hpp.corbaserver.problem_solver.ProblemSolver Class Reference

Public Member Functions
def	__init__ (self, robot, hppcorbaClient=None)
def	loadPlugin (self, pluginName)
def	setRandomSeed (self, seed)
def	setMaxNumThreads (self, n)
def	getMaxNumThreads (self)
def	getAvailable (self, type)
def	getSelected (self, type)
def	setParameter (self, name, value)
def	getParameter (self, name, keep_any=False)
def	getParameterDoc (self, name)
def	selectProblem (self, name)
def	movePathToProblem (self, pathId, problemName, jointNames)
def	setInitialConfig (self, dofArray)
def	getInitialConfig (self)
def	addGoalConfig (self, dofArray)
def	setGoalConstraints (self, constraints)
def	resetGoalConstraints (self)
def	getGoalConfigs (self)
def	resetGoalConfigs (self)
def	loadObstacleFromUrdf (self, *args)
def	removeObstacleFromJoint (self, objectName, jointName, collision, distance)
def	cutObstacle (self, objectName, aabb)
def	moveObstacle (self, objectName, cfg)
def	getObstaclePosition (self, objectName)
def	getObstacleNames (self, collision, distance)
def	getObstacleLinkPosition (self, objectName)
def	getObstacleLinkNames (self)
def	createOrientationConstraint (self, constraintName, joint1Name, joint2Name, p, mask)
def	createTransformationConstraint (self, constraintName, joint1Name, joint2Name, ref, mask)
def	createLockedJoint (self, lockedDofName, jointName, value, comp=None)
def	createLockedExtraDof (self, lockedDofName, index, value)
def	createRelativeComConstraint (self, constraintName, comName, jointLName, point, mask)
def	createComBeetweenFeet (self, constraintName, comName, jointLName, jointRName, pointL, pointR, jointRefName, mask)
def	addPartialCom (self, comName, jointNames)
def	getPartialCom (self, comName)
def	createPositionConstraint (self, constraintName, joint1Name, joint2Name, point1, point2, mask)
def	createDistanceBetweenJointConstraint (self, constraintName, joint1Name, joint2Name, distance)
def	createDistanceBetweenJointAndObjects (self, constraintName, joint1Name, objects, distance)
def	resetConstraints (self)
def	resetConstraintMap (self)
def	addNumericalConstraints (self, name, names, priorities=None)
def	addLockedJointConstraints (self, name, names)
def	setRightHandSide (self, rhs)
def	setRightHandSideByName (self, constraintName, rhs)
def	setRightHandSideFromConfig (self, config)
def	setRightHandSideFromConfigByName (self, constraintName, config)
def	applyConstraints (self, q)
def	optimize (self, q)
def	computeValueAndJacobian (self, q)
def	addPassiveDofs (self, name, dofNames)
def	setConstantRightHandSide (self, constraintName, constant)
def	getConstantRightHandSide (self, constraintName)
def	generateValidConfig (self, maxIter)
def	getErrorThreshold (self)
def	setErrorThreshold (self, threshold)
def	setDefaultLineSearchType (self, type)
def	getMaxIterPathPlanning (self)
def	setMaxIterPathPlanning (self, iterations)
def	getTimeOutPathPlanning (self)
def	setTimeOutPathPlanning (self, timeOut)
def	getMaxIterProjection (self)
def	setMaxIterProjection (self, iterations)
def	filterCollisionPairs (self)
def	selectPathPlanner (self, pathPlannerType)
def	selectConfigurationShooter (self, configurationShooterType)
def	addPathOptimizer (self, pathOptimizerType)
def	clearPathOptimizers (self)
def	selectPathValidation (self, pathValidationType, tolerance)
def	addConfigValidation (self, configValidationType)
def	clearConfigValidations (self)
def	selectPathProjector (self, pathProjectorType, tolerance)
def	selectDistance (self, distanceType)
def	selectSteeringMethod (self, steeringMethodType)
def	prepareSolveStepByStep (self)
def	executeOneStep (self)
def	finishSolveStepByStep (self)
def	solve (self)
def	directPath (self, startConfig, endConfig, validate)
def	appendDirectPath (self, pathId, config, validate)
def	concatenatePath (self, startId, endId)
def	extractPath (self, pathId, start, end)
def	erasePath (self, pathId)
def	projectPath (self, pathId)
def	numberPaths (self)
def	optimizePath (self, inPathId)
def	pathLength (self, inPathId)
def	configAtParam (self, inPathId, param)
def	derivativeAtParam (self, inPathId, order, param)
def	getWaypoints (self, pathId)
def	interruptPathPlanning (self)
def	nodes (self)
def	node (self, nodeId)
def	numberNodes (self)
def	numberEdges (self)
def	edge (self, edgeId)
def	numberConnectedComponents (self)
def	nodesConnectedComponent (self, ccId)
def	getNearestConfig (self, randomConfig, connectedComponentId=-1)
def	addConfigToRoadmap (self, config)
def	addEdgeToRoadmap (self, config1, config2, pathId, bothEdges)
def	clearRoadmap (self)
def	saveRoadmap (self, filename)
def	loadRoadmap (self, filename)

