Default implementation of ConstraintFactoryAbstract.
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| def | __init__ (self, graphfactory, graph) |
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| def | buildGrasp (self, g, h) |
| | Calls ConstraintGraph.createGraph and ConstraintGraph.createPreGrasp. More...
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| def | buildPlacement (self, o) |
| | This implements placement manifolds, where the parameterization constraints is the complement of the placement constraint. More...
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| def | __init__ (self, graphfactory) |
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| def | buildGrasp (self, g, h) |
| | Function called to create grasp constraints. More...
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| def | buildPlacement (self, o) |
| | Function called to create placement constraints. More...
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| def | getGrasp (self, gripper, handle) |
| | Get constraints relative to a grasp. More...
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| def | g (self, gripper, handle, what) |
| | Get constraints relative to a grasp. More...
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| def | getPlacement (self, object) |
| | Get constraints relative to an object placement. More...
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| def | p (self, object, what) |
| | Get constraints relative to a placement. More...
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| tuple | gfields = ('grasp', 'graspComplement', 'preGrasp') |
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| tuple | pfields = ('placement', 'placementComplement', 'prePlacement') |
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Default implementation of ConstraintFactoryAbstract.
◆ __init__()
| def manipulation.constraint_graph_factory.ConstraintFactory.__init__ |
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self, |
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graphfactory, |
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graph |
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◆ buildGrasp()
| def manipulation.constraint_graph_factory.ConstraintFactory.buildGrasp |
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self, |
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g, |
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h |
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Calls ConstraintGraph.createGraph and ConstraintGraph.createPreGrasp.
- Parameters
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| g | gripper string |
| h | handle string |
◆ buildPlacement()
| def manipulation.constraint_graph_factory.ConstraintFactory.buildPlacement |
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self, |
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o |
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This implements placement manifolds, where the parameterization constraints is the complement of the placement constraint.
- Parameters
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◆ gfields
| tuple manipulation.constraint_graph_factory.ConstraintFactory.gfields = ('grasp', 'graspComplement', 'preGrasp') |
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◆ graph
| manipulation.constraint_graph_factory.ConstraintFactory.graph |
◆ pfields
| tuple manipulation.constraint_graph_factory.ConstraintFactory.pfields = ('placement', 'placementComplement', 'prePlacement') |
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static |
The documentation for this class was generated from the following file:
Public Member Functions inherited from manipulation.constraint_graph_factory.ConstraintFactoryAbstract