hpp-manipulation-corba
4.14.0
Corba server for manipulation planning
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Public Member Functions | |
def | __init__ (self, robot) |
def | selectProblem (self, name) |
def | getAvailable (self, type) |
def | getSelected (self, type) |
def | getEnvironmentContactNames (self) |
def | getRobotContactNames (self) |
def | getEnvironmentContact (self, name) |
def | getRobotContact (self, name) |
def | createPlacementConstraints (self, placementName, shapeName, envContactName, width=0.05) |
def | createQPStabilityConstraint (self, args) |
def | registerConstraints (self, args) |
def | balanceConstraints (self) |
def | getConstantRightHandSide (self, constraintName) |
def | lockFreeFlyerJoint (self, freeflyerBname, lockJointBname, values=(0, 0, 0, 0, 0, 0, 1)) |
def | lockPlanarJoint (self, jointName, lockJointName, values=(0, 0, 1, 0)) |
def | setTargetState (self, stateId) |
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.balanceConstraints | ( | self | ) |
Return balance constraints created by method ProblemSolver.createStaticStabilityConstraints
def manipulation.problem_solver.ProblemSolver.createPlacementConstraints | ( | self, | |
placementName, | |||
shapeName, | |||
envContactName, | |||
width = 0.05 |
|||
) |
Create placement and pre-placement constraints \\param width set to None to skip creation of pre-placement constraint \\return names of the placement and preplacement constraints See hpp::corbaserver::manipulation::Problem::createPlacementConstraint and hpp::corbaserver::manipulation::Problem::createPrePlacementConstraint
def manipulation.problem_solver.ProblemSolver.createQPStabilityConstraint | ( | self, | |
args | |||
) |
Create QP Static stability constraint \\copydoc hpp::corbaserver::manipulation::Problem::createQPStabilityConstraint
def manipulation.problem_solver.ProblemSolver.getAvailable | ( | self, | |
type | |||
) |
Return a list of available elements of type type \\param type enter "type" to know what types I know of. This is case insensitive.
def manipulation.problem_solver.ProblemSolver.getConstantRightHandSide | ( | self, | |
constraintName | |||
) |
Get whether right hand side of a numerical constraint is constant \\param constraintName Name of the numerical constraint, \\return whether right hand side is constant
def manipulation.problem_solver.ProblemSolver.getEnvironmentContact | ( | self, | |
name | |||
) |
\\copydoc hpp::corbaserver::manipulation::Problem::getEnvironmentContact
def manipulation.problem_solver.ProblemSolver.getEnvironmentContactNames | ( | self | ) |
\\copydoc hpp::corbaserver::manipulation::Problem::getEnvironmentContactNames
def manipulation.problem_solver.ProblemSolver.getRobotContact | ( | self, | |
name | |||
) |
\\copydoc hpp::corbaserver::manipulation::Problem::getRobotContact
def manipulation.problem_solver.ProblemSolver.getRobotContactNames | ( | self | ) |
\\copydoc hpp::corbaserver::manipulation::Problem::getRobotContactNames
def manipulation.problem_solver.ProblemSolver.getSelected | ( | self, | |
type | |||
) |
Return a list of selected elements of type type \\param 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.
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 \\param freeflyerBname base name of the joint (It will be completed by '_xyz' and '_SO3'), \\param lockJointBname base name of the LockedJoint constraints (It will be completed by '_xyz' and '_SO3'), \\param values config of the locked joints (7 float)
def manipulation.problem_solver.ProblemSolver.lockPlanarJoint | ( | self, | |
jointName, | |||
lockJointName, | |||
values = (0, 0, 1, 0) |
|||
) |
Lock degree of freedom of a planar joint \\param jointName name of the joint (It will be completed by '_xy' and '_rz'), \\param lockJointName name of the LockedJoint constraint \\param values config of the locked joints (4 float)
def manipulation.problem_solver.ProblemSolver.registerConstraints | ( | self, | |
args | |||
) |
\\copydoc hpp::corbaserver::manipulation::Problem::registerConstraints
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. \\param name the problem name. \\return true if a new problem was created.
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