hpp-manipulation-corba 5.2.0
Corba server for manipulation planning
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Public Member Functions | |
__init__ (self, graphfactory) | |
getGrasp (self, gripper, handle) | |
g (self, gripper, handle, what) | |
getPlacement (self, object) | |
p (self, object, what) | |
buildGrasp (self, g, h) | |
buildPlacement (self, o) | |
Public Attributes | |
graphfactory | |
Protected Attributes | |
_grasp | |
_placement | |
An abstract class which stores the constraints. Child classes are responsible for building them. - \\ref buildGrasp - \\ref buildPlacement
manipulation.constraint_graph_factory.ConstraintFactoryAbstract.__init__ | ( | self, | |
graphfactory ) |
Reimplemented in manipulation.constraint_graph_factory.ConstraintFactory.
manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildGrasp | ( | self, | |
g, | |||
h ) |
Function called to create grasp constraints. Must return a tuple of Constraints objects as: - constraint that validates the grasp - constraint that parameterizes the graph - constraint that validates the pre-grasp \\param g gripper string \\param h handle string
Reimplemented in manipulation.constraint_graph_factory.ConstraintFactory.
manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildPlacement | ( | self, | |
o ) |
Function called to create placement constraints. Must return a tuple of Constraints objects as: - constraint that validates placement - constraint that parameterizes placement - constraint that validates pre-placement \\param o string
Reimplemented in manipulation.constraint_graph_factory.ConstraintFactory.
manipulation.constraint_graph_factory.ConstraintFactoryAbstract.g | ( | self, | |
gripper, | |||
handle, | |||
what ) |
Get constraints relative to a grasp \\param gripper name of a gripper or gripper index, \\param handle name of a handle or handle index, \\param what a word among <c>['grasp', 'graspComplement', 'preGrasp']</c>. \\return the corresponding constraints as \\link manipulation.constraints.Constraints Constraints\\endlink instances. \\warning If grasp does not exist, the function creates it.
manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getGrasp | ( | self, | |
gripper, | |||
handle ) |
Get constraints relative to a grasp \\param gripper name of a gripper or gripper index \\param handle name of a handle or handle index \\return a dictionary with keys <c>['grasp', 'graspComplement', 'preGrasp']</c> and values the corresponding constraints as \\link manipulation.constraints.Constraints Constraints\\endlink instances. \\warning If grasp does not exist, the function creates it.
manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getPlacement | ( | self, | |
object ) |
Get constraints relative to an object placement \\param object object name or index \\return a dictionary with keys <c>['placement', 'placementComplement', 'prePlacement']</c> and values the corresponding constraints as \\link manipulation.constraints.Constraints Constraints\\endlink instances. \\warning If placement does not exist, the function creates it.
manipulation.constraint_graph_factory.ConstraintFactoryAbstract.p | ( | self, | |
object, | |||
what ) |
Get constraints relative to a placement \\param object object name or index \\param what a word among <c>['placement', 'placementComplement', 'prePlacement']</c>. \\return the corresponding constraints as \\link manipulation.constraints.Constraints Constraints\\endlink instances. \\warning If placement does not exist, the function creates it.
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protected |
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protected |
manipulation.constraint_graph_factory.ConstraintFactoryAbstract.graphfactory |