hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
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hpp.corbaserver.robot.HumanoidRobot Class Reference
Inheritance diagram for hpp.corbaserver.robot.HumanoidRobot:
Collaboration diagram for hpp.corbaserver.robot.HumanoidRobot:

Public Member Functions

 __init__ (self, robotName=None, rootJointType=None, load=True, client=None, hppcorbaClient=None)
 
 loadModel (self, robotName, rootJointType)
 
- Public Member Functions inherited from hpp.corbaserver.robot.Robot
 rebuildRanks (self)
 
 urdfSrdfFilenames (self)
 
 urdfSrdfString (self)
 
 urdfPath (self)
 
 srdfPath (self)
 
 getConfigSize (self)
 
 getNumberDof (self)
 
 getJointNames (self)
 
 getJointTypes (self)
 
 getAllJointNames (self)
 
 getParentFrame (self, frameName)
 
 getChildFrames (self, frameName, recursive=False)
 
 getParentJoint (self, jointName)
 
 getChildJoints (self, jointName, recursive=False)
 
 getJointPosition (self, jointName)
 
 getRootJointPosition (self)
 
 setRootJointPosition (self, position)
 
 setJointPosition (self, jointName, position)
 
 getCurrentTransformation (self, jointName)
 
 getJointNumberDof (self, jointName)
 
 getJointConfigSize (self, jointName)
 
 setJointBounds (self, jointName, inJointBound)
 
 getJointBounds (self, jointName)
 
 getSaturated (self, q)
 
 getLinkPosition (self, linkName)
 
 getLinkNames (self, jointName)
 
 setCurrentConfig (self, q)
 
 getCurrentConfig (self)
 
 setCurrentVelocity (self, v)
 
 getCurrentVelocity (self)
 
 shootRandomConfig (self)
 
 getJointInnerObjects (self, jointName)
 
 getJointOuterObjects (self, jointName)
 
 getObjectPosition (self, objectName)
 
 removeObstacleFromJoint (self, objectName, jointName)
 
 isConfigValid (self, cfg)
 
 configIsValid (self, cfg)
 
 distancesToCollision (self)
 
 getRobotAABB (self)
 
 getMass (self)
 
 getCenterOfMass (self)
 
 getJacobianCenterOfMass (self)
 
- Public Member Functions inherited from hpp.corbaserver.robot.StaticStabilityConstraintsFactory
 createSlidingStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0)
 
 createStaticStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0, maskCom=(True,) *3)
 
 createAlignedCOMStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0, sliding)
 

Additional Inherited Members

- Public Attributes inherited from hpp.corbaserver.robot.Robot
 client
 
 hppcorba
 
 name
 
 rootJointType
 
 displayName
 
 jointNames
 
 allJointNames
 
 rankInConfiguration
 
 rankInVelocity
 
 childFrames
 
 parentJoint
 
 childJoints
 
 urdfString
 
- Protected Member Functions inherited from hpp.corbaserver.robot.Robot
 _computeKinematicChain (self)
 
- Protected Member Functions inherited from hpp.corbaserver.robot.StaticStabilityConstraintsFactory
 _getCOM (self, com)
 

Constructor & Destructor Documentation

◆ __init__()

hpp.corbaserver.robot.HumanoidRobot.__init__ (   self,
  robotName = None,
  rootJointType = None,
  load = True,
  client = None,
  hppcorbaClient = None 
)

Reimplemented from hpp.corbaserver.robot.Robot.

Member Function Documentation

◆ loadModel()

hpp.corbaserver.robot.HumanoidRobot.loadModel (   self,
  robotName,
  rootJointType 
)

Reimplemented from hpp.corbaserver.robot.Robot.


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