Definition of a manipulation planning problem. More...
Public Member Functions | |
def | __init__ (self, robot) |
def | setRandomSeed (self, seed) |
Set random seed of random number generator. More... | |
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... | |
def | setParameter (self, name, value) |
Set a parameter. More... | |
def | getParameter (self, name) |
Get parameter with given name raise an exception when the parameter is not found. More... | |
def | getParameterDoc (self, name) |
Get parameter doc with given name raise an exception when the parameter is not found. More... | |
def | movePathToProblem (self, pathId, problemName, jointNames) |
Initial and goal configurations | |
def | setInitialConfig (self, dofArray) |
Set initial configuration of specified problem. More... | |
def | getInitialConfig (self) |
Get initial configuration of specified problem. More... | |
def | addGoalConfig (self, dofArray) |
Add goal configuration to specified problem. More... | |
def | getGoalConfigs (self) |
Get goal configurations of specified problem. More... | |
def | resetGoalConfigs (self) |
Reset goal configurations. More... | |
Obstacles | |
def | loadObstacleFromUrdf (self, package, filename, prefix) |
Load obstacle from urdf file. More... | |
def | removeObstacleFromJoint (self, objectName, jointName, collision, distance) |
Remove an obstacle from outer objects of a joint body. More... | |
def | moveObstacle (self, objectName, cfg) |
Move an obstacle to a given configuration. More... | |
def | getObstaclePosition (self, objectName) |
Get the position of an obstacle. More... | |
def | getObstacleNames (self, collision, distance) |
Get list of obstacles. More... | |
Constraints | |
def | createStaticStabilityConstraints (self, constraintName, q0, comName="", type=None) |
Create static stability constraints. More... | |
def | createComplementStaticStabilityConstraints (self, constraintName, q0) |
Create complement of static stability constraints. More... | |
def | createPlacementConstraints (self, placementName, shapeName, envContactName, width=0.05) |
Create placement and pre-placement constraints. More... | |
def | balanceConstraints (self) |
Return balance constraints created by method ProblemSolver.createStaticStabilityConstraints. More... | |
def | createOrientationConstraint (self, constraintName, joint1Name, joint2Name, p, mask) |
Reset Constraints. More... | |
def | createPositionConstraint (self, constraintName, joint1Name, joint2Name, point1, point2, mask) |
Create position constraint between two joints. More... | |
def | createTransformationConstraint (self, constraintName, joint1Name, joint2Name, ref, mask) |
Create transformation constraint between two joints. More... | |
def | createRelativeComConstraint (self, constraintName, comName, jointLName, point, mask) |
Create RelativeCom constraint between two joints. More... | |
def | createComBeetweenFeet (self, constraintName, comName, jointLName, jointRName, pointL, pointR, jointRefName, mask) |
Create ComBeetweenFeet constraint between two joints. More... | |
def | addPartialCom (self, comName, jointNames) |
Add an object to compute a partial COM of the robot. More... | |
def | getPartialCom (self, comName) |
Get the position of a partial COM created with addPartialCom. More... | |
def | getJacobianPartialCom (self, comName) |
Get the Jacobian of a partial COM created with addPartialCom. More... | |
def | addPassiveDofs (self, name, dofNames) |
Create a vector of passive dofs. More... | |
def | setConstantRightHandSide (self, constraintName, constant) |
(Dis-)Allow to modify right hand side of a numerical constraint More... | |
def | getConstantRightHandSide (self, constraintName) |
Get whether right hand side of a numerical constraint is constant. More... | |
def | resetConstraints (self) |
Reset Constraints. More... | |
def | addNumericalConstraints (self, name, names, priorities=None) |
Add numerical constraints in ConfigProjector. More... | |
def | setNumericalConstraints (self, name, names, priorities=None) |
def | addLockedJointConstraints (self, name, names) |
Add locked joint in ConfigProjector. More... | |
def | setLockedJointConstraints (self, name, names) |
def | applyConstraints (self, q) |
Apply constraints. More... | |
def | generateValidConfig (self, maxIter) |
Generate a configuration satisfying the constraints. More... | |
def | createLockedJoint (self, lockedDofName, jointName, value) |
Create a LockedJoint constraint with given value. More... | |
def | createLockedExtraDof (self, lockedDofName, index, value) |
Create a locked extradof hpp::manipulation::ProblemSolver map. 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... | |
def | getErrorThreshold (self) |
error threshold in numerical constraint resolution More... | |
def | setErrorThreshold (self, threshold) |
error threshold in numerical constraint resolution More... | |
def | getMaxIterations (self) |
Set the maximal number of iterations. More... | |
def | setMaxIterations (self, iterations) |
Set the maximal number of iterations. More... | |
def | getMaxIterations (self) |
Set the maximal number of iterations in projection. More... | |
def | setMaxIterations (self, iterations) |
Set the maximal number of iterations in projection. More... | |
def | getMaxIterPathPlanning (self) |
Get the maximal number of iterations in projection. More... | |
def | setMaxIterPathPlanning (self, iterations) |
Set the maximal number of iterations in projection. More... | |
def | getMaxIterProjection (self) |
Get the maximal number of iterations in projection. More... | |
def | setMaxIterProjection (self, iterations) |
Set the maximal number of iterations in projection. More... | |
Solve problem and get paths | |
def | selectPathPlanner (self, pathPlannerType) |
Select path planner type. More... | |
def | selectConfigurationShooter (self, configurationShooterType) |
Select configuration shooter type. More... | |
def | addPathOptimizer (self, pathOptimizerType) |
Add path optimizer type. More... | |
def | clearPathOptimizers (self) |
Clear path optimizers. More... | |
def | addConfigValidation (self, configValidationType) |
Add a config validation. More... | |
def | clearConfigValidations (self) |
Clear config validations. More... | |
def | selectPathValidation (self, pathValidationType, tolerance) |
Select path validation method. More... | |
def | selectPathProjector (self, pathProjectorType, tolerance) |
Select path projector method. More... | |
def | selectDistance (self, distanceType) |
Select distance type. More... | |
def | selectSteeringMethod (self, steeringMethodType) |
Select steering method type. More... | |
def | prepareSolveStepByStep (self) |
def | executeOneStep (self) |
def | finishSolveStepByStep (self) |
def | solve (self) |
Solve the problem of corresponding ChppPlanner object. More... | |
def | directPath (self, startConfig, endConfig, validate) |
Make direct connection between two configurations. More... | |
def | projectPath (self, pathId) |
Project path using the path projector. More... | |
def | numberPaths (self) |
Get Number of paths. More... | |
def | optimizePath (self, inPathId) |
Optimize a given path. More... | |
def | pathLength (self, inPathId) |
Get length of path. More... | |
def | configAtParam (self, inPathId, atDistance) |
Get the robot's config at param on the a path. More... | |
def | getWaypoints (self, pathId) |
Get way points of a path. More... | |
def | erasePath (self, pathId) |
Delete a path. More... | |
def | concatenatePath (self, pathId1, pathId2) |
Concatenate two paths The function appends the second path to the first one and remove the second path. More... | |
Interruption of a path planning request | |
def | interruptPathPlanning (self) |
Interrupt path planning activity. More... | |
exploring the roadmap | |
def | nodes (self) |
Get nodes of the roadmap. More... | |
def | node (self, nodeId) |
def | numberNodes (self) |
Number of nodes. More... | |
def | numberEdges (self) |
Number of edges. More... | |
def | edge (self, edgeId) |
Edge at given rank. More... | |
def | numberConnectedComponents (self) |
Number of connected components. More... | |
def | nodesConnectedComponent (self, ccId) |
Nodes of a connected component. More... | |
def | clearRoadmap (self) |
Clear the roadmap. More... | |
def | addConfigToRoadmap (self, config) |
Add a configuration to the roadmap. More... | |
def | addEdgeToRoadmap (self, config1, config2, pathId, bothEdges) |
Add an edge to roadmap. More... | |
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... | |
Public Attributes | |
client | |
robot | |
balanceConstraints_ | |
Static Public Attributes | |
SLIDING = hpp.corbaserver.wholebody_step.Problem.SLIDING | |
SLIDING_ALIGNED_COM = \ | |
FIXED_ON_THE_GROUND = \ | |
FIXED_ALIGNED_COM = \ | |
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.
def manipulation.problem_solver.ProblemSolver.__init__ | ( | self, | |
robot | |||
) |
def manipulation.problem_solver.ProblemSolver.addConfigToRoadmap | ( | self, | |
config | |||
) |
Add a configuration to the roadmap.
config | to be added to the roadmap. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.addConfigValidation | ( | self, | |
configValidationType | |||
) |
Add a config validation.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.addEdgeToRoadmap | ( | self, | |
config1, | |||
config2, | |||
pathId, | |||
bothEdges | |||
) |
Add an edge to roadmap.
If
config1,config2 | the ends of the path, |
pathId | the index if the path in the vector of path, |
bothEdges | if FALSE, only add config1 to config2, if TRUE, add edges config1->config2 AND config2->config1. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.addGoalConfig | ( | self, | |
dofArray | |||
) |
Add goal configuration to specified problem.
dofArray | Array of degrees of freedom |
Error. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.addLockedJointConstraints | ( | self, | |
name, | |||
names | |||
) |
Add locked joint in ConfigProjector.
name | name of the config projector created if any, |
names | list of names of the locked joints previously created by method createLockedJoint. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
Referenced by manipulation.problem_solver.ProblemSolver.setLockedJointConstraints().
def manipulation.problem_solver.ProblemSolver.addNumericalConstraints | ( | self, | |
name, | |||
names, | |||
priorities = None |
|||
) |
Add numerical constraints in ConfigProjector.
name | name of the config projector created if any, |
names | list of names of the numerical constraints previously created by methods createTransformationConstraint, createRelativeComConstraint, ... |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
Referenced by manipulation.problem_solver.ProblemSolver.setNumericalConstraints().
def manipulation.problem_solver.ProblemSolver.addPartialCom | ( | self, | |
comName, | |||
jointNames | |||
) |
Add an object to compute a partial COM of the robot.
name | of the partial com |
jointNames | list of joint name of each tree ROOT to consider. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.addPassiveDofs | ( | self, | |
name, | |||
dofNames | |||
) |
Create a vector of passive dofs.
name | name of the vector in the ProblemSolver map. |
dofNames | list of names of DOF that may |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.addPathOptimizer | ( | self, | |
pathOptimizerType | |||
) |
Add path optimizer type.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.applyConstraints | ( | self, | |
q | |||
) |
Apply constraints.
q | initial configuration |
Error | if projection failed. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.balanceConstraints | ( | self | ) |
Return balance constraints created by method ProblemSolver.createStaticStabilityConstraints.
References manipulation.problem_solver.ProblemSolver.balanceConstraints_, and manipulation.problem_solver.ProblemSolver.createOrientationConstraint().
def manipulation.problem_solver.ProblemSolver.clearConfigValidations | ( | self | ) |
Clear config validations.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.clearPathOptimizers | ( | self | ) |
def manipulation.problem_solver.ProblemSolver.clearRoadmap | ( | self | ) |
def manipulation.problem_solver.ProblemSolver.concatenatePath | ( | self, | |
pathId1, | |||
pathId2 | |||
) |
Concatenate two paths The function appends the second path to the first one and remove the second path.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.configAtParam | ( | self, | |
inPathId, | |||
atDistance | |||
) |
Get the robot's config at param on the a path.
inPathId | rank of the path in the problem |
atDistance | : the user parameter choice |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.createComBeetweenFeet | ( | self, | |
constraintName, | |||
comName, | |||
jointLName, | |||
jointRName, | |||
pointL, | |||
pointR, | |||
jointRefName, | |||
mask | |||
) |
Create ComBeetweenFeet constraint between two joints.
constraintName | name of the constraint created, |
comName | name of CenterOfMassComputation |
jointLName | name of first joint |
jointRName | name of second joint |
pointL | point in local frame of jointL. |
pointR | point in local frame of jointR. |
jointRefName | name of second joint |
mask | Select axis to be constrained. If jointRef is "", the robot root joint is used. Constraints are stored in ProblemSolver object |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
Referenced by manipulation.problem_solver.ProblemSolver.createRelativeComConstraint().
def manipulation.problem_solver.ProblemSolver.createComplementStaticStabilityConstraints | ( | self, | |
constraintName, | |||
q0 | |||
) |
Create complement of static stability constraints.
Call corba request hpp::corbaserver::wholebody_step::Problem::addComplementStaticStabilityConstraints
The ankles are defined by members leftAnkle and rightAnkle of variable robot passed at construction of this object.
constraintName | name of the resulting constraint, |
q0 | configuration that satisfies the constraints |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, manipulation.problem_solver.ProblemSolver.client, hpp::corbaserver::benchmark::Benchmark.robot, hpp::corbaserver::problem_solver::ProblemSolver.robot, and manipulation.problem_solver.ProblemSolver.robot.
def manipulation.problem_solver.ProblemSolver.createLockedExtraDof | ( | self, | |
lockedDofName, | |||
index, | |||
value | |||
) |
Create a locked extradof hpp::manipulation::ProblemSolver map.
lockedDofName | key of the constraint in the Problem Solver map |
index | index of the extra dof (0 means the first extra dof) |
value | value of the extra dof configuration. The size of this vector defines the size of the constraints. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, manipulation.problem_solver.ProblemSolver.client, and manipulation.problem_solver.ProblemSolver.lockFreeFlyerJoint().
def manipulation.problem_solver.ProblemSolver.createLockedJoint | ( | self, | |
lockedDofName, | |||
jointName, | |||
value | |||
) |
Create a LockedJoint constraint with given value.
lockedJointName | key of the constraint in the ProblemSolver map, |
jointName | name of the joint, |
value | value of the joint configuration, |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
Referenced by manipulation.problem_solver.ProblemSolver.lockFreeFlyerJoint(), and manipulation.problem_solver.ProblemSolver.lockPlanarJoint().
def manipulation.problem_solver.ProblemSolver.createOrientationConstraint | ( | self, | |
constraintName, | |||
joint1Name, | |||
joint2Name, | |||
p, | |||
mask | |||
) |
Reset Constraints.
Create orientation constraint between two joints
constraintName | name of the constraint created, |
joint1Name | name of first joint |
joint2Name | name of second joint |
p | quaternion representing the desired orientation of joint2 in the frame of joint1. |
mask | Select which axis to be constrained. If joint1 of joint2 is "", the corresponding joint is replaced by the global frame. constraints are stored in ProblemSolver object |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, manipulation.problem_solver.ProblemSolver.client, and manipulation.problem_solver.ProblemSolver.createPositionConstraint().
Referenced by manipulation.problem_solver.ProblemSolver.balanceConstraints().
def manipulation.problem_solver.ProblemSolver.createPlacementConstraints | ( | self, | |
placementName, | |||
shapeName, | |||
envContactName, | |||
width = 0.05 |
|||
) |
Create placement and pre-placement constraints.
width | set to None to skip creation of pre-placement constraint |
See hpp::corbaserver::manipulation::Problem::createPlacementConstraint and hpp::corbaserver::manipulation::Problem::createPrePlacementConstraint
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.createPositionConstraint | ( | self, | |
constraintName, | |||
joint1Name, | |||
joint2Name, | |||
point1, | |||
point2, | |||
mask | |||
) |
Create position constraint between two joints.
constraintName | name of the constraint created, |
joint1Name | name of first joint |
joint2Name | name of second joint |
point1 | point in local frame of joint1, |
point2 | point in local frame of joint2. |
mask | Select which axis to be constrained. If joint1 of joint2 is "", the corresponding joint is replaced by the global frame. constraints are stored in ProblemSolver object |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, manipulation.problem_solver.ProblemSolver.client, and manipulation.problem_solver.ProblemSolver.createTransformationConstraint().
Referenced by manipulation.problem_solver.ProblemSolver.createOrientationConstraint().
def manipulation.problem_solver.ProblemSolver.createRelativeComConstraint | ( | self, | |
constraintName, | |||
comName, | |||
jointLName, | |||
point, | |||
mask | |||
) |
Create RelativeCom constraint between two joints.
constraintName | name of the constraint created, |
comName | name of CenterOfMassComputation |
jointName | name of joint |
point | point in local frame of joint. |
mask | Select axis to be constrained. If jointName is "", the robot root joint is used. Constraints are stored in ProblemSolver object |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, manipulation.problem_solver.ProblemSolver.client, and manipulation.problem_solver.ProblemSolver.createComBeetweenFeet().
def manipulation.problem_solver.ProblemSolver.createStaticStabilityConstraints | ( | self, | |
constraintName, | |||
q0, | |||
comName = "" , |
|||
type = None |
|||
) |
Create static stability constraints.
Call corba request hpp::corbaserver::wholebody_step::Problem::addStaticStabilityConstraints
The ankles are defined by members leftAnkle and rightAnkle of variable robot passed at construction of this object.
constraintName | name of the resulting constraint, |
q0 | configuration that satisfies the constraints, |
comName | name of a partial COM, |
type | Type of static stability constraints (Default value: ProblemSolver.SLIDING) |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, manipulation.problem_solver.ProblemSolver.client, hpp::corbaserver::problem_solver::ProblemSolver.robot, hpp::corbaserver::benchmark::Benchmark.robot, manipulation.problem_solver.ProblemSolver.robot, hpp::corbaserver::wholebody_step::Problem.SLIDING, and manipulation.problem_solver.ProblemSolver.SLIDING.
Referenced by manipulation.problem_solver.ProblemSolver.getObstacleNames().
def manipulation.problem_solver.ProblemSolver.createTransformationConstraint | ( | self, | |
constraintName, | |||
joint1Name, | |||
joint2Name, | |||
ref, | |||
mask | |||
) |
Create transformation constraint between two joints.
constraintName | name of the constraint created, |
joint1Name | name of first joint |
joint2Name | name of second joint |
ref | desired transformation of joint2 in the frame of joint1. |
mask | Select which axis to be constrained. If joint1 of joint2 is "", the corresponding joint is replaced by the global frame. constraints are stored in ProblemSolver object |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
Referenced by manipulation.problem_solver.ProblemSolver.createPositionConstraint().
def manipulation.problem_solver.ProblemSolver.directPath | ( | self, | |
startConfig, | |||
endConfig, | |||
validate | |||
) |
Make direct connection between two configurations.
startConfig,endConfig | the configurations to link. |
validate | whether path should be validated. If true, path validation is called and only valid part of path is inserted in the path vector. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.edge | ( | self, | |
edgeId | |||
) |
def manipulation.problem_solver.ProblemSolver.erasePath | ( | self, | |
pathId | |||
) |
def manipulation.problem_solver.ProblemSolver.executeOneStep | ( | self | ) |
def manipulation.problem_solver.ProblemSolver.finishSolveStepByStep | ( | self | ) |
def manipulation.problem_solver.ProblemSolver.generateValidConfig | ( | self, | |
maxIter | |||
) |
Generate a configuration satisfying the constraints.
maxIter | maximum number of tries, |
Error | if projection failed. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.getAvailable | ( | self, | |
type | |||
) |
Return a list of available elements of type type.
type | enter "type" to know what types I know of. This is case insensitive. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
Referenced by manipulation.problem_solver.ProblemSolver.getConstantRightHandSide().
def manipulation.problem_solver.ProblemSolver.getConstantRightHandSide | ( | self, | |
constraintName | |||
) |
Get whether right hand side of a numerical constraint is constant.
constraintName | Name of the numerical constraint, |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, manipulation.problem_solver.ProblemSolver.client, hpp::corbaserver::problem_solver::ProblemSolver.getAvailable(), hpp::corbaserver::Problem.getAvailable(), hpp::corbaserver::manipulation::Problem.getAvailable(), and manipulation.problem_solver.ProblemSolver.getAvailable().
def manipulation.problem_solver.ProblemSolver.getErrorThreshold | ( | self | ) |
error threshold in numerical constraint resolution
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.getGoalConfigs | ( | self | ) |
Get goal configurations of specified problem.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.getInitialConfig | ( | self | ) |
Get initial configuration of specified problem.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.getJacobianPartialCom | ( | self, | |
comName | |||
) |
Get the Jacobian of a partial COM created with addPartialCom.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.getMaxIterations | ( | self | ) |
Set the maximal number of iterations.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
Referenced by manipulation.problem_solver.ProblemSolver.getMaxIterations().
def manipulation.problem_solver.ProblemSolver.getMaxIterations | ( | self | ) |
Set the maximal number of iterations in projection.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::robot::Robot.client, hpp::corbaserver::problem_solver::ProblemSolver.client, manipulation.problem_solver.ProblemSolver.client, and manipulation.problem_solver.ProblemSolver.getMaxIterations().
def manipulation.problem_solver.ProblemSolver.getMaxIterPathPlanning | ( | self | ) |
Get the maximal number of iterations in projection.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.getMaxIterProjection | ( | self | ) |
Get the maximal number of iterations in projection.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.getObstacleNames | ( | self, | |
collision, | |||
distance | |||
) |
Get list of obstacles.
collision | whether to return obstacle for collision, |
distance | whether to return obstacles for distance computation |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, manipulation.problem_solver.ProblemSolver.client, and manipulation.problem_solver.ProblemSolver.createStaticStabilityConstraints().
def manipulation.problem_solver.ProblemSolver.getObstaclePosition | ( | self, | |
objectName | |||
) |
Get the position of an obstacle.
objectName | name of the polyhedron. |
cfg | Position of the obstacle. |
Error. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.getParameter | ( | self, | |
name | |||
) |
Get parameter with given name raise an exception when the parameter is not found.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.getParameterDoc | ( | self, | |
name | |||
) |
Get parameter doc with given name raise an exception when the parameter is not found.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.getPartialCom | ( | self, | |
comName | |||
) |
Get the position of a partial COM created with addPartialCom.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.getSelected | ( | self, | |
type | |||
) |
Return a list of selected elements of type type.
type | enter "type" to know what types I know of. This is case insensitive. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.getWaypoints | ( | self, | |
pathId | |||
) |
Get way points of a path.
pathId | rank of the path in the problem |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.interruptPathPlanning | ( | self | ) |
Interrupt path planning activity.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.loadObstacleFromUrdf | ( | self, | |
package, | |||
filename, | |||
prefix | |||
) |
Load obstacle from urdf file.
package | Name of the package containing the model, |
filename | name of the urdf file in the package (without suffix .urdf) |
prefix | prefix added to object names in case the same file is loaded several times |
The ros url is built as follows: "package://${package}/urdf/${filename}.urdf"
The kinematic structure of the urdf file is ignored. Only the geometric objects are loaded as obstacles.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, manipulation.problem_solver.ProblemSolver.client, and manipulation.problem_solver.ProblemSolver.removeObstacleFromJoint().
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.
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) |
References hpp::corbaserver::Problem.createLockedJoint(), hpp::corbaserver::problem_solver::ProblemSolver.createLockedJoint(), and manipulation.problem_solver.ProblemSolver.createLockedJoint().
Referenced by manipulation.problem_solver.ProblemSolver.createLockedExtraDof().
def manipulation.problem_solver.ProblemSolver.lockPlanarJoint | ( | self, | |
jointName, | |||
lockJointName, | |||
values = (0,0,1,0) |
|||
) |
Lock degree of freedom of a planar joint.
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) |
References hpp::corbaserver::Problem.createLockedJoint(), hpp::corbaserver::problem_solver::ProblemSolver.createLockedJoint(), and manipulation.problem_solver.ProblemSolver.createLockedJoint().
def manipulation.problem_solver.ProblemSolver.moveObstacle | ( | self, | |
objectName, | |||
cfg | |||
) |
Move an obstacle to a given configuration.
objectName | name of the polyhedron. |
cfg | the configuration of the obstacle. |
Error. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.movePathToProblem | ( | self, | |
pathId, | |||
problemName, | |||
jointNames | |||
) |
def manipulation.problem_solver.ProblemSolver.node | ( | self, | |
nodeId | |||
) |
def manipulation.problem_solver.ProblemSolver.nodes | ( | self | ) |
Get nodes of the roadmap.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.nodesConnectedComponent | ( | self, | |
ccId | |||
) |
Nodes of a connected component.
connectedComponentId | index of connected component in roadmap |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.numberConnectedComponents | ( | self | ) |
Number of connected components.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.numberEdges | ( | self | ) |
def manipulation.problem_solver.ProblemSolver.numberNodes | ( | self | ) |
def manipulation.problem_solver.ProblemSolver.numberPaths | ( | self | ) |
def manipulation.problem_solver.ProblemSolver.optimizePath | ( | self, | |
inPathId | |||
) |
Optimize a given path.
inPathId | Id of the path in this problem. |
Error. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.pathLength | ( | self, | |
inPathId | |||
) |
Get length of path.
inPathId | rank of the path in the problem |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.prepareSolveStepByStep | ( | self | ) |
def manipulation.problem_solver.ProblemSolver.projectPath | ( | self, | |
pathId | |||
) |
Project path using the path projector.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.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. |
Error. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
Referenced by manipulation.problem_solver.ProblemSolver.loadObstacleFromUrdf().
def manipulation.problem_solver.ProblemSolver.resetConstraints | ( | self | ) |
Reset Constraints.
Reset all constraints, including numerical constraints and locked degrees of freedom.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.resetGoalConfigs | ( | self | ) |
Reset goal configurations.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.selectConfigurationShooter | ( | self, | |
configurationShooterType | |||
) |
Select configuration shooter type.
Name | of the configuration shooter type |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.selectDistance | ( | self, | |
distanceType | |||
) |
Select distance type.
Name | of the distance type, either "WeighedDistance" or any type added by method core::ProblemSolver::addDistanceType |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.selectPathPlanner | ( | self, | |
pathPlannerType | |||
) |
Select path planner type.
Name | of the path planner type, either "DiffusingPlanner", "VisibilityPrmPlanner", or any type added by method core::ProblemSolver::addPathPlannerType |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.selectPathProjector | ( | self, | |
pathProjectorType, | |||
tolerance | |||
) |
Select path projector method.
Name | of the path projector method, either "None" "Progressive", "Dichotomy", or any type added by core::ProblemSolver::addPathProjectorType, |
tolerance | maximal acceptable penetration. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.selectPathValidation | ( | self, | |
pathValidationType, | |||
tolerance | |||
) |
Select path validation method.
Name | of the path validation method, either "Discretized" "Progressive", "Dichotomy", or any type added by core::ProblemSolver::addPathValidationType, |
tolerance | maximal acceptable penetration. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
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.
name | the problem name. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.selectSteeringMethod | ( | self, | |
steeringMethodType | |||
) |
Select steering method type.
Name | of the steering method type, either "SteeringMethodStraight" or any type added by method core::ProblemSolver::addSteeringMethodType |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.setConstantRightHandSide | ( | self, | |
constraintName, | |||
constant | |||
) |
(Dis-)Allow to modify right hand side of a numerical constraint
constraintName | Name of the numerical constraint, |
constant | whether right hand side is constant |
Constraints should have been added in the ProblemSolver local map, but not inserted in the config projector.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.setErrorThreshold | ( | self, | |
threshold | |||
) |
error threshold in numerical constraint resolution
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.setInitialConfig | ( | self, | |
dofArray | |||
) |
Set initial configuration of specified problem.
dofArray | Array of degrees of freedom |
Error. |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.setLockedJointConstraints | ( | self, | |
name, | |||
names | |||
) |
def manipulation.problem_solver.ProblemSolver.setMaxIterations | ( | self, | |
iterations | |||
) |
Set the maximal number of iterations.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
Referenced by manipulation.problem_solver.ProblemSolver.setMaxIterations().
def manipulation.problem_solver.ProblemSolver.setMaxIterations | ( | self, | |
iterations | |||
) |
Set the maximal number of iterations in projection.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::robot::Robot.client, hpp::corbaserver::problem_solver::ProblemSolver.client, manipulation.problem_solver.ProblemSolver.client, and manipulation.problem_solver.ProblemSolver.setMaxIterations().
def manipulation.problem_solver.ProblemSolver.setMaxIterPathPlanning | ( | self, | |
iterations | |||
) |
Set the maximal number of iterations in projection.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.setMaxIterProjection | ( | self, | |
iterations | |||
) |
Set the maximal number of iterations in projection.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.setNumericalConstraints | ( | self, | |
name, | |||
names, | |||
priorities = None |
|||
) |
References hpp::corbaserver::Problem.addNumericalConstraints(), hpp::corbaserver::problem_solver::ProblemSolver.addNumericalConstraints(), hpp::corbaserver::manipulation::Graph.addNumericalConstraints(), and manipulation.problem_solver.ProblemSolver.addNumericalConstraints().
def manipulation.problem_solver.ProblemSolver.setParameter | ( | self, | |
name, | |||
value | |||
) |
Set a parameter.
value | the input type must be long, double, const char* |
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.setRandomSeed | ( | self, | |
seed | |||
) |
Set random seed of random number generator.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
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.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
def manipulation.problem_solver.ProblemSolver.solve | ( | self | ) |
Solve the problem of corresponding ChppPlanner object.
