hpp-manipulation-corba  4.9.0
Corba server for manipulation planning
manipulation.constraint_graph_factory.ConstraintFactory Class Reference

Default implementation of ConstraintFactoryAbstract. More...

Inheritance diagram for manipulation.constraint_graph_factory.ConstraintFactory:
Collaboration diagram for manipulation.constraint_graph_factory.ConstraintFactory:

Public Member Functions

def __init__ (self, graphfactory, graph)
 
def buildGrasp (self, g, h)
 Calls ConstraintGraph.createGraph and ConstraintGraph.createPreGrasp. More...
 
def buildPlacement (self, o)
 
def buildStrictPlacement (self, o)
 This implements strict placement manifolds, where the parameterization constraints is the complement of the placement constraint. More...
 
def buildRelaxedPlacement (self, o)
 This implements relaxed placement manifolds, where the parameterization constraints is the LockedJoint of the object root joint. More...
 
- Public Member Functions inherited from manipulation.constraint_graph_factory.ConstraintFactoryAbstract
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...
 
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

 graph
 
 strict
 Select whether placement should be strict or relaxed. More...
 
- Public Attributes inherited from manipulation.constraint_graph_factory.ConstraintFactoryAbstract
 graphfactory
 

Static Public Attributes

tuple gfields = ('grasp', 'graspComplement', 'preGrasp')
 
tuple pfields = ('placement', 'placementComplement', 'prePlacement')
 

Detailed Description

Default implementation of ConstraintFactoryAbstract.

Constructor & Destructor Documentation

◆ __init__()

def manipulation.constraint_graph_factory.ConstraintFactory.__init__ (   self,
  graphfactory,
  graph 
)

Member Function Documentation

◆ buildGrasp()

def manipulation.constraint_graph_factory.ConstraintFactory.buildGrasp (   self,
  g,
  h 
)

Calls ConstraintGraph.createGraph and ConstraintGraph.createPreGrasp.

Parameters
ggripper string
hhandle string

◆ buildPlacement()

def manipulation.constraint_graph_factory.ConstraintFactory.buildPlacement (   self,
  o 
)

◆ buildRelaxedPlacement()

def manipulation.constraint_graph_factory.ConstraintFactory.buildRelaxedPlacement (   self,
  o 
)

This implements relaxed placement manifolds, where the parameterization constraints is the LockedJoint of the object root joint.

Parameters
ostring

◆ buildStrictPlacement()

def manipulation.constraint_graph_factory.ConstraintFactory.buildStrictPlacement (   self,
  o 
)

This implements strict placement manifolds, where the parameterization constraints is the complement of the placement constraint.

Parameters
ostring

Member Data Documentation

◆ gfields

tuple manipulation.constraint_graph_factory.ConstraintFactory.gfields = ('grasp', 'graspComplement', 'preGrasp')
static

◆ graph

manipulation.constraint_graph_factory.ConstraintFactory.graph

◆ pfields

tuple manipulation.constraint_graph_factory.ConstraintFactory.pfields = ('placement', 'placementComplement', 'prePlacement')
static

◆ strict

manipulation.constraint_graph_factory.ConstraintFactory.strict

Select whether placement should be strict or relaxed.

See also
buildStrictPlacement, buildRelaxedPlacement

The documentation for this class was generated from the following file: