hpp-corbaserver
4.14.0
Corba server for Humanoid Path Planner applications
|
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 | |
def hpp.corbaserver.problem_solver.ProblemSolver.__init__ | ( | self, | |
robot, | |||
hppcorbaClient = None |
|||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.addConfigToRoadmap | ( | self, | |
config | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.addConfigValidation | ( | self, | |
configValidationType | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.addEdgeToRoadmap | ( | self, | |
config1, | |||
config2, | |||
pathId, | |||
bothEdges | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.addGoalConfig | ( | self, | |
dofArray | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.addLockedJointConstraints | ( | self, | |
name, | |||
names | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.addNumericalConstraints | ( | self, | |
name, | |||
names, | |||
priorities = None |
|||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.addPartialCom | ( | self, | |
comName, | |||
jointNames | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.addPassiveDofs | ( | self, | |
name, | |||
dofNames | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.addPathOptimizer | ( | self, | |
pathOptimizerType | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.appendDirectPath | ( | self, | |
pathId, | |||
config, | |||
validate | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.applyConstraints | ( | self, | |
q | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.clearConfigValidations | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.clearPathOptimizers | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.clearRoadmap | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.computeValueAndJacobian | ( | self, | |
q | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.concatenatePath | ( | self, | |
startId, | |||
endId | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.configAtParam | ( | self, | |
inPathId, | |||
param | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.createComBeetweenFeet | ( | self, | |
constraintName, | |||
comName, | |||
jointLName, | |||
jointRName, | |||
pointL, | |||
pointR, | |||
jointRefName, | |||
mask | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointAndObjects | ( | self, | |
constraintName, | |||
joint1Name, | |||
objects, | |||
distance | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointConstraint | ( | self, | |
constraintName, | |||
joint1Name, | |||
joint2Name, | |||
distance | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.createLockedExtraDof | ( | self, | |
lockedDofName, | |||
index, | |||
value | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.createLockedJoint | ( | self, | |
lockedDofName, | |||
jointName, | |||
value, | |||
comp = None |
|||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.createOrientationConstraint | ( | self, | |
constraintName, | |||
joint1Name, | |||
joint2Name, | |||
p, | |||
mask | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.createPositionConstraint | ( | self, | |
constraintName, | |||
joint1Name, | |||
joint2Name, | |||
point1, | |||
point2, | |||
mask | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.createRelativeComConstraint | ( | self, | |
constraintName, | |||
comName, | |||
jointLName, | |||
point, | |||
mask | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.createTransformationConstraint | ( | self, | |
constraintName, | |||
joint1Name, | |||
joint2Name, | |||
ref, | |||
mask | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.cutObstacle | ( | self, | |
objectName, | |||
aabb | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.derivativeAtParam | ( | self, | |
inPathId, | |||
order, | |||
param | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.directPath | ( | self, | |
startConfig, | |||
endConfig, | |||
validate | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.edge | ( | self, | |
edgeId | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.erasePath | ( | self, | |
pathId | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.executeOneStep | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.extractPath | ( | self, | |
pathId, | |||
start, | |||
end | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.filterCollisionPairs | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.finishSolveStepByStep | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.generateValidConfig | ( | self, | |
maxIter | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.getAvailable | ( | self, | |
type | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.getConstantRightHandSide | ( | self, | |
constraintName | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.getErrorThreshold | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.getGoalConfigs | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.getInitialConfig | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterPathPlanning | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterProjection | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.getMaxNumThreads | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.getNearestConfig | ( | self, | |
randomConfig, | |||
connectedComponentId = -1 |
|||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkNames | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkPosition | ( | self, | |
objectName | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.getObstacleNames | ( | self, | |
collision, | |||
distance | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.getObstaclePosition | ( | self, | |
objectName | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.getParameter | ( | self, | |
name, | |||
keep_any = False |
|||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.getParameterDoc | ( | self, | |
name | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.getPartialCom | ( | self, | |
comName | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.getSelected | ( | self, | |
type | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.getTimeOutPathPlanning | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.getWaypoints | ( | self, | |
pathId | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.interruptPathPlanning | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.loadObstacleFromUrdf | ( | self, | |
* | args | ||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.loadPlugin | ( | self, | |
pluginName | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.loadRoadmap | ( | self, | |
filename | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.moveObstacle | ( | self, | |
objectName, | |||
cfg | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.movePathToProblem | ( | self, | |
pathId, | |||
problemName, | |||
jointNames | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.node | ( | self, | |
nodeId | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.nodes | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.nodesConnectedComponent | ( | self, | |
ccId | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.numberConnectedComponents | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.numberEdges | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.numberNodes | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.numberPaths | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.optimize | ( | self, | |
q | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.optimizePath | ( | self, | |
inPathId | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.pathLength | ( | self, | |
inPathId | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.prepareSolveStepByStep | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.projectPath | ( | self, | |
pathId | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.removeObstacleFromJoint | ( | self, | |
objectName, | |||
jointName, | |||
collision, | |||
distance | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.resetConstraintMap | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.resetConstraints | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConfigs | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConstraints | ( | self | ) |
def hpp.corbaserver.problem_solver.ProblemSolver.saveRoadmap | ( | self, | |
filename | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.selectConfigurationShooter | ( | self, | |
configurationShooterType | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.selectDistance | ( | self, | |
distanceType | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.selectPathPlanner | ( | self, | |
pathPlannerType | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.selectPathProjector | ( | self, | |
pathProjectorType, | |||
tolerance | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.selectPathValidation | ( | self, | |
pathValidationType, | |||
tolerance | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.selectProblem | ( | self, | |
name | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.selectSteeringMethod | ( | self, | |
steeringMethodType | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setConstantRightHandSide | ( | self, | |
constraintName, | |||
constant | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setDefaultLineSearchType | ( | self, | |
type | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setErrorThreshold | ( | self, | |
threshold | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setGoalConstraints | ( | self, | |
constraints | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setInitialConfig | ( | self, | |
dofArray | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterPathPlanning | ( | self, | |
iterations | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterProjection | ( | self, | |
iterations | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setMaxNumThreads | ( | self, | |
n | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setParameter | ( | self, | |
name, | |||
value | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setRandomSeed | ( | self, | |
seed | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSide | ( | self, | |
rhs | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideByName | ( | self, | |
constraintName, | |||
rhs | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfig | ( | self, | |
config | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfigByName | ( | self, | |
constraintName, | |||
config | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.setTimeOutPathPlanning | ( | self, | |
timeOut | |||
) |
def hpp.corbaserver.problem_solver.ProblemSolver.solve | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.client |
hpp.corbaserver.problem_solver.ProblemSolver.hppcorba |
hpp.corbaserver.problem_solver.ProblemSolver.robot |