hpp-manipulation-corba 5.2.0
Corba server for manipulation planning
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manipulation.constraint_graph_factory.ConstraintGraphFactory Class Reference
Inheritance diagram for manipulation.constraint_graph_factory.ConstraintGraphFactory:
Collaboration diagram for manipulation.constraint_graph_factory.ConstraintGraphFactory:

Classes

class  StateAndManifold
 

Public Member Functions

 __init__ (self, graph)
 
 makeState (self, grasps, priority)
 
 makeLoopTransition (self, state)
 
 makeTransition (self, stateFrom, stateTo, ig)
 
 setPreplacementDistance (self, obj, distance)
 
 getPreplacementDistance (self, obj)
 
 setPreplaceGuide (self, preplaceGuide)
 
- Public Member Functions inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
 setGrippers (self, grippers)
 
 setObjects (self, objects, handlesPerObjects, contactsPerObjects)
 
 environmentContacts (self, envContacts)
 
 setRules (self, rules)
 
 setPossibleGrasps (self, grasps)
 
 generate (self)
 
 transitionIsAllowed (self, stateFrom, stateTo)
 

Public Attributes

 constraints
 
 graph
 
 preplaceGuide
 
 defaultPreplaceDist
 
- Public Attributes inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
 graspIsAllowed
 
 states
 
 transitions
 
 handles
 
 grippers
 
 envContacts
 
 objects
 
 handlesPerObjects
 
 objectFromHandle
 
 contactsPerObjects
 

Static Public Attributes

float defaultPreplaceDist = 0.05
 
 preplaceDistance = dict()
 

Additional Inherited Members

- Protected Member Functions inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
 _existState (self, grasps)
 
 _makeState (self, grasps, priority)
 
 _isObjectGrasped (self, grasps, object)
 
 _stateName (self, grasps, abbrev=False)
 
 _transitionNames (self, sFrom, sTo, ig)
 
 _loopTransitionName (self, grasps)
 
 _recurse (self, grippers, handles, grasps, depth)
 

Detailed Description

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

Constructor & Destructor Documentation

◆ __init__()

manipulation.constraint_graph_factory.ConstraintGraphFactory.__init__ ( self,
graph )
\\param graph an instance of ConstraintGraph

Reimplemented from manipulation.constraint_graph_factory.GraphFactoryAbstract.

Member Function Documentation

◆ getPreplacementDistance()

manipulation.constraint_graph_factory.ConstraintGraphFactory.getPreplacementDistance ( self,
obj )
Get preplacement distance
\\param obj name of the object

◆ makeLoopTransition()

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.

◆ makeState()

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.

◆ makeTransition()

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.

◆ setPreplaceGuide()

manipulation.constraint_graph_factory.ConstraintGraphFactory.setPreplaceGuide ( self,
preplaceGuide )

◆ setPreplacementDistance()

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

Member Data Documentation

◆ constraints

manipulation.constraint_graph_factory.ConstraintGraphFactory.constraints

◆ defaultPreplaceDist [1/2]

float manipulation.constraint_graph_factory.ConstraintGraphFactory.defaultPreplaceDist = 0.05
static

◆ defaultPreplaceDist [2/2]

manipulation.constraint_graph_factory.ConstraintGraphFactory.defaultPreplaceDist

◆ graph

manipulation.constraint_graph_factory.ConstraintGraphFactory.graph

◆ preplaceDistance

manipulation.constraint_graph_factory.ConstraintGraphFactory.preplaceDistance = dict()
static

◆ preplaceGuide

manipulation.constraint_graph_factory.ConstraintGraphFactory.preplaceGuide

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