hpp-manipulation-corba 5.0.0
Corba server for manipulation planning
|
Classes | |
class | StateAndManifold |
Public Member Functions | |
def | __init__ (self, graph) |
def | makeState (self, grasps, priority) |
def | makeLoopTransition (self, state) |
def | makeTransition (self, stateFrom, stateTo, ig) |
def | setPreplacementDistance (self, obj, distance) |
def | getPreplacementDistance (self, obj) |
def | setPreplaceGuide (self, preplaceGuide) |
![]() | |
def | __init__ (self) |
def | setGrippers (self, grippers) |
def | setObjects (self, objects, handlesPerObjects, contactsPerObjects) |
def | environmentContacts (self, envContacts) |
def | setRules (self, rules) |
def | setPossibleGrasps (self, grasps) |
def | generate (self) |
def | makeState (self, grasps, priority) |
def | makeLoopTransition (self, state) |
def | transitionIsAllowed (self, stateFrom, stateTo) |
def | makeTransition (self, stateFrom, stateTo, ig) |
Public Attributes | |
constraints | |
graph | |
preplaceGuide | |
![]() | |
graspIsAllowed | |
states | |
transitions | |
handles | |
grippers | |
envContacts | |
objects | |
handlesPerObjects | |
objectFromHandle | |
contactsPerObjects | |
Static Public Attributes | |
float | defaultPreplaceDist = 0.05 |
preplaceDistance = dict() | |
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
def manipulation.constraint_graph_factory.ConstraintGraphFactory.__init__ | ( | self, | |
graph | |||
) |
\\param graph an instance of ConstraintGraph
Reimplemented from manipulation.constraint_graph_factory.GraphFactoryAbstract.
def manipulation.constraint_graph_factory.ConstraintGraphFactory.getPreplacementDistance | ( | self, | |
obj | |||
) |
Get preplacement distance \\param obj name of the object
def 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.
def 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.
def 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.
def manipulation.constraint_graph_factory.ConstraintGraphFactory.setPreplaceGuide | ( | self, | |
preplaceGuide | |||
) |
def 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 |
|
static |
manipulation.constraint_graph_factory.ConstraintGraphFactory.graph |
|
static |
manipulation.constraint_graph_factory.ConstraintGraphFactory.preplaceGuide |