pyhpp::manipulation::PyWGraph Struct Reference

Python wrapper for Graph. More...

#include <pyhpp/manipulation/graph.hh>

Public Types
typedef hpp::constraints::ImplicitPtr_t	ImplicitPtr_t
typedef hpp::constraints::NumericalConstraints_t	NumericalConstraints_t

Public Member Functions
	PyWGraph (const GraphPtr_t &object)
	PyWGraph (const std::string &name, const PyWDevicePtr_t &d, const PyWProblemPtr_t &problem)
void	maxIterations (size_type iterations)
size_type	maxIterations () const
void	errorThreshold (const value_type &threshold)
value_type	errorThreshold () const
PyWStatePtr_t	createState (const std::string &nodeName, bool waypoint, int priority)
PyWEdgePtr_t	createTransition (PyWStatePtr_t nodeFrom, PyWStatePtr_t nodeTo, const std::string &transitionName, int w, PyWStatePtr_t isInState)
PyWEdgePtr_t	createWaypointTransition (PyWStatePtr_t nodeFrom, PyWStatePtr_t nodeTo, const std::string &edgeName, int nb, int w, PyWStatePtr_t isInState, bool automaticBuilder)
PyWEdgePtr_t	createLevelSetTransition (PyWStatePtr_t nodeFrom, PyWStatePtr_t nodeTo, const std::string &edgeName, int w, PyWStatePtr_t isInState)
void	setContainingNode (PyWEdgePtr_t edge, PyWStatePtr_t node)
std::string	getContainingNode (PyWEdgePtr_t edge)
void	setShort (PyWEdgePtr_t edge, bool isShort)
bool	isShort (PyWEdgePtr_t edge)
void	getNodesConnectedByTransition (PyWEdgePtr_t edge, std::string &nodeFrom, std::string &nodeTo)
void	setWeight (PyWEdgePtr_t edge, int weight)
size_t	getWeight (PyWEdgePtr_t edge)
void	setWaypoint (PyWEdgePtr_t waypointEdge, int index, PyWEdgePtr_t edge, PyWStatePtr_t state)
void	addNumericalConstraintsToGraph (const boost::python::list &py_constraints)
PyWEdgePtr_t	getTransition (const std::string &edgeName)
PyWStatePtr_t	getState (const std::string &stateName)
boost::python::list	getTransitions ()
boost::python::list	getStates ()
boost::python::list	getTransitionNames ()
boost::python::list	getStateNames ()
std::string	getStateFromConfiguration (ConfigurationIn_t input)
void	addNumericalConstraint (PyWStatePtr_t node, const ImplicitPtr_t &constraint)
void	addNumericalConstraintsToState (PyWStatePtr_t component, const boost::python::list &py_constraints)
void	addNumericalConstraintsToTransition (PyWEdgePtr_t component, const boost::python::list &py_constraints)
void	addNumericalConstraintsForPath (PyWStatePtr_t component, const boost::python::list &py_constraints)
void	resetConstraints (PyWStatePtr_t component)
void	registerConstraints (const ImplicitPtr_t &constraint, const ImplicitPtr_t &complement, const ImplicitPtr_t &both)
boost::python::tuple	createPlacementConstraint (const std::string &name, const boost::python::list &py_surface1, const boost::python::list &py_surface2, const value_type &margin)
ImplicitPtr_t	createPrePlacementConstraint (const std::string &name, const boost::python::list &py_surface1, const boost::python::list &py_surface2, const value_type &width, const value_type &margin)
