manipulation.constraint_graph_factory.ConstraintFactoryAbstract Class Reference

An abstract class which stores the constraints. More...

Inheritance diagram for manipulation.constraint_graph_factory.ConstraintFactoryAbstract:

Collaboration diagram for manipulation.constraint_graph_factory.ConstraintFactoryAbstract:

Public Member Functions
def	__init__ (self, graphfactory)
def	buildGrasp (self, g, h)
	Function called to create grasp constraints. More...
def	buildPlacement (self, o)
	Function called to create placement constraints. More...
Accessors to the different elementary constraints
def	getGrasp (self, gripper, handle)
	Get constraints relative to a grasp. More...
def	g (self, gripper, handle, what)
	Get constraints relative to a grasp. More...
def	getPlacement (self, object)
	Get constraints relative to an object placement. More...
def	p (self, object, what)
	Get constraints relative to a placement. More...

Public Attributes
	graphfactory

Detailed Description

An abstract class which stores the constraints.

Child classes are responsible for building them.

• buildGrasp
• buildPlacement

Constructor & Destructor Documentation

__init__()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.__init__	(		self,
			graphfactory
	)

Member Function Documentation

buildGrasp()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildGrasp	(		self,
			g,
			h
	)

Function called to create grasp constraints.

Must return a tuple of Constraints objects as:

• constraint that validates the grasp
• constraint that parameterizes the graph
• constraint that validates the pre-grasp

  Parameters

  g	gripper string
  h	handle string

buildPlacement()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildPlacement	(		self,
			o
	)

Function called to create placement constraints.

Must return a tuple of Constraints objects as:

• constraint that validates placement
• constraint that parameterizes placement
• constraint that validates pre-placement

  Parameters

  o

  string

g()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.g	(		self,
			gripper,
			handle,
			what
	)

Get constraints relative to a grasp.

Parameters

gripper	name of a gripper or gripper index,
handle	name of a handle or handle index,
what	a word among ['grasp', 'graspComplement', 'preGrasp'].

Returns

the corresponding constraints as Constraints instances.

Warning

If grasp does not exist, the function creates it.

getGrasp()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getGrasp	(		self,
			gripper,
			handle
	)

Get constraints relative to a grasp.

Parameters

gripper	name of a gripper or gripper index
handle	name of a handle or handle index

Returns

a dictionary with keys ['grasp', 'graspComplement', 'preGrasp'] and values the corresponding constraints as Constraints instances.

Warning

If grasp does not exist, the function creates it.

getPlacement()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getPlacement	(		self,
			object
	)

Get constraints relative to an object placement.

Parameters

object

object name or index

Returns

a dictionary with keys ['placement', 'placementComplement', 'prePlacement'] and values the corresponding constraints as Constraints instances.

Warning

If placement does not exist, the function creates it.

p()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.p	(		self,
			object,
			what
	)

Get constraints relative to a placement.

Parameters

object	object name or index
what	a word among ['placement', 'placementComplement', 'prePlacement'].

Returns

the corresponding constraints as Constraints instances.

Warning

If placement does not exist, the function creates it.

Member Data Documentation

graphfactory

manipulation.constraint_graph_factory.ConstraintFactoryAbstract.graphfactory

---

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

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