Public Attributes
	client
	hppcorba
	robot

Constructor & Destructor Documentation

__init__()

def hpp.corbaserver.problem_solver.ProblemSolver.__init__	(		self,
			robot,
			hppcorbaClient = None
	)

Member Function Documentation

addConfigToRoadmap()

def hpp.corbaserver.problem_solver.ProblemSolver.addConfigToRoadmap	(		self,
			config
	)

addConfigValidation()

def hpp.corbaserver.problem_solver.ProblemSolver.addConfigValidation	(		self,
			configValidationType
	)

addEdgeToRoadmap()

def hpp.corbaserver.problem_solver.ProblemSolver.addEdgeToRoadmap	(		self,
			config1,
			config2,
			pathId,
			bothEdges
	)

addGoalConfig()

def hpp.corbaserver.problem_solver.ProblemSolver.addGoalConfig	(		self,
			dofArray
	)

addLockedJointConstraints()

def hpp.corbaserver.problem_solver.ProblemSolver.addLockedJointConstraints	(		self,
			name,
			names
	)

addNumericalConstraints()

def hpp.corbaserver.problem_solver.ProblemSolver.addNumericalConstraints	(		self,
			name,
			names,
			priorities = None
	)

addPartialCom()

def hpp.corbaserver.problem_solver.ProblemSolver.addPartialCom	(		self,
			comName,
			jointNames
	)

addPassiveDofs()

def hpp.corbaserver.problem_solver.ProblemSolver.addPassiveDofs	(		self,
			name,
			dofNames
	)

addPathOptimizer()

def hpp.corbaserver.problem_solver.ProblemSolver.addPathOptimizer	(		self,
			pathOptimizerType
	)

appendDirectPath()

def hpp.corbaserver.problem_solver.ProblemSolver.appendDirectPath	(		self,
			pathId,
			config,
			validate
	)

applyConstraints()

def hpp.corbaserver.problem_solver.ProblemSolver.applyConstraints	(		self,
			q
	)

clearConfigValidations()

def hpp.corbaserver.problem_solver.ProblemSolver.clearConfigValidations

(

self

)

clearPathOptimizers()

def hpp.corbaserver.problem_solver.ProblemSolver.clearPathOptimizers

(

self

)

clearRoadmap()

def hpp.corbaserver.problem_solver.ProblemSolver.clearRoadmap

(

self

)

computeValueAndJacobian()

def hpp.corbaserver.problem_solver.ProblemSolver.computeValueAndJacobian	(		self,
			q
	)

concatenatePath()

def hpp.corbaserver.problem_solver.ProblemSolver.concatenatePath	(		self,
			startId,
			endId
	)

configAtParam()

def hpp.corbaserver.problem_solver.ProblemSolver.configAtParam	(		self,
			inPathId,
			param
	)

createComBeetweenFeet()

def hpp.corbaserver.problem_solver.ProblemSolver.createComBeetweenFeet	(		self,
			constraintName,
			comName,
			jointLName,
			jointRName,
			pointL,
			pointR,
			jointRefName,
			mask
	)

createDistanceBetweenJointAndObjects()

def hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointAndObjects	(		self,
			constraintName,
			joint1Name,
			objects,
			distance
	)

createDistanceBetweenJointConstraint()

def hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointConstraint	(		self,
			constraintName,
			joint1Name,
			joint2Name,
			distance
	)

createLockedExtraDof()

def hpp.corbaserver.problem_solver.ProblemSolver.createLockedExtraDof	(		self,
			lockedDofName,
			index,
			value
	)

createLockedJoint()

def hpp.corbaserver.problem_solver.ProblemSolver.createLockedJoint	(		self,
			lockedDofName,
			jointName,
			value,
			comp = None
	)

createOrientationConstraint()

def hpp.corbaserver.problem_solver.ProblemSolver.createOrientationConstraint	(		self,
			constraintName,
			joint1Name,
			joint2Name,
			p,
			mask
	)

createPositionConstraint()

def hpp.corbaserver.problem_solver.ProblemSolver.createPositionConstraint	(		self,
			constraintName,
			joint1Name,
			joint2Name,
			point1,
			point2,
			mask
	)

createRelativeComConstraint()

def hpp.corbaserver.problem_solver.ProblemSolver.createRelativeComConstraint	(		self,
			constraintName,
			comName,
			jointLName,
			point,
			mask
	)

createTransformationConstraint()

def hpp.corbaserver.problem_solver.ProblemSolver.createTransformationConstraint	(		self,
			constraintName,
			joint1Name,
			joint2Name,
			ref,
			mask
	)

cutObstacle()

def hpp.corbaserver.problem_solver.ProblemSolver.cutObstacle	(		self,
			objectName,
			aabb
	)

derivativeAtParam()

def hpp.corbaserver.problem_solver.ProblemSolver.derivativeAtParam	(		self,
			inPathId,
			order,
			param
	)

directPath()

def hpp.corbaserver.problem_solver.ProblemSolver.directPath	(		self,
			startConfig,
			endConfig,
			validate
	)

edge()

def hpp.corbaserver.problem_solver.ProblemSolver.edge	(		self,
			edgeId
	)

erasePath()

def hpp.corbaserver.problem_solver.ProblemSolver.erasePath	(		self,
			pathId
	)

executeOneStep()

def hpp.corbaserver.problem_solver.ProblemSolver.executeOneStep

(

self

)

extractPath()

def hpp.corbaserver.problem_solver.ProblemSolver.extractPath	(		self,
			pathId,
			start,
			end
	)

filterCollisionPairs()

def hpp.corbaserver.problem_solver.ProblemSolver.filterCollisionPairs

(

self

)

finishSolveStepByStep()

def hpp.corbaserver.problem_solver.ProblemSolver.finishSolveStepByStep

(

self

)

generateValidConfig()

def hpp.corbaserver.problem_solver.ProblemSolver.generateValidConfig	(		self,
			maxIter
	)

getAvailable()

def hpp.corbaserver.problem_solver.ProblemSolver.getAvailable	(		self,
			type
	)

getConstantRightHandSide()

def hpp.corbaserver.problem_solver.ProblemSolver.getConstantRightHandSide	(		self,
			constraintName
	)

getErrorThreshold()

def hpp.corbaserver.problem_solver.ProblemSolver.getErrorThreshold

(

self

)

getGoalConfigs()

def hpp.corbaserver.problem_solver.ProblemSolver.getGoalConfigs

(

self

)

getInitialConfig()

def hpp.corbaserver.problem_solver.ProblemSolver.getInitialConfig

(

self

)

getMaxIterPathPlanning()

def hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterPathPlanning

(

self

)

getMaxIterProjection()

def hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterProjection

(

self

)

getMaxNumThreads()

def hpp.corbaserver.problem_solver.ProblemSolver.getMaxNumThreads

(

self

)

getNearestConfig()

def hpp.corbaserver.problem_solver.ProblemSolver.getNearestConfig	(		self,
			randomConfig,
			connectedComponentId = -1
	)

getObstacleLinkNames()

def hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkNames

(

self

)

getObstacleLinkPosition()

def hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkPosition	(		self,
			objectName
	)

getObstacleNames()

def hpp.corbaserver.problem_solver.ProblemSolver.getObstacleNames	(		self,
			collision,
			distance
	)

getObstaclePosition()

def hpp.corbaserver.problem_solver.ProblemSolver.getObstaclePosition	(		self,
			objectName
	)

getParameter()

def hpp.corbaserver.problem_solver.ProblemSolver.getParameter	(		self,
			name,
			keep_any = False
	)

getParameterDoc()

def hpp.corbaserver.problem_solver.ProblemSolver.getParameterDoc	(		self,
			name
	)

getPartialCom()

def hpp.corbaserver.problem_solver.ProblemSolver.getPartialCom	(		self,
			comName
	)

getSelected()

def hpp.corbaserver.problem_solver.ProblemSolver.getSelected	(		self,
			type
	)

getTimeOutPathPlanning()

def hpp.corbaserver.problem_solver.ProblemSolver.getTimeOutPathPlanning

(

self

)

getWaypoints()

def hpp.corbaserver.problem_solver.ProblemSolver.getWaypoints	(		self,
			pathId
	)

interruptPathPlanning()

def hpp.corbaserver.problem_solver.ProblemSolver.interruptPathPlanning

(

self

)

loadObstacleFromUrdf()

def hpp.corbaserver.problem_solver.ProblemSolver.loadObstacleFromUrdf	(		self,
		*	args
	)

loadPlugin()

def hpp.corbaserver.problem_solver.ProblemSolver.loadPlugin	(		self,
			pluginName
	)

loadRoadmap()

def hpp.corbaserver.problem_solver.ProblemSolver.loadRoadmap	(		self,
			filename
	)

moveObstacle()

def hpp.corbaserver.problem_solver.ProblemSolver.moveObstacle	(		self,
			objectName,
			cfg
	)

movePathToProblem()

def hpp.corbaserver.problem_solver.ProblemSolver.movePathToProblem	(		self,
			pathId,
			problemName,
			jointNames
	)

node()

def hpp.corbaserver.problem_solver.ProblemSolver.node	(		self,
			nodeId
	)

nodes()

def hpp.corbaserver.problem_solver.ProblemSolver.nodes

(

self

)

nodesConnectedComponent()

def hpp.corbaserver.problem_solver.ProblemSolver.nodesConnectedComponent	(		self,
			ccId
	)

numberConnectedComponents()

def hpp.corbaserver.problem_solver.ProblemSolver.numberConnectedComponents

(

self

)

numberEdges()

def hpp.corbaserver.problem_solver.ProblemSolver.numberEdges

(

self

)

numberNodes()

def hpp.corbaserver.problem_solver.ProblemSolver.numberNodes

(

self

)

numberPaths()

def hpp.corbaserver.problem_solver.ProblemSolver.numberPaths

(

self

)

optimize()

def hpp.corbaserver.problem_solver.ProblemSolver.optimize	(		self,
			q
	)

optimizePath()

def hpp.corbaserver.problem_solver.ProblemSolver.optimizePath	(		self,
			inPathId
	)

pathLength()

def hpp.corbaserver.problem_solver.ProblemSolver.pathLength	(		self,
			inPathId
	)

prepareSolveStepByStep()

def hpp.corbaserver.problem_solver.ProblemSolver.prepareSolveStepByStep

(

self

)

projectPath()

def hpp.corbaserver.problem_solver.ProblemSolver.projectPath	(		self,
			pathId
	)

removeObstacleFromJoint()

def hpp.corbaserver.problem_solver.ProblemSolver.removeObstacleFromJoint	(		self,
			objectName,
			jointName,
			collision,
			distance
	)

resetConstraintMap()

def hpp.corbaserver.problem_solver.ProblemSolver.resetConstraintMap

(

self

)

resetConstraints()

def hpp.corbaserver.problem_solver.ProblemSolver.resetConstraints

(

self

)

resetGoalConfigs()

def hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConfigs

(

self

)

resetGoalConstraints()

def hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConstraints

(

self

)

saveRoadmap()

def hpp.corbaserver.problem_solver.ProblemSolver.saveRoadmap	(		self,
			filename
	)

selectConfigurationShooter()

def hpp.corbaserver.problem_solver.ProblemSolver.selectConfigurationShooter	(		self,
			configurationShooterType
	)

selectDistance()

def hpp.corbaserver.problem_solver.ProblemSolver.selectDistance	(		self,
			distanceType
	)

selectPathPlanner()

def hpp.corbaserver.problem_solver.ProblemSolver.selectPathPlanner	(		self,
			pathPlannerType
	)

selectPathProjector()

def hpp.corbaserver.problem_solver.ProblemSolver.selectPathProjector	(		self,
			pathProjectorType,
			tolerance
	)

selectPathValidation()

def hpp.corbaserver.problem_solver.ProblemSolver.selectPathValidation	(		self,
			pathValidationType,
			tolerance
	)

selectProblem()

def hpp.corbaserver.problem_solver.ProblemSolver.selectProblem	(		self,
			name
	)

selectSteeringMethod()

def hpp.corbaserver.problem_solver.ProblemSolver.selectSteeringMethod	(		self,
			steeringMethodType
	)

setConstantRightHandSide()

def hpp.corbaserver.problem_solver.ProblemSolver.setConstantRightHandSide	(		self,
			constraintName,
			constant
	)

setDefaultLineSearchType()

def hpp.corbaserver.problem_solver.ProblemSolver.setDefaultLineSearchType	(		self,
			type
	)

setErrorThreshold()

def hpp.corbaserver.problem_solver.ProblemSolver.setErrorThreshold	(		self,
			threshold
	)

setGoalConstraints()

def hpp.corbaserver.problem_solver.ProblemSolver.setGoalConstraints	(		self,
			constraints
	)

setInitialConfig()

def hpp.corbaserver.problem_solver.ProblemSolver.setInitialConfig	(		self,
			dofArray
	)

setMaxIterPathPlanning()

def hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterPathPlanning	(		self,
			iterations
	)

setMaxIterProjection()

def hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterProjection	(		self,
			iterations
	)

setMaxNumThreads()

def hpp.corbaserver.problem_solver.ProblemSolver.setMaxNumThreads	(		self,
			n
	)

setParameter()

def hpp.corbaserver.problem_solver.ProblemSolver.setParameter	(		self,
			name,
			value
	)

setRandomSeed()

def hpp.corbaserver.problem_solver.ProblemSolver.setRandomSeed	(		self,
			seed
	)

setRightHandSide()

def hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSide	(		self,
			rhs
	)

setRightHandSideByName()

def hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideByName	(		self,
			constraintName,
			rhs
	)

setRightHandSideFromConfig()

def hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfig	(		self,
			config
	)

setRightHandSideFromConfigByName()

def hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfigByName	(		self,
			constraintName,
			config
	)

setTimeOutPathPlanning()

def hpp.corbaserver.problem_solver.ProblemSolver.setTimeOutPathPlanning	(		self,
			timeOut
	)

solve()

def hpp.corbaserver.problem_solver.ProblemSolver.solve

(

self

)

Member Data Documentation

client

hpp.corbaserver.problem_solver.ProblemSolver.client

hppcorba

hpp.corbaserver.problem_solver.ProblemSolver.hppcorba

robot

hpp.corbaserver.problem_solver.ProblemSolver.robot

---

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

• src/hpp/corbaserver/problem_solver.py