hpp.corbaserver.robot.RobotXML Class Reference

Inheritance diagram for hpp.corbaserver.robot.RobotXML:

Collaboration diagram for hpp.corbaserver.robot.RobotXML:

Public Member Functions
	__init__ (self, robotName, rootJointType, urdfString, srdfString="", load=True, client=None, hppcorbaClient=None)
	loadModel (self, robotName, rootJointType)
	urdfPath (self)
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)
	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
	load = load
	srdfString = srdfString
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

Additional Inherited Members
Protected Member Functions inherited from hpp.corbaserver.robot.Robot
	_computeKinematicChain (self)

Constructor & Destructor Documentation

__init__()

hpp.corbaserver.robot.RobotXML.__init__	(		self,
			robotName,
			rootJointType,
			urdfString,
			srdfString = "",
			load = True,
			client = None,
			hppcorbaClient = None )

Member Function Documentation

loadModel()

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

Reimplemented from hpp.corbaserver.robot.Robot.

urdfPath()

hpp.corbaserver.robot.RobotXML.urdfPath

(

self

)

Reimplemented from hpp.corbaserver.robot.Robot.

Member Data Documentation

load

hpp.corbaserver.robot.RobotXML.load = load

srdfString

hpp.corbaserver.robot.RobotXML.srdfString = srdfString

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

• src/hpp/corbaserver/robot.py