hpp-manipulation-corba 5.2.0
Corba server for manipulation planning
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Public Member Functions | |
__init__ (self, robot) | |
selectProblem (self, name) | |
getAvailable (self, type) | |
getSelected (self, type) | |
getEnvironmentContactNames (self) | |
getRobotContactNames (self) | |
getEnvironmentContact (self, name) | |
getRobotContact (self, name) | |
createPlacementConstraints (self, placementName, shapeName, envContactName, width=0.05) | |
createQPStabilityConstraint (self, *args) | |
registerConstraints (self, *args) | |
balanceConstraints (self) | |
getConstantRightHandSide (self, constraintName) | |
lockFreeFlyerJoint (self, freeflyerBname, lockJointBname, values=(0, 0, 0, 0, 0, 0, 1)) | |
lockPlanarJoint (self, jointName, lockJointName, values=(0, 0, 1, 0)) | |
setTargetState (self, stateId) | |
Definition of a manipulation planning problem This class wraps the Corba client to the server implemented by libhpp-manipulation-corba.so Some method implemented by the server can be considered as private. The goal of this class is to hide them and to expose those that can be considered as public.
manipulation.problem_solver.ProblemSolver.__init__ | ( | self, | |
robot ) |
manipulation.problem_solver.ProblemSolver.balanceConstraints | ( | self | ) |
Return balance constraints created by method ProblemSolver.createStaticStabilityConstraints
manipulation.problem_solver.ProblemSolver.createPlacementConstraints | ( | self, | |
placementName, | |||
shapeName, | |||
envContactName, | |||
width = 0.05 ) |
Create placement and pre-placement constraints \\param width set to None to skip creation of pre-placement constraint \\return names of the placement and preplacement constraints See hpp::corbaserver::manipulation::Problem::createPlacementConstraint and hpp::corbaserver::manipulation::Problem::createPrePlacementConstraint
manipulation.problem_solver.ProblemSolver.createQPStabilityConstraint | ( | self, | |
* | args ) |
Create QP Static stability constraint \\copydoc hpp::corbaserver::manipulation::Problem::createQPStabilityConstraint
manipulation.problem_solver.ProblemSolver.getAvailable | ( | self, | |
type ) |
Return a list of available elements of type type \\param type enter "type" to know what types I know of. This is case insensitive.
manipulation.problem_solver.ProblemSolver.getConstantRightHandSide | ( | self, | |
constraintName ) |
Get whether right hand side of a numerical constraint is constant \\param constraintName Name of the numerical constraint, \\return whether right hand side is constant
manipulation.problem_solver.ProblemSolver.getEnvironmentContact | ( | self, | |
name ) |
\\copydoc hpp::corbaserver::manipulation::Problem::getEnvironmentContact
manipulation.problem_solver.ProblemSolver.getEnvironmentContactNames | ( | self | ) |
\\copydoc hpp::corbaserver::manipulation::Problem::getEnvironmentContactNames
manipulation.problem_solver.ProblemSolver.getRobotContact | ( | self, | |
name ) |
\\copydoc hpp::corbaserver::manipulation::Problem::getRobotContact
manipulation.problem_solver.ProblemSolver.getRobotContactNames | ( | self | ) |
\\copydoc hpp::corbaserver::manipulation::Problem::getRobotContactNames
manipulation.problem_solver.ProblemSolver.getSelected | ( | self, | |
type ) |
Return a list of selected elements of type type \\param type enter "type" to know what types I know of. This is case insensitive. \\note For most of the types, the list will contain only one element.
manipulation.problem_solver.ProblemSolver.lockFreeFlyerJoint | ( | self, | |
freeflyerBname, | |||
lockJointBname, | |||
values = (0, 0, 0, 0, 0, 0, 1) ) |
Lock degree of freedom of a FreeFlyer joint \\param freeflyerBname base name of the joint (It will be completed by '_xyz' and '_SO3'), \\param lockJointBname base name of the LockedJoint constraints (It will be completed by '_xyz' and '_SO3'), \\param values config of the locked joints (7 float)
manipulation.problem_solver.ProblemSolver.lockPlanarJoint | ( | self, | |
jointName, | |||
lockJointName, | |||
values = (0, 0, 1, 0) ) |
Lock degree of freedom of a planar joint \\param jointName name of the joint (It will be completed by '_xy' and '_rz'), \\param lockJointName name of the LockedJoint constraint \\param values config of the locked joints (4 float)
manipulation.problem_solver.ProblemSolver.registerConstraints | ( | self, | |
* | args ) |
\\copydoc hpp::corbaserver::manipulation::Problem::registerConstraints
manipulation.problem_solver.ProblemSolver.selectProblem | ( | self, | |
name ) |
Select a problem by its name. If no problem with this name exists, a new hpp::manipulation::ProblemSolver is created and selected. \\param name the problem name. \\return true if a new problem was created.
manipulation.problem_solver.ProblemSolver.setTargetState | ( | self, | |
stateId ) |
Set the problem target to stateId The planner will look for a path from the init configuration to a configuration in state stateId