Public Member Functions | |
def | __init__ |
def | display |
Display the current graph. | |
def | createNode |
Create one or several node. | |
def | createEdge |
Create an edge. | |
def | createWaypointEdge |
Create a WaypointEdge. | |
def | createLevelSetEdge |
Create a LevelSetEdge. | |
def | createGrasp |
Create grasp constraints between a gripper and a handle. | |
def | createPreGrasp |
Create pre-grasp constraints between a gripper and a handle See createGrasp. | |
def | setConstraints |
Set the constraints of an edge or a node. | |
def | setLevelSetConstraints |
Set the numerical constraints of a LevelSetEdge that create the foliation. | |
def | addTextToTeXTranslation |
Add entry to the local dictionnary. | |
def | setTextToTeXTranslation |
Set the local dictionnary. | |
Public Attributes | |
client | |
clientBasic | |
graph | |
name | |
grasps | |
pregrasps | |
nodes | |
edges | |
graphId | |
subGraphId | |
textToTex | |
Static Public Attributes | |
dictionary | cmdDot |
dictionary | cmdViewer |
def manipulation::constraint_graph::ConstraintGraph::__init__ | ( | self, | |
robot, | |||
graphName | |||
) |
def manipulation::constraint_graph::ConstraintGraph::addTextToTeXTranslation | ( | self, | |
text, | |||
tex | |||
) |
Add entry to the local dictionnary.
text | plain text |
tex | its latex translation |
References textToTex.
def manipulation::constraint_graph::ConstraintGraph::createEdge | ( | self, | |
nodeFrom, | |||
nodeTo, | |||
name, | |||
weight = 1 , |
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isInNodeFrom = None |
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) |
Create an edge.
nodeFrom,nodeTo | the extremities of the edge, |
name | name of the edge, |
weight | see note, |
isInNodeFrom | true if a path corresponding to this edge lies in nodeFrom; this will be automatically set if you leave it. |
References _(), hpp::GraphElements::edges, edges, graph, hpp::GraphElements::nodes, and nodes.
def manipulation::constraint_graph::ConstraintGraph::createGrasp | ( | self, | |
name, | |||
gripper, | |||
handle, | |||
passiveJoints = "" |
|||
) |
Create grasp constraints between a gripper and a handle.
name | basename of the constraints, |
gripper,handle | names of the gripper and handle, |
passiveJoints | a list of joints that should not be modified by the constraint. |
References _(), hpp::corbaserver::problem_solver::ProblemSolver::client, hpp::corbaserver::robot::Robot::client, manipulation::problem_solver::ProblemSolver::client, client, and grasps.
def manipulation::constraint_graph::ConstraintGraph::createLevelSetEdge | ( | self, | |
nodeFrom, | |||
nodeTo, | |||
name, | |||
weight = 1 , |
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isInNodeFrom = None |
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) |
Create a LevelSetEdge.
nodeFrom,nodeTo,name,weight,isInNodeFrom | see createEdge note. |
References _(), hpp::GraphElements::edges, edges, graph, hpp::GraphElements::nodes, and nodes.
def manipulation::constraint_graph::ConstraintGraph::createNode | ( | self, | |
node | |||
) |
Create one or several node.
node | name (resp. list of names) of the node(s) to be created. |
References _(), graph, hpp::GraphElements::nodes, nodes, and subGraphId.
def manipulation::constraint_graph::ConstraintGraph::createPreGrasp | ( | self, | |
name, | |||
gripper, | |||
handle, | |||
passiveJoints = "" |
|||
) |
Create pre-grasp constraints between a gripper and a handle See createGrasp.
References _(), hpp::corbaserver::problem_solver::ProblemSolver::client, hpp::corbaserver::robot::Robot::client, manipulation::problem_solver::ProblemSolver::client, client, and pregrasps.
def manipulation::constraint_graph::ConstraintGraph::createWaypointEdge | ( | self, | |
nodeFrom, | |||
nodeTo, | |||
name, | |||
nb = 1 , |
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weight = 1 , |
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isInNodeFrom = None |
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) |
Create a WaypointEdge.
nodeFrom,nodeTo,name,weight,isInNodeFrom | see createEdge note, |
nb | number of waypoints, |
returnValue.edges returnValue.nodes
References _(), hpp::GraphElements::edges, edges, graph, hpp::GraphElements::nodes, and nodes.
def manipulation::constraint_graph::ConstraintGraph::display | ( | self, | |
dotOut = '/tmp/constraintgraph.dot' , |
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pdfOut = '/tmp/constraintgraph' , |
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format = 'pdf' , |
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open = True |
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) |
Display the current graph.
The graph is printed in DOT format. Command dot must be available.
dotOut | full path of the generated DOT file. |
pdfOut | fill path of the generated PDF document. |
openPDF | set to False if you just want to generate the PDF. |
def manipulation::constraint_graph::ConstraintGraph::setConstraints | ( | self, | |
graph = False , |
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node = None , |
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edge = None , |
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grasp = None , |
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pregrasp = None , |
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lockDof = [] , |
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numConstraints = [] , |
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passiveJoints = [] |
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) |
Set the constraints of an edge or a node.
This method sets the constraints of an element of the graph and handles the special cases of grasps constraints.
graph | set to true if you are defining constraints for every nodes, |
node,edge | name of a component of the graph, |
grasp,pregrasp | name, or list of names, of grasp or pregrasp. |
References hpp::GraphElements::edges, edges, graph, graphId, grasps, hpp::GraphElements::nodes, nodes, and pregrasps.
def manipulation::constraint_graph::ConstraintGraph::setLevelSetConstraints | ( | self, | |
edge, | |||
grasp = None , |
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pregrasp = None , |
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lockDof = [] , |
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numConstraints = [] , |
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passiveJoints = [] |
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) |
Set the numerical constraints of a LevelSetEdge that create the foliation.
edge | name of a LevelSetEdge of the graph. |
grasp,pregrasp | name, or list of names, of grasp or pregrasp. |
numConstraints | is an array of names of numerical constraints in the ProblemSolver map. |
lockDof | is an array of names of LockedDof constraints in the ProblemSolver map. |
passiveJoints | array of names of vector of passive dofs in the ProblemSolver map. |
References hpp::GraphElements::edges, edges, graph, grasps, and pregrasps.
def manipulation::constraint_graph::ConstraintGraph::setTextToTeXTranslation | ( | self, | |
textToTex | |||
) |
Set the local dictionnary.
textToTex | a dictionnary of (plain text, TeX replacment) If the name of a node or an edges is a key of the dictionnary, it is replaced by the corresponding value. |
References textToTex.
Referenced by manipulation::robot::Robot::collisionTest(), createGrasp(), createPreGrasp(), manipulation::robot::Robot::distancesToCollision(), manipulation::robot::Robot::getAllJointNames(), manipulation::robot::Robot::getCenterOfMass(), manipulation::robot::Robot::getConfigSize(), manipulation::robot::Robot::getCurrentConfig(), manipulation::robot::Robot::getJacobianCenterOfMass(), manipulation::robot::Robot::getJointConfigSize(), manipulation::robot::Robot::getJointInnerObjects(), manipulation::robot::Robot::getJointNames(), manipulation::robot::Robot::getJointNumberDof(), manipulation::robot::Robot::getJointOuterObjects(), manipulation::robot::Robot::getJointPosition(), manipulation::robot::Robot::getLinkName(), manipulation::robot::Robot::getLinkPosition(), manipulation::robot::Robot::getMass(), manipulation::robot::Robot::getNumberDof(), manipulation::robot::Robot::getObjectPosition(), manipulation::robot::Robot::insertObjectModel(), manipulation::robot::Robot::insertRobotModel(), manipulation::robot::Robot::isConfigValid(), manipulation::robot::Robot::loadEnvironmentModel(), manipulation::robot::Robot::loadHumanoidModel(), manipulation::robot::Robot::loadModel(), manipulation::robot::HumanoidRobot::loadModel(), manipulation::robot::Robot::rebuildRanks(), manipulation::robot::Robot::removeObstacleFromJoint(), manipulation::robot::Robot::setCurrentConfig(), manipulation::robot::Robot::setJointBounds(), manipulation::robot::Robot::setJointPosition(), manipulation::robot::Robot::setTranslationBounds(), and manipulation::robot::Robot::shootRandomConfig().
dictionary manipulation::constraint_graph::ConstraintGraph::cmdDot [static] |
{ 'pdf': ['dot', '-Gsize=7.5,10', '-Tpdf'], 'svg': ['dot', '-Gsize=7.5,10', '-Tsvg'] }
Referenced by display().
dictionary manipulation::constraint_graph::ConstraintGraph::cmdViewer [static] |
{ 'pdf': ['evince'], 'svg': ['firefox'] }
Referenced by display().
Referenced by createEdge(), createLevelSetEdge(), createWaypointEdge(), setConstraints(), and setLevelSetConstraints().
Referenced by createEdge(), createLevelSetEdge(), createNode(), createWaypointEdge(), display(), setConstraints(), and setLevelSetConstraints().
Referenced by createGrasp(), setConstraints(), and setLevelSetConstraints().
Referenced by createEdge(), createLevelSetEdge(), createNode(), createWaypointEdge(), and setConstraints().
Referenced by createPreGrasp(), setConstraints(), and setLevelSetConstraints().