hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
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hpp.corbaserver.problem_solver.ProblemSolver Class Reference

Public Member Functions

 __init__ (self, robot, hppcorbaClient=None)
 
 loadPlugin (self, pluginName)
 
 setRandomSeed (self, seed)
 
 setMaxNumThreads (self, n)
 
 getMaxNumThreads (self)
 
 getAvailable (self, type)
 
 getSelected (self, type)
 
 setParameter (self, name, value)
 
 getParameter (self, name, keep_any=False)
 
 getParameterDoc (self, name)
 
 selectProblem (self, name)
 
 movePathToProblem (self, pathId, problemName, jointNames)
 
 setInitialConfig (self, dofArray)
 
 getInitialConfig (self)
 
 addGoalConfig (self, dofArray)
 
 setGoalConstraints (self, constraints)
 
 resetGoalConstraints (self)
 
 getGoalConfigs (self)
 
 resetGoalConfigs (self)
 
 loadObstacleFromUrdf (self, *args)
 
 removeObstacleFromJoint (self, objectName, jointName, collision, distance)
 
 cutObstacle (self, objectName, aabb)
 
 moveObstacle (self, objectName, cfg)
 
 getObstaclePosition (self, objectName)
 
 getObstacleNames (self, collision, distance)
 
 getObstacleLinkPosition (self, objectName)
 
 getObstacleLinkNames (self)
 
 createOrientationConstraint (self, constraintName, joint1Name, joint2Name, p, mask)
 
 createTransformationConstraint (self, constraintName, joint1Name, joint2Name, ref, mask)
 
 createLockedJoint (self, lockedDofName, jointName, value, comp=None)
 
 createLockedExtraDof (self, lockedDofName, index, value)
 
 createRelativeComConstraint (self, constraintName, comName, jointLName, point, mask)
 
 createComBeetweenFeet (self, constraintName, comName, jointLName, jointRName, pointL, pointR, jointRefName, mask)
 
 addPartialCom (self, comName, jointNames)
 
 getPartialCom (self, comName)
 
 createPositionConstraint (self, constraintName, joint1Name, joint2Name, point1, point2, mask)
 
 createDistanceBetweenJointConstraint (self, constraintName, joint1Name, joint2Name, distance)
 
 createDistanceBetweenJointAndObjects (self, constraintName, joint1Name, objects, distance)
 
 resetConstraints (self)
 
 resetConstraintMap (self)
 
 addNumericalConstraints (self, name, names, priorities=None)
 
 addLockedJointConstraints (self, name, names)
 
 setRightHandSide (self, rhs)
 
 setRightHandSideByName (self, constraintName, rhs)
 
 setRightHandSideFromConfig (self, config)
 
 setRightHandSideFromConfigByName (self, constraintName, config)
 
 applyConstraints (self, q)
 
 optimize (self, q)
 
 computeValueAndJacobian (self, q)
 
 addPassiveDofs (self, name, dofNames)
 
 setConstantRightHandSide (self, constraintName, constant)
 
 getConstantRightHandSide (self, constraintName)
 
 generateValidConfig (self, maxIter)
 
 getErrorThreshold (self)
 
 setErrorThreshold (self, threshold)
 
 setDefaultLineSearchType (self, type)
 
 getMaxIterPathPlanning (self)
 
 setMaxIterPathPlanning (self, iterations)
 
 getTimeOutPathPlanning (self)
 
 setTimeOutPathPlanning (self, timeOut)
 
 getMaxIterProjection (self)
 
 setMaxIterProjection (self, iterations)
 
 filterCollisionPairs (self)
 
 selectPathPlanner (self, pathPlannerType)
 
 selectConfigurationShooter (self, configurationShooterType)
 
 addPathOptimizer (self, pathOptimizerType)
 
 clearPathOptimizers (self)
 
 selectPathValidation (self, pathValidationType, tolerance)
 
 addConfigValidation (self, configValidationType)
 
