An abstract class which stores the constraints.
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def | __init__ (self, graphfactory) |
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def | buildGrasp (self, g, h) |
| Function called to create grasp constraints. More...
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def | buildPlacement (self, o) |
| Function called to create placement constraints. More...
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def | getGrasp (self, gripper, handle) |
| Get constraints relative to a grasp. More...
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def | g (self, gripper, handle, what) |
| Get constraints relative to a grasp. More...
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def | getPlacement (self, object) |
| Get constraints relative to an object placement. More...
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def | p (self, object, what) |
| Get constraints relative to a placement. More...
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An abstract class which stores the constraints.
Child classes are responsible for building them.
◆ __init__()
def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.__init__ |
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graphfactory |
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◆ buildGrasp()
def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildGrasp |
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self, |
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g, |
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h |
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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
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g | gripper string |
h | handle string |
◆ buildPlacement()
def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildPlacement |
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self, |
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o |
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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
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◆ g()
def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.g |
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self, |
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gripper, |
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handle, |
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what |
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Get constraints relative to a grasp.
- Parameters
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gripper | name of a gripper or gripper index, |
handle | name of a handle or handle index, |
what | a 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 |
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self, |
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gripper, |
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handle |
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Get constraints relative to a grasp.
- Parameters
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gripper | name of a gripper or gripper index |
handle | name 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 |
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self, |
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object |
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Get constraints relative to an object placement.
- Parameters
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object | object 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 |
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self, |
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object, |
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what |
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Get constraints relative to a placement.
- Parameters
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object | object name or index |
what | a word among ['placement', 'placementComplement', 'prePlacement'] . |
- Returns
- the corresponding constraints as Constraints instances.
- Warning
- If placement does not exist, the function creates it.
◆ graphfactory
manipulation.constraint_graph_factory.ConstraintFactoryAbstract.graphfactory |
The documentation for this class was generated from the following file: