Inheritance diagram for manipulation.constraint_graph_factory.ConstraintFactoryAbstract:

Collaboration diagram for manipulation.constraint_graph_factory.ConstraintFactoryAbstract:

Public Member Functions
def	__init__ (self, graphfactory)

def	getGrasp (self, gripper, handle)

def	g (self, gripper, handle, what)

def	getPlacement (self, object)

def	p (self, object, what)

def	buildGrasp (self, g, h)

def	buildPlacement (self, o)

Public Attributes
	graphfactory

Detailed Description

An abstract class which stores the constraints.

Child classes are responsible for building them.
- \\ref buildGrasp
- \\ref buildPlacement

Constructor & Destructor Documentation

◆ init()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.__init__	(	self,
		graphfactory
	)

Member Function Documentation

◆ buildGrasp()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildGrasp	(	self,
		g,
		h
	)

Function called to create grasp constraints.
Must return a tuple of Constraints objects as:
- constraint that validates the grasp
- constraint that parameterizes the graph
- constraint that validates the pre-grasp
\\param g gripper string
\\param h handle  string

Reimplemented in manipulation.constraint_graph_factory.ConstraintFactory.

◆ buildPlacement()

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

Function called to create placement constraints.
Must return a tuple of Constraints objects as:
- constraint that validates placement
- constraint that parameterizes placement
- constraint that validates pre-placement
\\param o string

Reimplemented in manipulation.constraint_graph_factory.ConstraintFactory.

◆ g()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.g	(	self,
		gripper,
		handle,
		what
	)

Get constraints relative to a grasp

\\param gripper name of a gripper or gripper index,
\\param handle name of a handle or handle index,
\\param what a word among <c>['grasp', 'graspComplement', 'preGrasp']</c>.
\\return the corresponding constraints as
        \\link manipulation.constraints.Constraints Constraints\\endlink
        instances.
\\warning If grasp does not exist, the function creates it.

◆ getGrasp()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getGrasp	(	self,
		gripper,
		handle
	)

Get constraints relative to a grasp

\\param gripper name of a gripper or gripper index
\\param handle name of a handle or handle index
\\return a dictionary with keys <c>['grasp', 'graspComplement',
        'preGrasp']</c> and values the corresponding constraints as
        \\link manipulation.constraints.Constraints Constraints\\endlink
        instances.
\\warning If grasp does not exist, the function creates it.

◆ getPlacement()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getPlacement	(	self,
		object
	)

Get constraints relative to an object placement

\\param object object name or index
\\return a dictionary with keys <c>['placement', 'placementComplement',
        'prePlacement']</c> and values the corresponding constraints as
        \\link manipulation.constraints.Constraints Constraints\\endlink
        instances.
\\warning If placement does not exist, the function creates it.

◆ p()

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.p	(	self,
		object,
		what
	)

Get constraints relative to a placement

\\param object object name or index
\\param what a word among <c>['placement', 'placementComplement',
       'prePlacement']</c>.
\\return the corresponding constraints as
        \\link manipulation.constraints.Constraints Constraints\\endlink
        instances.
\\warning If placement does not exist, the function creates it.

Member Data Documentation

◆ graphfactory

manipulation.constraint_graph_factory.ConstraintFactoryAbstract.graphfactory

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

src/hpp/corbaserver/manipulation/constraint_graph_factory.py

Public Member Functions

Public Attributes