hpp-manipulation-corba 4.14.0
Corba server for manipulation planning
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manipulation.constraint_graph_factory.ConstraintFactoryAbstract Class Reference
Inheritance diagram for manipulation.constraint_graph_factory.ConstraintFactoryAbstract:
Collaboration diagram for manipulation.constraint_graph_factory.ConstraintFactoryAbstract:

Public Member Functions

def __init__ (self, graphfactory)
 
def getGrasp (self, gripper, handle)
 
def g (self, gripper, handle, what)
 
def getPlacement (self, object)
 
def p (self, object, what)
 
def buildGrasp (self, g, h)
 
def buildPlacement (self, o)
 

Public Attributes

 graphfactory
 

Detailed Description

An abstract class which stores the constraints.

Child classes are responsible for building them.
- \\ref buildGrasp
- \\ref buildPlacement

Constructor & Destructor Documentation

◆ __init__()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.__init__ (   self,
  graphfactory 
)

Member Function Documentation

◆ buildGrasp()

def 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.

◆ buildPlacement()

def 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.

◆ g()

def 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.

◆ getGrasp()

def 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.

◆ getPlacement()

def 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.

◆ p()

def 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.

Member Data Documentation

◆ graphfactory

manipulation.constraint_graph_factory.ConstraintFactoryAbstract.graphfactory

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