manipulation.constraint_graph_factory.ConstraintFactory Class Reference

Inheritance diagram for manipulation.constraint_graph_factory.ConstraintFactory:

Collaboration diagram for manipulation.constraint_graph_factory.ConstraintFactory:

Public Member Functions
	__init__ (self, graphfactory, graph)
	buildGrasp (self, g, h)
	buildPlacement (self, o)
Public Member Functions inherited from manipulation.constraint_graph_factory.ConstraintFactoryAbstract
	__init__ (self, graphfactory)
	getGrasp (self, gripper, handle)
	g (self, gripper, handle, what)
	getPlacement (self, object)
	p (self, object, what)

Public Attributes
	graph = graph
Public Attributes inherited from manipulation.constraint_graph_factory.ConstraintFactoryAbstract
	graphfactory = graphfactory

Static Public Attributes
bool	removeEmptyConstraints = True
tuple	gfields = ("grasp", "graspComplement", "preGrasp")
tuple	pfields = ("placement", "placementComplement", "prePlacement")

Protected Member Functions
	_removeEmptyConstraints (self, problem, constraints)

Additional Inherited Members
Protected Attributes inherited from manipulation.constraint_graph_factory.ConstraintFactoryAbstract
	_grasp = dict()
	_placement = dict()

Detailed Description

Default implementation of ConstraintFactoryAbstract

Constructor & Destructor Documentation

__init__()

manipulation.constraint_graph_factory.ConstraintFactory.__init__	(		self,
			graphfactory,
			graph )

Member Function Documentation

_removeEmptyConstraints()

manipulation.constraint_graph_factory.ConstraintFactory._removeEmptyConstraints ( self, problem, constraints )

protected

buildGrasp()

manipulation.constraint_graph_factory.ConstraintFactory.buildGrasp	(		self,
			g,
			h )

Calls ConstraintGraph.createGraph and ConstraintGraph.createPreGrasp
\\param g gripper string
\\param h handle  string
\note if the grasp constraint already exists, it is not created.

Reimplemented from manipulation.constraint_graph_factory.ConstraintFactoryAbstract.

buildPlacement()

manipulation.constraint_graph_factory.ConstraintFactory.buildPlacement	(		self,
			o )

This implements placement manifolds,
where the parameterization constraints is the complement
of the placement constraint.
\\param o string

Reimplemented from manipulation.constraint_graph_factory.ConstraintFactoryAbstract.

Member Data Documentation

gfields

manipulation.constraint_graph_factory.ConstraintFactory.gfields = ("grasp", "graspComplement", "preGrasp")

static

graph

manipulation.constraint_graph_factory.ConstraintFactory.graph = graph

pfields

manipulation.constraint_graph_factory.ConstraintFactory.pfields = ("placement", "placementComplement", "prePlacement")

static

removeEmptyConstraints

bool manipulation.constraint_graph_factory.ConstraintFactory.removeEmptyConstraints = True

static

---

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

• src/hpp/corbaserver/manipulation/constraint_graph_factory.py