boost::python::tuple	createPlacementConstraint1 (const std::string &name, const boost::python::list &py_surface1, const boost::python::list &py_surface2, const value_type &margin)
boost::python::tuple	createPlacementConstraint2 (const std::string &name, const boost::python::list &py_surface1, const boost::python::list &py_surface2)
ImplicitPtr_t	createPrePlacementConstraint1 (const std::string &name, const boost::python::list &py_surface1, const boost::python::list &py_surface2, const value_type &width, const value_type &margin)
ImplicitPtr_t	createPrePlacementConstraint2 (const std::string &name, const boost::python::list &py_surface1, const boost::python::list &py_surface2, const value_type &width)
boost::python::list	createGraspConstraint (const std::string &name, const std::string &gripper, const std::string &handle)
ImplicitPtr_t	createPreGraspConstraint (const std::string &name, const std::string &gripper, const std::string &handle)
boost::python::list	getNumericalConstraintsForState (PyWStatePtr_t component)
boost::python::list	getNumericalConstraintsForEdge (PyWEdgePtr_t component)
boost::python::list	getNumericalConstraintsForGraph ()
boost::python::tuple	getConfigErrorForState (PyWStatePtr_t component, ConfigurationIn_t input)
boost::python::tuple	getConfigErrorForTransition (PyWEdgePtr_t edge, ConfigurationIn_t input)
boost::python::tuple	getConfigErrorForTransitionLeaf (const PyWEdgePtr_t &edge, ConfigurationIn_t leafConfig, ConfigurationIn_t config) const
boost::python::tuple	getConfigErrorForTransitionTarget (const PyWEdgePtr_t &edge, ConfigurationIn_t leafConfig, ConfigurationIn_t config) const
ConstraintResult	applyStateConstraints (PyWStatePtr_t state, ConfigurationIn_t input)
ConstraintResult	applyLeafConstraints (PyWEdgePtr_t transition, ConfigurationIn_t q_rhs, ConfigurationIn_t input)
ConstraintResult	generateTargetConfig (PyWEdgePtr_t transition, ConfigurationIn_t q_rhs, ConfigurationIn_t input)
void	addLevelSetFoliation (PyWEdgePtr_t edge, const boost::python::list &condNC, const boost::python::list &paramNC)
boost::python::list	getSecurityMarginMatrixForTransition (PyWEdgePtr_t edge)
void	setSecurityMarginForTransition (PyWEdgePtr_t edge, const char *joint1, const char *joint2, double margin)
boost::python::list	getRelativeMotionMatrix (PyWEdgePtr_t edge)
void	removeCollisionPairFromTransition (PyWEdgePtr_t edge, const char *joint1, const char *joint2)
void	createSubGraph (const char *subgraphName, hpp::core::RoadmapPtr_t roadmap)
void	setTargetNodeList (const boost::python::list &nodes)
std::string	displayStateConstraints (PyWStatePtr_t state)
std::string	displayTransitionConstraints (PyWEdgePtr_t edge)
std::string	displayTransitionTargetConstraints (PyWEdgePtr_t edge)
void	display (const char *filename)
void	initialize ()

Public Attributes
std::map< std::string, std::size_t >	id
GraphPtr_t	obj
PyWDevicePtr_t	robot
PyWProblemPtr_t	problem
ConstraintsAndComplements_t	constraintsAndComplements

Detailed Description

Python wrapper for Graph.

Member Typedef Documentation

ImplicitPtr_t

typedef hpp::constraints::ImplicitPtr_t pyhpp::manipulation::PyWGraph::ImplicitPtr_t

NumericalConstraints_t

typedef hpp::constraints::NumericalConstraints_t pyhpp::manipulation::PyWGraph::NumericalConstraints_t

Constructor & Destructor Documentation

PyWGraph() [1/2]

pyhpp::manipulation::PyWGraph::PyWGraph

(

const GraphPtr_t &

object

)

PyWGraph() [2/2]

pyhpp::manipulation::PyWGraph::PyWGraph	(	const std::string &	name,
		const PyWDevicePtr_t &	d,
		const PyWProblemPtr_t &	problem )

Member Function Documentation

addLevelSetFoliation()

void pyhpp::manipulation::PyWGraph::addLevelSetFoliation	(	PyWEdgePtr_t	edge,
		const boost::python::list &	condNC,
		const boost::python::list &	paramNC )

addNumericalConstraint()

void pyhpp::manipulation::PyWGraph::addNumericalConstraint	(	PyWStatePtr_t	node,
		const ImplicitPtr_t &	constraint )

addNumericalConstraintsForPath()

void pyhpp::manipulation::PyWGraph::addNumericalConstraintsForPath	(	PyWStatePtr_t	component,
		const boost::python::list &	py_constraints )

addNumericalConstraintsToGraph()

void pyhpp::manipulation::PyWGraph::addNumericalConstraintsToGraph

(

const boost::python::list &

py_constraints

)

addNumericalConstraintsToState()

void pyhpp::manipulation::PyWGraph::addNumericalConstraintsToState	(	PyWStatePtr_t	component,
		const boost::python::list &	py_constraints )

addNumericalConstraintsToTransition()

void pyhpp::manipulation::PyWGraph::addNumericalConstraintsToTransition	(	PyWEdgePtr_t	component,
		const boost::python::list &	py_constraints )

applyLeafConstraints()

ConstraintResult pyhpp::manipulation::PyWGraph::applyLeafConstraints	(	PyWEdgePtr_t	transition,
		ConfigurationIn_t	q_rhs,
		ConfigurationIn_t	input )

applyStateConstraints()

ConstraintResult pyhpp::manipulation::PyWGraph::applyStateConstraints	(	PyWStatePtr_t	state,
		ConfigurationIn_t	input )

createGraspConstraint()

boost::python::list pyhpp::manipulation::PyWGraph::createGraspConstraint	(	const std::string &	name,
		const std::string &	gripper,
		const std::string &	handle )

createLevelSetTransition()

PyWEdgePtr_t pyhpp::manipulation::PyWGraph::createLevelSetTransition	(	PyWStatePtr_t	nodeFrom,
		PyWStatePtr_t	nodeTo,
		const std::string &	edgeName,
		int	w,
		PyWStatePtr_t	isInState )

createPlacementConstraint()

boost::python::tuple pyhpp::manipulation::PyWGraph::createPlacementConstraint	(	const std::string &	name,
		const boost::python::list &	py_surface1,
		const boost::python::list &	py_surface2,
		const value_type &	margin = 1e-4 )

createPlacementConstraint1()

boost::python::tuple pyhpp::manipulation::PyWGraph::createPlacementConstraint1	(	const std::string &	name,
		const boost::python::list &	py_surface1,
		const boost::python::list &	py_surface2,
		const value_type &	margin )

createPlacementConstraint2()

boost::python::tuple pyhpp::manipulation::PyWGraph::createPlacementConstraint2	(	const std::string &	name,
		const boost::python::list &	py_surface1,
		const boost::python::list &	py_surface2 )

createPreGraspConstraint()

ImplicitPtr_t pyhpp::manipulation::PyWGraph::createPreGraspConstraint	(	const std::string &	name,
		const std::string &	gripper,
		const std::string &	handle )

createPrePlacementConstraint()

ImplicitPtr_t pyhpp::manipulation::PyWGraph::createPrePlacementConstraint	(	const std::string &	name,
		const boost::python::list &	py_surface1,
		const boost::python::list &	py_surface2,
		const value_type &	width,
		const value_type &	margin = 1e-4 )

createPrePlacementConstraint1()

ImplicitPtr_t pyhpp::manipulation::PyWGraph::createPrePlacementConstraint1	(	const std::string &	name,
		const boost::python::list &	py_surface1,
		const boost::python::list &	py_surface2,
		const value_type &	width,
		const value_type &	margin )

createPrePlacementConstraint2()

ImplicitPtr_t pyhpp::manipulation::PyWGraph::createPrePlacementConstraint2	(	const std::string &	name,
		const boost::python::list &	py_surface1,
		const boost::python::list &	py_surface2,
		const value_type &	width )

createState()

