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

Public Member Functions

 __init__ (self, robotName=None, rootJointType=None, load=True, client=None, hppcorbaClient=None)
 
 rebuildRanks (self)
 
 urdfSrdfFilenames (self)
 
 urdfSrdfString (self)
 
 loadModel (self, robotName, rootJointType)
 
 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 Attributes

 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

 _computeKinematicChain (self)
 

Constructor & Destructor Documentation

◆ __init__()

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

Member Function Documentation

◆ _computeKinematicChain()

hpp.corbaserver.robot.Robot._computeKinematicChain ( self)
protected

◆ configIsValid()

hpp.corbaserver.robot.Robot.configIsValid ( self,
cfg )

◆ distancesToCollision()

hpp.corbaserver.robot.Robot.distancesToCollision ( self)

◆ getAllJointNames()

hpp.corbaserver.robot.Robot.getAllJointNames ( self)

◆ getCenterOfMass()

hpp.corbaserver.robot.Robot.getCenterOfMass ( self)

◆ getChildFrames()

hpp.corbaserver.robot.Robot.getChildFrames ( self,
frameName,
recursive = False )

◆ getChildJoints()

hpp.corbaserver.robot.Robot.getChildJoints ( self,
jointName,
recursive = False )

◆ getConfigSize()

hpp.corbaserver.robot.Robot.getConfigSize ( self)

◆ getCurrentConfig()

hpp.corbaserver.robot.Robot.getCurrentConfig ( self)

◆ getCurrentTransformation()

hpp.corbaserver.robot.Robot.getCurrentTransformation ( self,
jointName )

◆ getCurrentVelocity()

hpp.corbaserver.robot.Robot.getCurrentVelocity ( self)

◆ getJacobianCenterOfMass()

hpp.corbaserver.robot.Robot.getJacobianCenterOfMass ( self)

◆ getJointBounds()

hpp.corbaserver.robot.Robot.getJointBounds ( self,
jointName )

◆ getJointConfigSize()

hpp.corbaserver.robot.Robot.getJointConfigSize ( self,
jointName )

◆ getJointInnerObjects()

hpp.corbaserver.robot.Robot.getJointInnerObjects ( self,
jointName )

◆ getJointNames()

hpp.corbaserver.robot.Robot.getJointNames ( self)

◆ getJointNumberDof()

hpp.corbaserver.robot.Robot.getJointNumberDof ( self,
jointName )

◆ getJointOuterObjects()

hpp.corbaserver.robot.Robot.getJointOuterObjects ( self,
jointName )

◆ getJointPosition()

hpp.corbaserver.robot.Robot.getJointPosition ( self,
jointName )

◆ getJointTypes()

hpp.corbaserver.robot.Robot.getJointTypes ( self)

◆ getLinkNames()

hpp.corbaserver.robot.Robot.getLinkNames ( self,
jointName )

◆ getLinkPosition()

hpp.corbaserver.robot.Robot.getLinkPosition ( self,
linkName )

◆ getMass()

hpp.corbaserver.robot.Robot.getMass ( self)

◆ getNumberDof()

hpp.corbaserver.robot.Robot.getNumberDof ( self)

◆ getObjectPosition()

hpp.corbaserver.robot.Robot.getObjectPosition ( self,
objectName )

◆ getParentFrame()

hpp.corbaserver.robot.Robot.getParentFrame ( self,
frameName )

◆ getParentJoint()

hpp.corbaserver.robot.Robot.getParentJoint ( self,
jointName )

◆ getRobotAABB()

hpp.corbaserver.robot.Robot.getRobotAABB ( self)

◆ getRootJointPosition()

hpp.corbaserver.robot.Robot.getRootJointPosition ( self)

◆ getSaturated()

hpp.corbaserver.robot.Robot.getSaturated ( self,
q )

◆ isConfigValid()

hpp.corbaserver.robot.Robot.isConfigValid ( self,
cfg )

◆ loadModel()

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

◆ rebuildRanks()

hpp.corbaserver.robot.Robot.rebuildRanks ( self)

◆ removeObstacleFromJoint()

hpp.corbaserver.robot.Robot.removeObstacleFromJoint ( self,
objectName,
jointName )

◆ setCurrentConfig()

hpp.corbaserver.robot.Robot.setCurrentConfig ( self,
q )

◆ setCurrentVelocity()

hpp.corbaserver.robot.Robot.setCurrentVelocity ( self,
v )

◆ setJointBounds()

hpp.corbaserver.robot.Robot.setJointBounds ( self,
jointName,
inJointBound )

◆ setJointPosition()

hpp.corbaserver.robot.Robot.setJointPosition ( self,
jointName,
position )

◆ setRootJointPosition()

hpp.corbaserver.robot.Robot.setRootJointPosition ( self,
position )

◆ shootRandomConfig()

hpp.corbaserver.robot.Robot.shootRandomConfig ( self)

◆ srdfPath()

hpp.corbaserver.robot.Robot.srdfPath ( self)

◆ urdfPath()

hpp.corbaserver.robot.Robot.urdfPath ( self)

Reimplemented in hpp.corbaserver.robot.RobotXML.

◆ urdfSrdfFilenames()

hpp.corbaserver.robot.Robot.urdfSrdfFilenames ( self)

◆ urdfSrdfString()

hpp.corbaserver.robot.Robot.urdfSrdfString ( self)

Member Data Documentation

◆ allJointNames

hpp.corbaserver.robot.Robot.allJointNames = self.getAllJointNames()

◆ childFrames

dict hpp.corbaserver.robot.Robot.childFrames = None

◆ childJoints

dict hpp.corbaserver.robot.Robot.childJoints = {"universe": list()}

◆ client

hpp.corbaserver.robot.Robot.client = client

◆ displayName

hpp.corbaserver.robot.Robot.displayName = self.name

◆ hppcorba

hpp.corbaserver.robot.Robot.hppcorba = client if hppcorbaClient is None else hppcorbaClient

◆ jointNames

hpp.corbaserver.robot.Robot.jointNames = self.getJointNames()

◆ name

hpp.corbaserver.robot.Robot.name = self.hppcorba.robot.getRobotName()

◆ parentJoint

hpp.corbaserver.robot.Robot.parentJoint = dict()

◆ rankInConfiguration

hpp.corbaserver.robot.Robot.rankInConfiguration = dict()

◆ rankInVelocity

hpp.corbaserver.robot.Robot.rankInVelocity = dict()

◆ rootJointType

hpp.corbaserver.robot.Robot.rootJointType = rootJointType

◆ urdfString

hpp.corbaserver.robot.Robot.urdfString

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