hpp-manipulation-corba 5.2.0
Corba server for manipulation planning
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Public Member Functions | |
__init__ (self, graphfactory, graph) | |
buildGrasp (self, g, h) | |
buildPlacement (self, o) | |
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getGrasp (self, gripper, handle) | |
g (self, gripper, handle, what) | |
getPlacement (self, object) | |
p (self, object, what) | |
Public Attributes | |
graph | |
gfields | |
pfields | |
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graphfactory | |
Static Public Attributes | |
bool | removeEmptyConstraints = True |
tuple | gfields = ("grasp", "graspComplement", "preGrasp") |
tuple | pfields = ("placement", "placementComplement", "prePlacement") |
Protected Member Functions | |
_removeEmptyConstraints (self, problem, constraints) | |
Additional Inherited Members | |
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_grasp | |
_placement | |
Default implementation of ConstraintFactoryAbstract
manipulation.constraint_graph_factory.ConstraintFactory.__init__ | ( | self, | |
graphfactory, | |||
graph ) |
Reimplemented from manipulation.constraint_graph_factory.ConstraintFactoryAbstract.
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protected |
manipulation.constraint_graph_factory.ConstraintFactory.buildGrasp | ( | self, | |
g, | |||
h ) |
Calls ConstraintGraph.createGraph and ConstraintGraph.createPreGrasp \\param g gripper string \\param h handle string \note if the grasp constraint already exists, it is not created.
Reimplemented from manipulation.constraint_graph_factory.ConstraintFactoryAbstract.
manipulation.constraint_graph_factory.ConstraintFactory.buildPlacement | ( | self, | |
o ) |
This implements placement manifolds, where the parameterization constraints is the complement of the placement constraint. \\param o string
Reimplemented from manipulation.constraint_graph_factory.ConstraintFactoryAbstract.
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static |
manipulation.constraint_graph_factory.ConstraintFactory.gfields |
manipulation.constraint_graph_factory.ConstraintFactory.graph |
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static |
manipulation.constraint_graph_factory.ConstraintFactory.pfields |
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static |