PyWStatePtr_t pyhpp::manipulation::PyWGraph::createState	(	const std::string &	nodeName,
		bool	waypoint,
		int	priority )

createSubGraph()

void pyhpp::manipulation::PyWGraph::createSubGraph	(	const char *	subgraphName,
		hpp::core::RoadmapPtr_t	roadmap )

createTransition()

PyWEdgePtr_t pyhpp::manipulation::PyWGraph::createTransition	(	PyWStatePtr_t	nodeFrom,
		PyWStatePtr_t	nodeTo,
		const std::string &	transitionName,
		int	w,
		PyWStatePtr_t	isInState )

createWaypointTransition()

PyWEdgePtr_t pyhpp::manipulation::PyWGraph::createWaypointTransition	(	PyWStatePtr_t	nodeFrom,
		PyWStatePtr_t	nodeTo,
		const std::string &	edgeName,
		int	nb,
		int	w,
		PyWStatePtr_t	isInState,
		bool	automaticBuilder )

display()

void pyhpp::manipulation::PyWGraph::display

(

const char *

filename

)

displayStateConstraints()

std::string pyhpp::manipulation::PyWGraph::displayStateConstraints

(

PyWStatePtr_t

state

)

displayTransitionConstraints()

std::string pyhpp::manipulation::PyWGraph::displayTransitionConstraints

(

PyWEdgePtr_t

edge

)

displayTransitionTargetConstraints()

std::string pyhpp::manipulation::PyWGraph::displayTransitionTargetConstraints

(

PyWEdgePtr_t

edge

)

errorThreshold() [1/2]

value_type pyhpp::manipulation::PyWGraph::errorThreshold

(

)

const

errorThreshold() [2/2]

void pyhpp::manipulation::PyWGraph::errorThreshold

(

const value_type &

threshold

)

generateTargetConfig()

ConstraintResult pyhpp::manipulation::PyWGraph::generateTargetConfig	(	PyWEdgePtr_t	transition,
		ConfigurationIn_t	q_rhs,
		ConfigurationIn_t	input )

getConfigErrorForState()

boost::python::tuple pyhpp::manipulation::PyWGraph::getConfigErrorForState	(	PyWStatePtr_t	component,
		ConfigurationIn_t	input )

getConfigErrorForTransition()

boost::python::tuple pyhpp::manipulation::PyWGraph::getConfigErrorForTransition	(	PyWEdgePtr_t	edge,
		ConfigurationIn_t	input )

getConfigErrorForTransitionLeaf()

boost::python::tuple pyhpp::manipulation::PyWGraph::getConfigErrorForTransitionLeaf	(	const PyWEdgePtr_t &	edge,
		ConfigurationIn_t	leafConfig,
		ConfigurationIn_t	config ) const

getConfigErrorForTransitionTarget()

boost::python::tuple pyhpp::manipulation::PyWGraph::getConfigErrorForTransitionTarget	(	const PyWEdgePtr_t &	edge,
		ConfigurationIn_t	leafConfig,
		ConfigurationIn_t	config ) const

getContainingNode()

std::string pyhpp::manipulation::PyWGraph::getContainingNode

(

PyWEdgePtr_t

edge

)

getNodesConnectedByTransition()

void pyhpp::manipulation::PyWGraph::getNodesConnectedByTransition	(	PyWEdgePtr_t	edge,
		std::string &	nodeFrom,
		std::string &	nodeTo )

getNumericalConstraintsForEdge()

boost::python::list pyhpp::manipulation::PyWGraph::getNumericalConstraintsForEdge

(

PyWEdgePtr_t

component

)

getNumericalConstraintsForGraph()

boost::python::list pyhpp::manipulation::PyWGraph::getNumericalConstraintsForGraph

(

)

getNumericalConstraintsForState()

boost::python::list pyhpp::manipulation::PyWGraph::getNumericalConstraintsForState

