hpp-manipulation-corba 5.2.0
Corba server for manipulation planning
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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) | |
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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 | |
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graspIsAllowed | |
states | |
transitions | |
handles | |
grippers | |
envContacts | |
objects | |
handlesPerObjects | |
objectFromHandle | |
contactsPerObjects | |
Static Public Attributes | |
float | defaultPreplaceDist = 0.05 |
preplaceDistance = dict() | |
Additional Inherited Members | |
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_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) | |
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
manipulation.constraint_graph_factory.ConstraintGraphFactory.__init__ | ( | self, | |
graph ) |
\\param graph an instance of ConstraintGraph
Reimplemented from manipulation.constraint_graph_factory.GraphFactoryAbstract.
manipulation.constraint_graph_factory.ConstraintGraphFactory.getPreplacementDistance | ( | self, | |
obj ) |
Get preplacement distance \\param obj name of the object
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.
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.
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.
manipulation.constraint_graph_factory.ConstraintGraphFactory.setPreplaceGuide | ( | self, | |
preplaceGuide ) |
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
manipulation.constraint_graph_factory.ConstraintGraphFactory.constraints |
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static |
manipulation.constraint_graph_factory.ConstraintGraphFactory.defaultPreplaceDist |
manipulation.constraint_graph_factory.ConstraintGraphFactory.graph |
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static |
manipulation.constraint_graph_factory.ConstraintGraphFactory.preplaceGuide |