 clearConfigValidations (self)
 
 selectPathProjector (self, pathProjectorType, tolerance)
 
 selectDistance (self, distanceType)
 
 selectSteeringMethod (self, steeringMethodType)
 
 prepareSolveStepByStep (self)
 
 executeOneStep (self)
 
 finishSolveStepByStep (self)
 
 solve (self)
 
 directPath (self, startConfig, endConfig, validate)
 
 appendDirectPath (self, pathId, config, validate)
 
 concatenatePath (self, startId, endId)
 
 extractPath (self, pathId, start, end)
 
 erasePath (self, pathId)
 
 projectPath (self, pathId)
 
 numberPaths (self)
 
 optimizePath (self, inPathId)
 
 pathLength (self, inPathId)
 
 configAtParam (self, inPathId, param)
 
 derivativeAtParam (self, inPathId, order, param)
 
 getWaypoints (self, pathId)
 
 interruptPathPlanning (self)
 
 nodes (self)
 
 node (self, nodeId)
 
 numberNodes (self)
 
 numberEdges (self)
 
 edge (self, edgeId)
 
 numberConnectedComponents (self)
 
 nodesConnectedComponent (self, ccId)
 
 getNearestConfig (self, randomConfig, connectedComponentId=-1)
 
 addConfigToRoadmap (self, config)
 
 addEdgeToRoadmap (self, config1, config2, pathId, bothEdges)
 
 clearRoadmap (self)
 
 saveRoadmap (self, filename)
 
 loadRoadmap (self, filename)
 

Public Attributes

 client
 
 hppcorba
 
 robot
 

Constructor & Destructor Documentation

◆ __init__()

hpp.corbaserver.problem_solver.ProblemSolver.__init__ ( self,
robot,
hppcorbaClient = None )

Member Function Documentation

◆ addConfigToRoadmap()

hpp.corbaserver.problem_solver.ProblemSolver.addConfigToRoadmap ( self,
config )

◆ addConfigValidation()

hpp.corbaserver.problem_solver.ProblemSolver.addConfigValidation ( self,
configValidationType )

◆ addEdgeToRoadmap()

hpp.corbaserver.problem_solver.ProblemSolver.addEdgeToRoadmap ( self,
config1,
config2,
pathId,
bothEdges )

◆ addGoalConfig()

hpp.corbaserver.problem_solver.ProblemSolver.addGoalConfig ( self,
dofArray )

◆ addLockedJointConstraints()

hpp.corbaserver.problem_solver.ProblemSolver.addLockedJointConstraints ( self,
name,
names )

◆ addNumericalConstraints()

hpp.corbaserver.problem_solver.ProblemSolver.addNumericalConstraints ( self,
name,
names,
priorities = None )

◆ addPartialCom()

hpp.corbaserver.problem_solver.ProblemSolver.addPartialCom ( self,
comName,
jointNames )

◆ addPassiveDofs()

hpp.corbaserver.problem_solver.ProblemSolver.addPassiveDofs ( self,
name,
dofNames )

◆ addPathOptimizer()

hpp.corbaserver.problem_solver.ProblemSolver.addPathOptimizer ( self,
pathOptimizerType )

◆ appendDirectPath()

hpp.corbaserver.problem_solver.ProblemSolver.appendDirectPath ( self,
pathId,
config,
validate )

◆ applyConstraints()

hpp.corbaserver.problem_solver.ProblemSolver.applyConstraints ( self,
q )

◆ clearConfigValidations()

hpp.corbaserver.problem_solver.ProblemSolver.clearConfigValidations ( self)

◆ clearPathOptimizers()

hpp.corbaserver.problem_solver.ProblemSolver.clearPathOptimizers ( self)

◆ clearRoadmap()

hpp.corbaserver.problem_solver.ProblemSolver.clearRoadmap ( self)

◆ computeValueAndJacobian()

hpp.corbaserver.problem_solver.ProblemSolver.computeValueAndJacobian ( self,
q )

◆ concatenatePath()

hpp.corbaserver.problem_solver.ProblemSolver.concatenatePath ( self,
startId,
endId )

◆ configAtParam()

hpp.corbaserver.problem_solver.ProblemSolver.configAtParam ( self,
inPathId,
param )

◆ createComBeetweenFeet()

hpp.corbaserver.problem_solver.ProblemSolver.createComBeetweenFeet ( self,
constraintName,
comName,
jointLName,
jointRName,
pointL,
pointR,
jointRefName,
mask )

◆ createDistanceBetweenJointAndObjects()

hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointAndObjects ( self,
constraintName,
joint1Name,
objects,
distance )

◆ createDistanceBetweenJointConstraint()

hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointConstraint ( self,
constraintName,
joint1Name,
joint2Name,
distance )

◆ createLockedExtraDof()

hpp.corbaserver.problem_solver.ProblemSolver.createLockedExtraDof ( self,
lockedDofName,
index,
value )

◆ createLockedJoint()

hpp.corbaserver.problem_solver.ProblemSolver.createLockedJoint ( self,
lockedDofName,
jointName,
value,
comp = None )

◆ createOrientationConstraint()

hpp.corbaserver.problem_solver.ProblemSolver.createOrientationConstraint ( self,
constraintName,
joint1Name,
joint2Name,
p,
mask )

◆ createPositionConstraint()

hpp.corbaserver.problem_solver.ProblemSolver.createPositionConstraint ( self,
constraintName,
joint1Name,
joint2Name,
point1,
point2,
mask )

◆ createRelativeComConstraint()

hpp.corbaserver.problem_solver.ProblemSolver.createRelativeComConstraint ( self,
constraintName,
comName,
jointLName,
point,
mask )

◆ createTransformationConstraint()

hpp.corbaserver.problem_solver.ProblemSolver.createTransformationConstraint ( self,
constraintName,
joint1Name,
joint2Name,
ref,
mask )

◆ cutObstacle()

hpp.corbaserver.problem_solver.ProblemSolver.cutObstacle ( self,
objectName,
aabb )

◆ derivativeAtParam()

hpp.corbaserver.problem_solver.ProblemSolver.derivativeAtParam ( self,
inPathId,
order,
param )

◆ directPath()

hpp.corbaserver.problem_solver.ProblemSolver.directPath ( self,
startConfig,
endConfig,
validate )

◆ edge()

hpp.corbaserver.problem_solver.ProblemSolver.edge ( self,
edgeId )

◆ erasePath()

hpp.corbaserver.problem_solver.ProblemSolver.erasePath ( self,
pathId )

◆ executeOneStep()

hpp.corbaserver.problem_solver.ProblemSolver.executeOneStep ( self)

◆ extractPath()

hpp.corbaserver.problem_solver.ProblemSolver.extractPath ( self,
pathId,
start,
end )

◆ filterCollisionPairs()

hpp.corbaserver.problem_solver.ProblemSolver.filterCollisionPairs ( self)

◆ finishSolveStepByStep()

hpp.corbaserver.problem_solver.ProblemSolver.finishSolveStepByStep ( self)

◆ generateValidConfig()

hpp.corbaserver.problem_solver.ProblemSolver.generateValidConfig ( self,
maxIter )

◆ getAvailable()

hpp.corbaserver.problem_solver.ProblemSolver.getAvailable ( self,
type )

◆ getConstantRightHandSide()

hpp.corbaserver.problem_solver.ProblemSolver.getConstantRightHandSide ( self,
constraintName )

◆ getErrorThreshold()

hpp.corbaserver.problem_solver.ProblemSolver.getErrorThreshold ( self)

◆ getGoalConfigs()

hpp.corbaserver.problem_solver.ProblemSolver.getGoalConfigs ( self)

◆ getInitialConfig()

hpp.corbaserver.problem_solver.ProblemSolver.getInitialConfig ( self)