(

PyWStatePtr_t

component

)

getRelativeMotionMatrix()

boost::python::list pyhpp::manipulation::PyWGraph::getRelativeMotionMatrix

(

PyWEdgePtr_t

edge

)

getSecurityMarginMatrixForTransition()

boost::python::list pyhpp::manipulation::PyWGraph::getSecurityMarginMatrixForTransition

(

PyWEdgePtr_t

edge

)

getState()

PyWStatePtr_t pyhpp::manipulation::PyWGraph::getState

(

const std::string &

stateName

)

getStateFromConfiguration()

std::string pyhpp::manipulation::PyWGraph::getStateFromConfiguration

(

ConfigurationIn_t

input

)

getStateNames()

boost::python::list pyhpp::manipulation::PyWGraph::getStateNames

(

)

getStates()

boost::python::list pyhpp::manipulation::PyWGraph::getStates

(

)

getTransition()

PyWEdgePtr_t pyhpp::manipulation::PyWGraph::getTransition

(

const std::string &

edgeName

)

getTransitionNames()

boost::python::list pyhpp::manipulation::PyWGraph::getTransitionNames

(

)

getTransitions()

boost::python::list pyhpp::manipulation::PyWGraph::getTransitions

(

)

getWeight()

size_t pyhpp::manipulation::PyWGraph::getWeight

(

PyWEdgePtr_t

edge

)

initialize()

void pyhpp::manipulation::PyWGraph::initialize

(

)

isShort()

bool pyhpp::manipulation::PyWGraph::isShort

(

PyWEdgePtr_t

edge

)

maxIterations() [1/2]

size_type pyhpp::manipulation::PyWGraph::maxIterations

(

)

const

maxIterations() [2/2]

void pyhpp::manipulation::PyWGraph::maxIterations

(

size_type

iterations

)

registerConstraints()

void pyhpp::manipulation::PyWGraph::registerConstraints	(	const ImplicitPtr_t &	constraint,
		const ImplicitPtr_t &	complement,
		const ImplicitPtr_t &	both )

removeCollisionPairFromTransition()

void pyhpp::manipulation::PyWGraph::removeCollisionPairFromTransition	(	PyWEdgePtr_t	edge,
		const char *	joint1,
		const char *	joint2 )

resetConstraints()

void pyhpp::manipulation::PyWGraph::resetConstraints

(

PyWStatePtr_t

component

)

setContainingNode()

void pyhpp::manipulation::PyWGraph::setContainingNode	(	PyWEdgePtr_t	edge,
		PyWStatePtr_t	node )

setSecurityMarginForTransition()

void pyhpp::manipulation::PyWGraph::setSecurityMarginForTransition	(	PyWEdgePtr_t	edge,
		const char *	joint1,
		const char *	joint2,
		double	margin )

setShort()

void pyhpp::manipulation::PyWGraph::setShort	(	PyWEdgePtr_t	edge,
		bool	isShort )

setTargetNodeList()

void pyhpp::manipulation::PyWGraph::setTargetNodeList

(

const boost::python::list &

nodes

)

setWaypoint()

void pyhpp::manipulation::PyWGraph::setWaypoint	(	PyWEdgePtr_t	waypointEdge,
		int	index,
		PyWEdgePtr_t	edge,
		PyWStatePtr_t	state )

setWeight()

void pyhpp::manipulation::PyWGraph::setWeight	(	PyWEdgePtr_t	edge,
		int	weight )

Member Data Documentation

constraintsAndComplements

ConstraintsAndComplements_t pyhpp::manipulation::PyWGraph::constraintsAndComplements

id

std::map<std::string, std::size_t> pyhpp::manipulation::PyWGraph::id

obj

GraphPtr_t pyhpp::manipulation::PyWGraph::obj

problem

PyWProblemPtr_t pyhpp::manipulation::PyWGraph::problem

robot

PyWDevicePtr_t pyhpp::manipulation::PyWGraph::robot

---

The documentation for this struct was generated from the following files:

• src/pyhpp/manipulation/graph.hh
• src/pyhpp/manipulation/graph.cc