hpp-corbaserver  4.12.0
Corba server for Humanoid Path Planner applications
hpp.corbaserver.robot Namespace Reference

Classes

class  Robot
 Helper class to load a robot model in hpp::core::ProblemSolver. More...
 
class  StaticStabilityConstraintsFactory
 This class provides tools to create static stability constraints. More...
 
class  HumanoidRobot
 Humanoid robot. More...
 
class  RobotXML
 

Functions

def shrinkJointRange (robot, joints, ratio)
 Shrink joint range for security. More...
 

Function Documentation

◆ shrinkJointRange()

def hpp.corbaserver.robot.shrinkJointRange (   robot,
  joints,
  ratio 
)

Shrink joint range for security.

Reduce the range of selected joints for security

  Input
    - robot: an instance of Robot class,
    - joints the list of joint names,
    - ratio: the range of the joint is shrunk around the middle of its
             bounds by this ratio.