t pyhpp::manipulation::vector3_t

vector_t

typedef hpp::pinocchio::vector_t pyhpp::manipulation::vector_t

Function Documentation

asPinDevice()

object pyhpp::manipulation::asPinDevice

(

object

self

)

createGraphOptimizer()

template<typename InnerOpt >

hpp::core::PathOptimizerPtr_t pyhpp::manipulation::createGraphOptimizer

(

const hpp::core::ProblemConstPtr_t &

problem

)

exposeDevice()

void pyhpp::manipulation::exposeDevice

(

)

exposeGraph()

void pyhpp::manipulation::exposeGraph

(

)

exposeHandle()

void pyhpp::manipulation::exposeHandle

(

)

exposeManipSteeringMethod()

void pyhpp::manipulation::exposeManipSteeringMethod

(

)

exposePathOptimizers()

void pyhpp::manipulation::exposePathOptimizers

(

)

exposePathPlanners()

void pyhpp::manipulation::exposePathPlanners

(

)

exposePathProjector()

void pyhpp::manipulation::exposePathProjector

(

)

exposeProblem()

void pyhpp::manipulation::exposeProblem

(

)

exposeSplineGradientBased1()

void pyhpp::manipulation::exposeSplineGradientBased1

(

const char *

name

)

exposeSplineGradientBased3()

void pyhpp::manipulation::exposeSplineGradientBased3

(

const char *

name

)

getApproachingDirection()

vector3_t pyhpp::manipulation::getApproachingDirection

(

const HandlePtr_t &

handle

)

getGraphCapsule()

PyObject * pyhpp::manipulation::getGraphCapsule

(

const PyWGraph &

self

)

Create a PyCapsule containing a copy of the GraphPtr_t shared_ptr This allows external modules to extract the native C++ pointer

getHandleLocalPosition()

Transform3s pyhpp::manipulation::getHandleLocalPosition

(

const HandlePtr_t &

handle

)

getHandleMask()

std::vector< bool > pyhpp::manipulation::getHandleMask

(

const HandlePtr_t &

handle

)

getHandleMaskComp()

std::vector< bool > pyhpp::manipulation::getHandleMaskComp

(

const HandlePtr_t &

handle

)

getHandleName()

std::string pyhpp::manipulation::getHandleName

(

const HandlePtr_t &

handle

)

matrixToVectorVector()

std::vector< std::vector< double > > pyhpp::manipulation::matrixToVectorVector

(

const Eigen::Ref< const Eigen::Matrix< double, -1, -1 > > &

input

)

setApproachingDirection()

void pyhpp::manipulation::setApproachingDirection	(	const HandlePtr_t &	handle,
		const vector3_t &	dir
	)

setHandleLocalPosition()

void pyhpp::manipulation::setHandleLocalPosition	(	const HandlePtr_t &	handle,
		const Transform3s &	se3
	)

setHandleMask()

void pyhpp::manipulation::setHandleMask	(	const HandlePtr_t &	handle,
		const std::vector< bool > &	mask
	)

setHandleMaskComp()

void pyhpp::manipulation::setHandleMaskComp	(	const HandlePtr_t &	handle,
		const std::vector< bool > &	mask
	)

setHandleName()

void pyhpp::manipulation::setHandleName	(	const HandlePtr_t &	handle,
		const std::string &	name
	)