manipulation.problem_solver.ProblemSolver Class Reference

Definition of a manipulation planning problem. More...

Inheritance diagram for manipulation.problem_solver.ProblemSolver:

Collaboration diagram for manipulation.problem_solver.ProblemSolver:

Public Member Functions
def	__init__ (self, robot)
def	selectProblem (self, name)
	Select a problem by its name. More...
def	getAvailable (self, type)
	Return a list of available elements of type type. More...
def	getSelected (self, type)
	Return a list of selected elements of type type. More...
Contact surfaces
In placement states, objects are in contact with other objects or with the environment through contact surfaces.
def	getEnvironmentContactNames (self)
def	getRobotContactNames (self)
def	getEnvironmentContact (self, name)
def	getRobotContact (self, name)
Constraints
def	createPlacementConstraints (self, placementName, shapeName, envContactName, width=0.05)
	Create placement and pre-placement constraints. More...
def	registerConstraints (self, args)
def	balanceConstraints (self)
	Return balance constraints created by method ProblemSolver.createStaticStabilityConstraints. More...
def	getConstantRightHandSide (self, constraintName)
	Get whether right hand side of a numerical constraint is constant. More...
def	lockFreeFlyerJoint (self, freeflyerBname, lockJointBname, values=(0, 0, 0, 0, 0, 0, 1))
	Lock degree of freedom of a FreeFlyer joint. More...
def	lockPlanarJoint (self, jointName, lockJointName, values=(0, 0, 1, 0))
	Lock degree of freedom of a planar joint. More...
Solve problem and get paths
def	setTargetState (self, stateId)
	Set the problem target to stateId The planner will look for a path from the init configuration to a configuration in state stateId. More...

Detailed Description

Definition of a manipulation planning problem.

This class wraps the Corba client to the server implemented by libhpp-manipulation-corba.so

Some method implemented by the server can be considered as private. The goal of this class is to hide them and to expose those that can be considered as public.

Constructor & Destructor Documentation

__init__()

def manipulation.problem_solver.ProblemSolver.__init__	(		self,
			robot
	)

Member Function Documentation

balanceConstraints()

def manipulation.problem_solver.ProblemSolver.balanceConstraints

(

self

)

Return balance constraints created by method ProblemSolver.createStaticStabilityConstraints.

createPlacementConstraints()

def manipulation.problem_solver.ProblemSolver.createPlacementConstraints	(		self,
			placementName,
			shapeName,
			envContactName,
			width = 0.05
	)

Create placement and pre-placement constraints.

Parameters

width

set to None to skip creation of pre-placement constraint

See hpp::corbaserver::manipulation::Problem::createPlacementConstraint and hpp::corbaserver::manipulation::Problem::createPrePlacementConstraint

getAvailable()

def manipulation.problem_solver.ProblemSolver.getAvailable	(		self,
			type
	)

Return a list of available elements of type type.

Parameters

type	enter "type" to know what types I know of. This is case insensitive.

getConstantRightHandSide()

def manipulation.problem_solver.ProblemSolver.getConstantRightHandSide	(		self,
			constraintName
	)

Get whether right hand side of a numerical constraint is constant.

Parameters

constraintName

Name of the numerical constraint,

Returns

whether right hand side is constant

getEnvironmentContact()

def manipulation.problem_solver.ProblemSolver.getEnvironmentContact	(		self,
			name
	)

Get environment contact from name

A contact surface may be composed of several convex polygons. Let us denote by n the number of polygons.

Parameters

name	name of the contact surface

Returns

a list of n times the same joint name

Return values

indices	sequence of n numbers of vertices one for each polygon,
points	sequence of vertices. The number should be the sum of the elements of indices.

getEnvironmentContactNames()

def manipulation.problem_solver.ProblemSolver.getEnvironmentContactNames

(

self

)

Get names of environment contact surfaces

See also

class hpp::core::Shape_t

Note

they are also accessible with getAvailable("EnvContact").

getRobotContact()

def manipulation.problem_solver.ProblemSolver.getRobotContact	(		self,
			name
	)

Get robot contact from name

A contact surface may be composed of several convex polygons. Let us denote by n the number of polygons.

Parameters

name	name of the contact surface

Returns

a list of n times the same joint name

Return values

indices	sequence of n numbers of vertices one for each polygon,
points	sequence of vertices. The number should be the sum of the elements of indices.

getRobotContactNames()

def manipulation.problem_solver.ProblemSolver.getRobotContactNames

(

self

)

Get names of environment contact surfaces on robot

See also

class hpp::core::Shape_t

Note

those are also accessible with getAvailable("RobotContact").

getSelected()

def manipulation.problem_solver.ProblemSolver.getSelected	(		self,
			type
	)

Return a list of selected elements of type type.

Parameters

type	enter "type" to know what types I know of. This is case insensitive.

Note

For most of the types, the list will contain only one element.

lockFreeFlyerJoint()

def manipulation.problem_solver.ProblemSolver.lockFreeFlyerJoint	(		self,
			freeflyerBname,
			lockJointBname,
			values = (0,0,0,0,0,0,1)
	)

Lock degree of freedom of a FreeFlyer joint.

Parameters

freeflyerBname	base name of the joint (It will be completed by '_xyz' and '_SO3'),
lockJointBname	base name of the LockedJoint constraints (It will be completed by '_xyz' and '_SO3'),
values	config of the locked joints (7 float)

lockPlanarJoint()

def manipulation.problem_solver.ProblemSolver.lockPlanarJoint	(		self,
			jointName,
			lockJointName,
			values = (0,0,1,0)
	)

Lock degree of freedom of a planar joint.

Parameters

jointName	name of the joint (It will be completed by '_xy' and '_rz'),
lockJointName	name of the LockedJoint constraint
values	config of the locked joints (4 float)

registerConstraints()

def manipulation.problem_solver.ProblemSolver.registerConstraints	(		self,
			args
	)

Register constraints

Parameters

constraint	a numerical constraint partially constraining the (relative) pose of an object or robot body (grasp, placement),
complement	the complement constraint, i.e. the constaint that combined with the previous one totally constrains the pose of the object or robot body.
both	a constraint (usually explicit) that is equivalent to the combination of the two first parameters.

Registering constraints enables the numerical solvers to be more efficient. Instead of inserting "constraint" and "complement" in a solver, the graph will insert constraint "both", thus replacing two implicit constraints by an explicit one.

selectProblem()

def manipulation.problem_solver.ProblemSolver.selectProblem	(		self,
			name
	)

Select a problem by its name.

If no problem with this name exists, a new hpp::manipulation::ProblemSolver is created and selected.

Parameters

name	the problem name.

Returns

true if a new problem was created.

setTargetState()

def manipulation.problem_solver.ProblemSolver.setTargetState	(		self,
			stateId
	)

Set the problem target to stateId The planner will look for a path from the init configuration to a configuration in state stateId.

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

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