◆ getMaxIterPathPlanning()

hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterPathPlanning ( self)

◆ getMaxIterProjection()

hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterProjection ( self)

◆ getMaxNumThreads()

hpp.corbaserver.problem_solver.ProblemSolver.getMaxNumThreads ( self)

◆ getNearestConfig()

hpp.corbaserver.problem_solver.ProblemSolver.getNearestConfig ( self,
randomConfig,
connectedComponentId = -1 )

◆ getObstacleLinkNames()

hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkNames ( self)

◆ getObstacleLinkPosition()

hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkPosition ( self,
objectName )

◆ getObstacleNames()

hpp.corbaserver.problem_solver.ProblemSolver.getObstacleNames ( self,
collision,
distance )

◆ getObstaclePosition()

hpp.corbaserver.problem_solver.ProblemSolver.getObstaclePosition ( self,
objectName )

◆ getParameter()

hpp.corbaserver.problem_solver.ProblemSolver.getParameter ( self,
name,
keep_any = False )

◆ getParameterDoc()

hpp.corbaserver.problem_solver.ProblemSolver.getParameterDoc ( self,
name )

◆ getPartialCom()

hpp.corbaserver.problem_solver.ProblemSolver.getPartialCom ( self,
comName )

◆ getSelected()

hpp.corbaserver.problem_solver.ProblemSolver.getSelected ( self,
type )

◆ getTimeOutPathPlanning()

hpp.corbaserver.problem_solver.ProblemSolver.getTimeOutPathPlanning ( self)

◆ getWaypoints()

hpp.corbaserver.problem_solver.ProblemSolver.getWaypoints ( self,
pathId )

◆ interruptPathPlanning()

hpp.corbaserver.problem_solver.ProblemSolver.interruptPathPlanning ( self)

◆ loadObstacleFromUrdf()

hpp.corbaserver.problem_solver.ProblemSolver.loadObstacleFromUrdf ( self,
* args )

◆ loadPlugin()

hpp.corbaserver.problem_solver.ProblemSolver.loadPlugin ( self,
pluginName )

◆ loadRoadmap()

hpp.corbaserver.problem_solver.ProblemSolver.loadRoadmap ( self,
filename )

◆ moveObstacle()

hpp.corbaserver.problem_solver.ProblemSolver.moveObstacle ( self,
objectName,
cfg )

◆ movePathToProblem()

hpp.corbaserver.problem_solver.ProblemSolver.movePathToProblem ( self,
pathId,
problemName,
jointNames )

◆ node()

hpp.corbaserver.problem_solver.ProblemSolver.node ( self,
nodeId )

◆ nodes()

hpp.corbaserver.problem_solver.ProblemSolver.nodes ( self)

◆ nodesConnectedComponent()

hpp.corbaserver.problem_solver.ProblemSolver.nodesConnectedComponent ( self,
ccId )

◆ numberConnectedComponents()

hpp.corbaserver.problem_solver.ProblemSolver.numberConnectedComponents ( self)

◆ numberEdges()

hpp.corbaserver.problem_solver.ProblemSolver.numberEdges ( self)

◆ numberNodes()

hpp.corbaserver.problem_solver.ProblemSolver.numberNodes ( self)

◆ numberPaths()

hpp.corbaserver.problem_solver.ProblemSolver.numberPaths ( self)

◆ optimize()

hpp.corbaserver.problem_solver.ProblemSolver.optimize ( self,
q )

◆ optimizePath()

hpp.corbaserver.problem_solver.ProblemSolver.optimizePath ( self,
inPathId )

◆ pathLength()

hpp.corbaserver.problem_solver.ProblemSolver.pathLength ( self,
inPathId )

◆ prepareSolveStepByStep()

hpp.corbaserver.problem_solver.ProblemSolver.prepareSolveStepByStep ( self)

