hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
 
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hpp.corbaserver.robot.HumanoidRobot Class Reference
Inheritance diagram for hpp.corbaserver.robot.HumanoidRobot:
Collaboration diagram for hpp.corbaserver.robot.HumanoidRobot:

Public Member Functions

 __init__ (self, robotName=None, rootJointType=None, load=True, client=None, hppcorbaClient=None)
 
 loadModel (self, robotName, rootJointType)
 
- Public Member Functions inherited from hpp.corbaserver.robot.Robot
 __init__ (self, robotName=None, rootJointType=None, load=True, client=None, hppcorbaClient=None)
 
 rebuildRanks (self)
 
 urdfSrdfFilenames (self)
 
 urdfSrdfString (self)
 
 urdfPath (self)
 
 srdfPath (self)
 
 getConfigSize (self)
 
 getNumberDof (self)
 
 getJointNames (self)
 
 getJointTypes (self)
 
 getAllJointNames (self)
 
 getParentFrame (self, frameName)
 
 getChildFrames (self, frameName, recursive=False)
 
 getParentJoint (self, jointName)
 
 getChildJoints (self, jointName, recursive=False)
 
 getJointPosition (self, jointName)
 
 getRootJointPosition (self)
 
 setRootJointPosition (self, position)
 
 setJointPosition (self, jointName, position)
 
 getCurrentTransformation (self, jointName)
 
 getJointNumberDof (self, jointName)
 
 getJointConfigSize (self, jointName)
 
 setJointBounds (self, jointName, inJointBound)
 
 getJointBounds (self, jointName)
 
 getSaturated (self, q)
 
 getLinkPosition (self, linkName)
 
 getLinkNames (self, jointName)
 
 setCurrentConfig (self, q)
 
 getCurrentConfig (self)
 
 setCurrentVelocity (self, v)
 
 getCurrentVelocity (self)
 
 shootRandomConfig (self)
 
 getJointInnerObjects (self, jointName)
 
 getJointOuterObjects (self, jointName)
 
 getObjectPosition (self, objectName)
 
 removeObstacleFromJoint (self, objectName, jointName)
 
 isConfigValid (self, cfg)
 
 configIsValid (self, cfg)
 
 distancesToCollision (self)
 
 getRobotAABB (self)
 
 getMass (self)
 
 getCenterOfMass (self)
 
 getJacobianCenterOfMass (self)
 
- Public Member Functions inherited from hpp.corbaserver.robot.StaticStabilityConstraintsFactory
 createSlidingStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0)
 
 createStaticStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0, maskCom=(True,) *3)
 
 createAlignedCOMStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0, sliding)
 

Additional Inherited Members

- Public Attributes inherited from hpp.corbaserver.robot.Robot
 client = client
 
 hppcorba = client if hppcorbaClient is None else hppcorbaClient
 
 name = self.hppcorba.robot.getRobotName()
 
 rootJointType = rootJointType
 
 displayName = self.name
 
 jointNames = self.getJointNames()
 
 allJointNames = self.getAllJointNames()
 
 rankInConfiguration = dict()
 
 rankInVelocity = dict()
 
dict childFrames = None
 
 parentJoint = dict()
 
dict childJoints = {"universe": list()}
 
 urdfString
 
- Protected Member Functions inherited from hpp.corbaserver.robot.Robot
 _computeKinematicChain (self)
 
- Protected Member Functions inherited from hpp.corbaserver.robot.StaticStabilityConstraintsFactory
 _getCOM (self, com)
 

Constructor & Destructor Documentation

◆ __init__()

hpp.corbaserver.robot.HumanoidRobot.__init__ ( self,
robotName = None,
rootJointType = None,
load = True,
client = None,
hppcorbaClient = None )

Member Function Documentation

◆ loadModel()

hpp.corbaserver.robot.HumanoidRobot.loadModel ( self,
robotName,
rootJointType )

Reimplemented from hpp.corbaserver.robot.Robot.


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