hpp-corbaserver: hpp.corbaserver.robot Namespace Reference

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

Classes | Functions
hpp.corbaserver.robot Namespace Reference

## Classes
class | Robot
class | StaticStabilityConstraintsFactory
class | HumanoidRobot
class | RobotXML

## Functions
def | shrinkJointRange (robot, joints, ratio)

## Function Documentation

## ◆ shrinkJointRange()

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

    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.