◆ projectPath()

hpp.corbaserver.problem_solver.ProblemSolver.projectPath ( self,
pathId )

◆ removeObstacleFromJoint()

hpp.corbaserver.problem_solver.ProblemSolver.removeObstacleFromJoint ( self,
objectName,
jointName,
collision,
distance )

◆ resetConstraintMap()

hpp.corbaserver.problem_solver.ProblemSolver.resetConstraintMap ( self)

◆ resetConstraints()

hpp.corbaserver.problem_solver.ProblemSolver.resetConstraints ( self)

◆ resetGoalConfigs()

hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConfigs ( self)

◆ resetGoalConstraints()

hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConstraints ( self)

◆ saveRoadmap()

hpp.corbaserver.problem_solver.ProblemSolver.saveRoadmap ( self,
filename )

◆ selectConfigurationShooter()

hpp.corbaserver.problem_solver.ProblemSolver.selectConfigurationShooter ( self,
configurationShooterType )

◆ selectDistance()

hpp.corbaserver.problem_solver.ProblemSolver.selectDistance ( self,
distanceType )

◆ selectPathPlanner()

hpp.corbaserver.problem_solver.ProblemSolver.selectPathPlanner ( self,
pathPlannerType )

◆ selectPathProjector()

hpp.corbaserver.problem_solver.ProblemSolver.selectPathProjector ( self,
pathProjectorType,
tolerance )

◆ selectPathValidation()

hpp.corbaserver.problem_solver.ProblemSolver.selectPathValidation ( self,
pathValidationType,
tolerance )

◆ selectProblem()

hpp.corbaserver.problem_solver.ProblemSolver.selectProblem ( self,
name )

◆ selectSteeringMethod()

hpp.corbaserver.problem_solver.ProblemSolver.selectSteeringMethod ( self,
steeringMethodType )

◆ setConstantRightHandSide()

hpp.corbaserver.problem_solver.ProblemSolver.setConstantRightHandSide ( self,
constraintName,
constant )

◆ setDefaultLineSearchType()

hpp.corbaserver.problem_solver.ProblemSolver.setDefaultLineSearchType ( self,
type )

◆ setErrorThreshold()

hpp.corbaserver.problem_solver.ProblemSolver.setErrorThreshold ( self,
threshold )

◆ setGoalConstraints()

hpp.corbaserver.problem_solver.ProblemSolver.setGoalConstraints ( self,
constraints )

◆ setInitialConfig()

hpp.corbaserver.problem_solver.ProblemSolver.setInitialConfig ( self,
dofArray )

◆ setMaxIterPathPlanning()

hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterPathPlanning ( self,
iterations )

◆ setMaxIterProjection()

hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterProjection ( self,
iterations )

◆ setMaxNumThreads()

hpp.corbaserver.problem_solver.ProblemSolver.setMaxNumThreads ( self,
n )

◆ setParameter()

hpp.corbaserver.problem_solver.ProblemSolver.setParameter ( self,
name,
value )

◆ setRandomSeed()

hpp.corbaserver.problem_solver.ProblemSolver.setRandomSeed ( self,
seed )

◆ setRightHandSide()

hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSide ( self,
rhs )

◆ setRightHandSideByName()

hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideByName ( self,
constraintName,
rhs )

◆ setRightHandSideFromConfig()

hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfig ( self,
config )

◆ setRightHandSideFromConfigByName()

hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfigByName ( self,
constraintName,
config )

◆ setTimeOutPathPlanning()

hpp.corbaserver.problem_solver.ProblemSolver.setTimeOutPathPlanning ( self,
timeOut )

◆ solve()

hpp.corbaserver.problem_solver.ProblemSolver.solve ( self)

Member Data Documentation

◆ client

hpp.corbaserver.problem_solver.ProblemSolver.client

◆ hppcorba

hpp.corbaserver.problem_solver.ProblemSolver.hppcorba

◆ robot

hpp.corbaserver.problem_solver.ProblemSolver.robot

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