hpp-affordance-corba 4.15.1
Corba server for Humanoid Path Planner Affordance applications
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hpp::corbaserver::affordance::Afford Interface Reference

Creation of a device. More...

Public Member Functions

void resetAffordanceConfig () raises (Error)
 
void setAffordanceConfig (in string affType, in doubleSeq conf) raises (Error)
 
doubleSeq getAffordanceConfig (in string affType) raises (Error)
 
void setMargin (in string affType, in double margin) raises (Error)
 
void setNeighbouringTriangleMargin (in string affType, in double nbTriMargin) raises (Error)
 
void setMinimumArea (in string affType, in double minArea) raises (Error)
 
boolean checkModel (in string obstacleName) raises (Error)
 
void analyseObject (in string obstacleName, in doubleSeq reduceSizes) raises (Error)
 
void analyseAll (in doubleSeq reduceSizes) raises (Error)
 
void deleteAffordances (in string obstacleName) raises (Error)
 
void deleteAffordancesByType (in string affordance, in string obstacleName) raises (Error)
 
doubleSeqSeqSeqSeq getAffordancePoints (in string affordance) raises (Error)
 
Names_t getAffRefObstacles (in string affordance) raises (Error)
 
Names_t getAffordanceTypes () raises (Error)
 Get list of affordance types used in affordance analysis. More...
 
Names_t getAffordanceConfigTypes () raises (Error)
 Get list of affordance configuration types used in affordance analysis. More...
 

Detailed Description

Creation of a device.

Member Function Documentation

◆ analyseAll()

void hpp::corbaserver::affordance::Afford::analyseAll ( in doubleSeq  reduceSizes)
raises (Error
)

creates collisionObjects for each affordance found in the scene (goes through all obstacles). Affordances are added to a container in problemSolver.

◆ analyseObject()

void hpp::corbaserver::affordance::Afford::analyseObject ( in string  obstacleName,
in doubleSeq  reduceSizes 
)
raises (Error
)

creates collisionObjects for each found affordance of given object. Affordances are added to a container in problemSolver

Parameters
obstacleNameName of the collisionObstacle to be analysed

◆ checkModel()

boolean hpp::corbaserver::affordance::Afford::checkModel ( in string  obstacleName)
raises (Error
)

checks whether obstacle model is of a type compatible with affordance analysis. The only accepted model type is fcl::BVH_MODEL_TRIANGLES.

Parameters
obstacleNameName of the collisionObstacle to be checked.

◆ deleteAffordances()

void hpp::corbaserver::affordance::Afford::deleteAffordances ( in string  obstacleName)
raises (Error
)

deletes all affordance objects of given obstacle.

Parameters
obstacleNamename of obstacle, the affordances of which will be deleted

◆ deleteAffordancesByType()

void hpp::corbaserver::affordance::Afford::deleteAffordancesByType ( in string  affordance,
in string  obstacleName 
)
raises (Error
)

deletes affordance objects of given affordance type for a given obstacle

Parameters
affordanceType of affordance to be deleted
obstacleNamename of obstacle, the affordances of which will be deleted.

◆ getAffordanceConfig()

doubleSeq hpp::corbaserver::affordance::Afford::getAffordanceConfig ( in string  affType)
raises (Error
)

returns the configuration of the given affordance type requirement

Parameters
affTypeaffordance type for which the configuration is requested.
Returns
configuration for which the values mean (in order): +the margin needed for the evaluation of the requirement function, +the margin between two triangles tested for a single affordance surface. If the angle between two triangles is greater than the provided margin, the triangles cannot be part of the same affordance surface.
  • the minimum area needed for the formation of an affordance object

◆ getAffordanceConfigTypes()

Names_t hpp::corbaserver::affordance::Afford::getAffordanceConfigTypes ( )
raises (Error
)

Get list of affordance configuration types used in affordance analysis.

◆ getAffordancePoints()

doubleSeqSeqSeqSeq hpp::corbaserver::affordance::Afford::getAffordancePoints ( in string  affordance)
raises (Error
)

returns vertice points for each triangle in each affordance object of specified aff type

Parameters
affordanceAffordance type for which triangle points are searched.

◆ getAffordanceTypes()

Names_t hpp::corbaserver::affordance::Afford::getAffordanceTypes ( )
raises (Error
)

Get list of affordance types used in affordance analysis.

◆ getAffRefObstacles()

Names_t hpp::corbaserver::affordance::Afford::getAffRefObstacles ( in string  affordance)
raises (Error
)

returns a list of reference obstacles corresponding to the affordance type. The size of the return variable is equal to the number of affordances of given type.

Parameters
affordanceAffordance type for which reference obstacles are searched.

◆ resetAffordanceConfig()

void hpp::corbaserver::affordance::Afford::resetAffordanceConfig ( )
raises (Error
)

reset the current configuration of the given affordance type requirement to default values

◆ setAffordanceConfig()

void hpp::corbaserver::affordance::Afford::setAffordanceConfig ( in string  affType,
in doubleSeq  conf 
)
raises (Error
)

changes the default configuration of the given affordance type requirement

The configuration vector has size 3 and comprises the error margin, the angle margin for neighbouring triangles and the minimum area, in that order.

Parameters
affTypeaffordance type for which the change is made
confconfiguration vector of size 3. The parameters are (in order): +the margin needed for the evaluation of the requirement function, +the margin between two triangles tested for a single affordance surface. If the angle between two triangles is greater than the provided margin, the triangles cannot be part of the same affordance surface.
  • the minimum area needed for the formation of an affordance object

◆ setMargin()

void hpp::corbaserver::affordance::Afford::setMargin ( in string  affType,
in double  margin 
)
raises (Error
)

changes the error margin used to evaluate the affordance requirement of a given affordance type

Parameters
affTypeaffordance type for which the change is made
marginnew value for the error margin

◆ setMinimumArea()

void hpp::corbaserver::affordance::Afford::setMinimumArea ( in string  affType,
in double  minArea 
)
raises (Error
)

changes the minimum area used to evaluate the affordance requirement of a given affordance type

Parameters
affTypeaffordance type for which the change is made
nimAreanew value for the minimum accepted area

◆ setNeighbouringTriangleMargin()

void hpp::corbaserver::affordance::Afford::setNeighbouringTriangleMargin ( in string  affType,
in double  nbTriMargin 
)
raises (Error
)

changes the angle margin used to evaluate whether neighbouring triangles form part of the potential affordance as the current triangle.

Parameters
affTypeaffordance type for which the change is made
nbTriMarginnew value for the neighbouring triangle margin

The documentation for this interface was generated from the following file: