hpp-manipulation-corba  4.11.0
Corba server for manipulation planning
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.

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
    ggripper string
    hhandle 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
    ostring

◆ g()

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

Get constraints relative to a grasp.

Parameters
grippername of a gripper or gripper index,
handlename of a handle or handle index,
whata 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
grippername of a gripper or gripper index
handlename 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
objectobject 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
objectobject name or index
whata 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: