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)

def	buildPlacement (self, o)

Public Member Functions inherited from manipulation.constraint_graph_factory.ConstraintFactoryAbstract
def	__init__ (self, graphfactory)

def	getGrasp (self, gripper, handle)

def	g (self, gripper, handle, what)

def	getPlacement (self, object)

def	p (self, object, what)

Public Attributes
	graph

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
\\param g gripper string
\\param h handle  string
\note if the grasp constraint already exists, it is not created.

Reimplemented from manipulation.constraint_graph_factory.ConstraintFactoryAbstract.

◆ buildPlacement()

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

This implements placement manifolds,
where the parameterization constraints is the complement
of the placement constraint.
\\param o string

Reimplemented from manipulation.constraint_graph_factory.ConstraintFactoryAbstract.

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

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

src/hpp/corbaserver/manipulation/constraint_graph_factory.py

Public Member Functions

Public Attributes

Static Public Attributes