hpp-manipulation-corba
4.14.0
Corba server for manipulation planning
|
Public Member Functions | |
def | __init__ (self, graphfactory) |
def | getGrasp (self, gripper, handle) |
def | g (self, gripper, handle, what) |
def | getPlacement (self, object) |
def | p (self, object, what) |
def | buildGrasp (self, g, h) |
def | buildPlacement (self, o) |
Public Attributes | |
graphfactory | |
An abstract class which stores the constraints. Child classes are responsible for building them. - \\ref buildGrasp - \\ref buildPlacement
def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.__init__ | ( | self, | |
graphfactory | |||
) |
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 \\param g gripper string \\param h handle string
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 \\param o string
def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.g | ( | self, | |
gripper, | |||
handle, | |||
what | |||
) |
Get constraints relative to a grasp \\param gripper name of a gripper or gripper index, \\param handle name of a handle or handle index, \\param what a word among <c>['grasp', 'graspComplement', 'preGrasp']</c>. \\return the corresponding constraints as \\link manipulation.constraints.Constraints Constraints\\endlink instances. \\warning If grasp does not exist, the function creates it.
def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getGrasp | ( | self, | |
gripper, | |||
handle | |||
) |
Get constraints relative to a grasp \\param gripper name of a gripper or gripper index \\param handle name of a handle or handle index \\return a dictionary with keys <c>['grasp', 'graspComplement', 'preGrasp']</c> and values the corresponding constraints as \\link manipulation.constraints.Constraints Constraints\\endlink instances. \\warning If grasp does not exist, the function creates it.
def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getPlacement | ( | self, | |
object | |||
) |
Get constraints relative to an object placement \\param object object name or index \\return a dictionary with keys <c>['placement', 'placementComplement', 'prePlacement']</c> and values the corresponding constraints as \\link manipulation.constraints.Constraints Constraints\\endlink instances. \\warning If placement does not exist, the function creates it.
def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.p | ( | self, | |
object, | |||
what | |||
) |
Get constraints relative to a placement \\param object object name or index \\param what a word among <c>['placement', 'placementComplement', 'prePlacement']</c>. \\return the corresponding constraints as \\link manipulation.constraints.Constraints Constraints\\endlink instances. \\warning If placement does not exist, the function creates it.
manipulation.constraint_graph_factory.ConstraintFactoryAbstract.graphfactory |