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

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)
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ __init__()

manipulation.problem_solver.ProblemSolver.__init__ ( self,
robot )

Member Function Documentation

◆ balanceConstraints()

manipulation.problem_solver.ProblemSolver.balanceConstraints ( self)
Return balance constraints created by method
ProblemSolver.createStaticStabilityConstraints

◆ createPlacementConstraints()

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

◆ createQPStabilityConstraint()

manipulation.problem_solver.ProblemSolver.createQPStabilityConstraint ( self,
* args )
Create QP Static stability constraint

 \\copydoc hpp::corbaserver::manipulation::Problem::createQPStabilityConstraint

◆ getAvailable()

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.

◆ getConstantRightHandSide()

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

◆ getEnvironmentContact()

manipulation.problem_solver.ProblemSolver.getEnvironmentContact ( self,
name )
\\copydoc hpp::corbaserver::manipulation::Problem::getEnvironmentContact

◆ getEnvironmentContactNames()

manipulation.problem_solver.ProblemSolver.getEnvironmentContactNames ( self)
\\copydoc hpp::corbaserver::manipulation::Problem::getEnvironmentContactNames

◆ getRobotContact()

manipulation.problem_solver.ProblemSolver.getRobotContact ( self,
name )
\\copydoc hpp::corbaserver::manipulation::Problem::getRobotContact

◆ getRobotContactNames()

manipulation.problem_solver.ProblemSolver.getRobotContactNames ( self)
\\copydoc hpp::corbaserver::manipulation::Problem::getRobotContactNames

◆ getSelected()

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.

◆ lockFreeFlyerJoint()

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)

◆ lockPlanarJoint()

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)

◆ registerConstraints()

manipulation.problem_solver.ProblemSolver.registerConstraints ( self,
* args )
\\copydoc hpp::corbaserver::manipulation::Problem::registerConstraints

◆ selectProblem()

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.

◆ setTargetState()

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

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