Helper class to load a robot model in hpp::core::ProblemSolver instance. More...
Public Member Functions | |
def | __init__ |
def | loadModel |
Degrees of freedom | |
def | getConfigSize |
Get size of configuration. | |
def | getNumberDof |
Joints | |
def | getJointNames |
Get joint names in the same order as in the configuration. | |
def | getAllJointNames |
Get joint names in the same order as in the configuration. | |
def | getJointPosition |
Get joint position. | |
def | getRootJointPosition |
Get constant position of root joint in world frame in initial position. | |
def | setRootJointPosition |
Set position of root joint in world frame in initial configuration. | |
def | setJointPosition |
Set the static position of joint WRT its parent. | |
def | getJointNumberDof |
Get joint number degrees of freedom. | |
def | getJointConfigSize |
Get joint number config size. | |
def | setJointBounds |
set bounds for the joint | |
def | getLinkPosition |
Get link position in world frame. | |
def | getLinkName |
Get link name. | |
Configurations | |
def | setCurrentConfig |
Set current configuration of composite robot. | |
def | getCurrentConfig |
Get current configuration of composite robot. | |
def | shootRandomConfig |
Shoot random configuration. | |
Bodies | |
def | getJointInnerObjects |
Get the list of objects attached to a joint. | |
def | getJointOuterObjects |
Get list of collision objects tested with the body attached to a joint. | |
def | getObjectPosition |
Get position of robot object. | |
def | removeObstacleFromJoint |
Remove an obstacle from outer objects of a joint body. | |
Collision checking and distance computation | |
def | collisionTest |
Test collision with obstacles and auto-collision. | |
def | isConfigValid |
Check the validity of a configuration. | |
def | distancesToCollision |
Compute distances between bodies and obstacles. | |
Mass and inertia | |
def | getMass |
Get mass of robot. | |
def | getCenterOfMass |
Get position of center of mass. | |
def | getJacobianCenterOfMass |
Get Jacobian of the center of mass. | |
Public Attributes | |
name | |
displayName | |
tf_root | |
rootJointType | |
client | |
jointNames | |
allJointNames | |
rankInConfiguration | |
rankInVelocity |
Helper class to load a robot model in hpp::core::ProblemSolver instance.
This class is also used to initialize a client to rviz in order to display configurations of a robot.
def hpp::corbaserver::robot::Robot::__init__ | ( | self, | |
robotName, | |||
rootJointType, | |||
load = True |
|||
) |
Reimplemented in hpp::corbaserver::robot::HumanoidRobot.
def hpp::corbaserver::robot::Robot::collisionTest | ( | self | ) |
Test collision with obstacles and auto-collision.
Check whether current configuration of robot is valid by calling CkwsDevice::collisionTest ().
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::distancesToCollision | ( | self | ) |
Compute distances between bodies and obstacles.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getAllJointNames | ( | self | ) |
Get joint names in the same order as in the configuration.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getCenterOfMass | ( | self | ) |
Get position of center of mass.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getConfigSize | ( | self | ) |
Get size of configuration.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getCurrentConfig | ( | self | ) |
Get current configuration of composite robot.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getJacobianCenterOfMass | ( | self | ) |
Get Jacobian of the center of mass.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getJointConfigSize | ( | self, | |
jointName | |||
) |
Get joint number config size.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getJointInnerObjects | ( | self, | |
jointName | |||
) |
Get the list of objects attached to a joint.
inJointName | name of the joint. |
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getJointNames | ( | self | ) |
Get joint names in the same order as in the configuration.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getJointNumberDof | ( | self, | |
jointName | |||
) |
Get joint number degrees of freedom.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getJointOuterObjects | ( | self, | |
jointName | |||
) |
Get list of collision objects tested with the body attached to a joint.
inJointName | name of the joint. |
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getJointPosition | ( | self, | |
jointName | |||
) |
Get joint position.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getLinkName | ( | self, | |
jointName | |||
) |
Get link name.
jointName | name of the joint, |
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getLinkPosition | ( | self, | |
jointName | |||
) |
Get link position in world frame.
Joints are oriented in a different way as in urdf standard since rotation and uni-dimensional translation joints act around or along their x-axis. This method returns the position of the urdf link in world frame.
jointName | name of the joint |
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getMass | ( | self | ) |
Get mass of robot.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getNumberDof | ( | self | ) |
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getObjectPosition | ( | self, | |
objectName | |||
) |
Get position of robot object.
objectName | name of the object. |
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::getRootJointPosition | ( | self | ) |
Get constant position of root joint in world frame in initial position.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::isConfigValid | ( | self, | |
cfg | |||
) |
Check the validity of a configuration.
Check whether a configuration of robot is valid.
cfg | a configuration |
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::loadModel | ( | self, | |
robotName, | |||
rootJointType | |||
) |
Reimplemented in hpp::corbaserver::robot::HumanoidRobot.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::removeObstacleFromJoint | ( | self, | |
objectName, | |||
jointName, | |||
collision, | |||
distance | |||
) |
Remove an obstacle from outer objects of a joint body.
objectName | name of the object to remove, |
jointName | name of the joint owning the body, |
collision | whether collision with object should be computed, |
distance | whether distance to object should be computed. |
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::setCurrentConfig | ( | self, | |
q | |||
) |
Set current configuration of composite robot.
q | configuration of the composite robot |
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::setJointBounds | ( | self, | |
jointName, | |||
inJointBound | |||
) |
set bounds for the joint
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::setJointPosition | ( | self, | |
jointName, | |||
position | |||
) |
Set the static position of joint WRT its parent.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::setRootJointPosition | ( | self, | |
position | |||
) |
Set position of root joint in world frame in initial configuration.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
def hpp::corbaserver::robot::Robot::shootRandomConfig | ( | self | ) |
Shoot random configuration.
References hpp::corbaserver::problem_solver::ProblemSolver::client, and client.
Referenced by collisionTest(), distancesToCollision(), getAllJointNames(), getCenterOfMass(), getConfigSize(), getCurrentConfig(), getJacobianCenterOfMass(), getJointConfigSize(), getJointInnerObjects(), getJointNames(), getJointNumberDof(), getJointOuterObjects(), getJointPosition(), getLinkName(), getLinkPosition(), getMass(), getNumberDof(), getObjectPosition(), getRootJointPosition(), isConfigValid(), loadModel(), hpp::corbaserver::robot::HumanoidRobot::loadModel(), removeObstacleFromJoint(), setCurrentConfig(), setJointBounds(), setJointPosition(), setRootJointPosition(), and shootRandomConfig().