References hpp::corbaserver::benchmark::Benchmark.client, hpp::corbaserver::problem_solver::ProblemSolver.client, hpp::corbaserver::robot::Robot.client, and manipulation.problem_solver.ProblemSolver.client.
manipulation.problem_solver.ProblemSolver.balanceConstraints_ |
manipulation.problem_solver.ProblemSolver.client |
Referenced by manipulation.problem_solver.ProblemSolver.addConfigToRoadmap(), manipulation.problem_solver.ProblemSolver.addConfigValidation(), manipulation.problem_solver.ProblemSolver.addEdgeToRoadmap(), manipulation.problem_solver.ProblemSolver.addGoalConfig(), manipulation.problem_solver.ProblemSolver.addLockedJointConstraints(), manipulation.problem_solver.ProblemSolver.addNumericalConstraints(), manipulation.problem_solver.ProblemSolver.addPartialCom(), manipulation.problem_solver.ProblemSolver.addPassiveDofs(), manipulation.problem_solver.ProblemSolver.addPathOptimizer(), manipulation.problem_solver.ProblemSolver.applyConstraints(), manipulation.constraint_graph.ConstraintGraph.applyNodeConstraints(), manipulation.constraint_graph.ConstraintGraph.buildAndProjectPath(), manipulation.problem_solver.ProblemSolver.clearConfigValidations(), manipulation.problem_solver.ProblemSolver.clearPathOptimizers(), manipulation.problem_solver.ProblemSolver.clearRoadmap(), manipulation.robot.Robot.collisionTest(), manipulation.problem_solver.ProblemSolver.concatenatePath(), manipulation.problem_solver.ProblemSolver.configAtParam(), manipulation.problem_solver.ProblemSolver.createComBeetweenFeet(), manipulation.problem_solver.ProblemSolver.createComplementStaticStabilityConstraints(), manipulation.constraint_graph.ConstraintGraph.createGrasp(), manipulation.problem_solver.ProblemSolver.createLockedExtraDof(), manipulation.problem_solver.ProblemSolver.createLockedJoint(), manipulation.problem_solver.ProblemSolver.createOrientationConstraint(), manipulation.problem_solver.ProblemSolver.createPlacementConstraints(), manipulation.problem_solver.ProblemSolver.createPositionConstraint(), manipulation.constraint_graph.ConstraintGraph.createPreGrasp(), manipulation.problem_solver.ProblemSolver.createRelativeComConstraint(), manipulation.problem_solver.ProblemSolver.createStaticStabilityConstraints(), manipulation.problem_solver.ProblemSolver.createTransformationConstraint(), manipulation.problem_solver.ProblemSolver.directPath(), manipulation.robot.Robot.distancesToCollision(), manipulation.problem_solver.ProblemSolver.edge(), manipulation.problem_solver.ProblemSolver.erasePath(), manipulation.problem_solver.ProblemSolver.executeOneStep(), manipulation.problem_solver.ProblemSolver.finishSolveStepByStep(), manipulation.constraint_graph.ConstraintGraph.generateTargetConfig(), manipulation.problem_solver.ProblemSolver.generateValidConfig(), manipulation.robot.Robot.getAllJointNames(), manipulation.problem_solver.ProblemSolver.getAvailable(), manipulation.robot.Robot.getCenterOfMass(), manipulation.constraint_graph.ConstraintGraph.getConfigErrorForEdge(), manipulation.constraint_graph.ConstraintGraph.getConfigErrorForEdgeLeaf(), manipulation.constraint_graph.ConstraintGraph.getConfigErrorForEdgeTarget(), manipulation.constraint_graph.ConstraintGraph.getConfigErrorForNode(), manipulation.robot.Robot.getConfigSize(), manipulation.problem_solver.ProblemSolver.getConstantRightHandSide(), manipulation.robot.Robot.getCurrentConfig(), manipulation.robot.Robot.getCurrentVelocity(), manipulation.problem_solver.ProblemSolver.getErrorThreshold(), manipulation.problem_solver.ProblemSolver.getGoalConfigs(), manipulation.robot.Robot.getGripperPositionInJoint(), manipulation.robot.Robot.getHandlePositionInJoint(), manipulation.problem_solver.ProblemSolver.getInitialConfig(), manipulation.robot.Robot.getJacobianCenterOfMass(), manipulation.problem_solver.ProblemSolver.getJacobianPartialCom(), manipulation.robot.Robot.getJointBounds(), 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.getLinkNames(), manipulation.robot.Robot.getLinkPosition(), manipulation.robot.Robot.getMass(), manipulation.problem_solver.ProblemSolver.getMaxIterations(), manipulation.problem_solver.ProblemSolver.getMaxIterPathPlanning(), manipulation.problem_solver.ProblemSolver.getMaxIterProjection(), manipulation.constraint_graph.ConstraintGraph.getNode(), manipulation.constraint_graph.ConstraintGraph.getNodesConnectedByEdge(), manipulation.robot.Robot.getNumberDof(), manipulation.robot.Robot.getObjectPosition(), manipulation.problem_solver.ProblemSolver.getObstacleNames(), manipulation.problem_solver.ProblemSolver.getObstaclePosition(), manipulation.problem_solver.ProblemSolver.getParameter(), manipulation.problem_solver.ProblemSolver.getParameterDoc(), manipulation.problem_solver.ProblemSolver.getPartialCom(), manipulation.robot.Robot.getRobotAABB(), manipulation.problem_solver.ProblemSolver.getSelected(), manipulation.problem_solver.ProblemSolver.getWaypoints(), manipulation.constraint_graph.ConstraintGraph.getWeight(), manipulation.robot.Robot.insertHumanoidModel(), manipulation.robot.Robot.insertObjectModel(), manipulation.robot.Robot.insertRobotModel(), manipulation.robot.Robot.insertRobotSRDFModel(), manipulation.problem_solver.ProblemSolver.interruptPathPlanning(), manipulation.robot.Robot.isConfigValid(), manipulation.constraint_graph.ConstraintGraph.isShort(), manipulation.robot.Robot.loadEnvironmentModel(), manipulation.robot.Robot.loadModel(), manipulation.robot.HumanoidRobot.loadModel(), manipulation.problem_solver.ProblemSolver.loadObstacleFromUrdf(), manipulation.problem_solver.ProblemSolver.moveObstacle(), manipulation.problem_solver.ProblemSolver.movePathToProblem(), manipulation.problem_solver.ProblemSolver.node(), manipulation.problem_solver.ProblemSolver.nodes(), manipulation.problem_solver.ProblemSolver.nodesConnectedComponent(), manipulation.problem_solver.ProblemSolver.numberConnectedComponents(), manipulation.problem_solver.ProblemSolver.numberEdges(), manipulation.problem_solver.ProblemSolver.numberNodes(), manipulation.problem_solver.ProblemSolver.numberPaths(), manipulation.problem_solver.ProblemSolver.optimizePath(), manipulation.problem_solver.ProblemSolver.pathLength(), manipulation.problem_solver.ProblemSolver.prepareSolveStepByStep(), manipulation.problem_solver.ProblemSolver.projectPath(), manipulation.problem_solver.ProblemSolver.removeObstacleFromJoint(), manipulation.robot.Robot.removeObstacleFromJoint(), manipulation.problem_solver.ProblemSolver.resetConstraints(), manipulation.problem_solver.ProblemSolver.resetGoalConfigs(), manipulation.problem_solver.ProblemSolver.selectConfigurationShooter(), manipulation.problem_solver.ProblemSolver.selectDistance(), manipulation.problem_solver.ProblemSolver.selectPathPlanner(), manipulation.problem_solver.ProblemSolver.selectPathProjector(), manipulation.problem_solver.ProblemSolver.selectPathValidation(), manipulation.problem_solver.ProblemSolver.selectProblem(), manipulation.problem_solver.ProblemSolver.selectSteeringMethod(), manipulation.problem_solver.ProblemSolver.setConstantRightHandSide(), manipulation.robot.Robot.setCurrentConfig(), manipulation.robot.Robot.setCurrentVelocity(), manipulation.problem_solver.ProblemSolver.setErrorThreshold(), manipulation.problem_solver.ProblemSolver.setInitialConfig(), manipulation.robot.Robot.setJointBounds(), manipulation.robot.Robot.setJointPosition(), manipulation.problem_solver.ProblemSolver.setMaxIterations(), manipulation.problem_solver.ProblemSolver.setMaxIterPathPlanning(), manipulation.problem_solver.ProblemSolver.setMaxIterProjection(), manipulation.problem_solver.ProblemSolver.setParameter(), manipulation.constraint_graph.ConstraintGraph.setProblemConstraints(), manipulation.problem_solver.ProblemSolver.setRandomSeed(), manipulation.robot.Robot.setRootJointPosition(), manipulation.constraint_graph.ConstraintGraph.setShort(), manipulation.problem_solver.ProblemSolver.setTargetState(), manipulation.constraint_graph.ConstraintGraph.setWeight(), manipulation.robot.Robot.shootRandomConfig(), and manipulation.problem_solver.ProblemSolver.solve().
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manipulation.problem_solver.ProblemSolver.robot |
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