manipulation.constraint_graph_factory.ConstraintGraphFactory Class Reference

Inheritance diagram for manipulation.constraint_graph_factory.ConstraintGraphFactory:

Collaboration diagram for manipulation.constraint_graph_factory.ConstraintGraphFactory:

Classes
class	StateAndManifold

Public Member Functions
def	__init__ (self, graph)
def	makeState (self, grasps, priority)
def	makeLoopTransition (self, state)
def	makeTransition (self, stateFrom, stateTo, ig)
def	setPreplacementDistance (self, obj, distance)
def	getPreplacementDistance (self, obj)
def	setPreplaceGuide (self, preplaceGuide)
Public Member Functions inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
def	__init__ (self)
def	setGrippers (self, grippers)
def	setObjects (self, objects, handlesPerObjects, contactsPerObjects)
def	environmentContacts (self, envContacts)
def	setRules (self, rules)
def	generate (self)
def	transitionIsAllowed (self, stateFrom, stateTo)

Public Attributes
	constraints
	graph
	preplaceGuide
Public Attributes inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
	graspIsAllowed
	states
	transitions
	handles
	grippers
	envContacts
	objects
	handlesPerObjects
	objectFromHandle
	contactsPerObjects

Static Public Attributes
float	defaultPreplaceDist = 0.05
	preplaceDistance = dict()

Detailed Description

Default implementation of ConstraintGraphFactory

The minimal usage is the following:
>>> graph = ConstraintGraph(robot, "graph")

# Required calls
>>> factory = ConstraintGraphFactory(graph)
>>> factory.setGrippers(["gripper1", ... ])
>>> factory.setObjects(["object1", ], [ [ "object1/handle1", ... ] ], [ [] ])

# Optionally
>>> factory.environmentContacts(["contact1", ... ])
>>> factory.setRules([ Rule(["gripper1", ..], ["handle1", ...], True), ... ])

>>> factory.generate()

# graph is initialized

Constructor & Destructor Documentation

__init__()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.__init__	(		self,
			graph
	)

\\param graph an instance of ConstraintGraph

Member Function Documentation

getPreplacementDistance()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.getPreplacementDistance	(		self,
			obj
	)

Get preplacement distance
\\param obj name of the object

makeLoopTransition()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.makeLoopTransition	(		self,
			state
	)

Create a loop transition.
\\param state: an object returned by \\ref makeState which represent the state

Reimplemented from manipulation.constraint_graph_factory.GraphFactoryAbstract.

makeState()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.makeState	(		self,
			grasps,
			priority
	)

Create a new state.
\\param grasps a handle index for each gripper,
        as in GraphFactoryAbstract.graspIsAllowed.
\\param priority the state priority.
\\return an object representing the state.

Reimplemented from manipulation.constraint_graph_factory.GraphFactoryAbstract.

makeTransition()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.makeTransition	(		self,
			stateFrom,
			stateTo,
			ig
	)

Make transition between to states

\\param stateFrom initial state,
\\param stateTo new state
\\param ig index of gripper

stateTo grasps are the union of stateFrom grasps with a set containing
a grasp by gripper of index ig in list <c>self.grippers</c> of a handle.
The index of the newly grasped handle can be found by
<c>stateTo.grasps[ig]</c>

Reimplemented from manipulation.constraint_graph_factory.GraphFactoryAbstract.

setPreplaceGuide()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.setPreplaceGuide	(		self,
			preplaceGuide
	)

setPreplacementDistance()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.setPreplacementDistance	(		self,
			obj,
			distance
	)

Set preplacement distance
\\param obj name of the object
\\param distance distance of object to surface in preplacement
 configuration

Member Data Documentation

constraints

manipulation.constraint_graph_factory.ConstraintGraphFactory.constraints

defaultPreplaceDist

float manipulation.constraint_graph_factory.ConstraintGraphFactory.defaultPreplaceDist = 0.05

static

graph

manipulation.constraint_graph_factory.ConstraintGraphFactory.graph

preplaceDistance

manipulation.constraint_graph_factory.ConstraintGraphFactory.preplaceDistance = dict()

static

preplaceGuide

manipulation.constraint_graph_factory.ConstraintGraphFactory.preplaceGuide

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

• src/hpp/corbaserver/manipulation/constraint_graph_factory.py