hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
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Public Member Functions | |
__init__ (self, robot, hppcorbaClient=None) | |
loadPlugin (self, pluginName) | |
setRandomSeed (self, seed) | |
setMaxNumThreads (self, n) | |
getMaxNumThreads (self) | |
getAvailable (self, type) | |
getSelected (self, type) | |
setParameter (self, name, value) | |
getParameter (self, name, keep_any=False) | |
getParameterDoc (self, name) | |
selectProblem (self, name) | |
movePathToProblem (self, pathId, problemName, jointNames) | |
setInitialConfig (self, dofArray) | |
getInitialConfig (self) | |
addGoalConfig (self, dofArray) | |
setGoalConstraints (self, constraints) | |
resetGoalConstraints (self) | |
getGoalConfigs (self) | |
resetGoalConfigs (self) | |
loadObstacleFromUrdf (self, *args) | |
removeObstacleFromJoint (self, objectName, jointName, collision, distance) | |
cutObstacle (self, objectName, aabb) | |
moveObstacle (self, objectName, cfg) | |
getObstaclePosition (self, objectName) | |
getObstacleNames (self, collision, distance) | |
getObstacleLinkPosition (self, objectName) | |
getObstacleLinkNames (self) | |
createOrientationConstraint (self, constraintName, joint1Name, joint2Name, p, mask) | |
createTransformationConstraint (self, constraintName, joint1Name, joint2Name, ref, mask) | |
createLockedJoint (self, lockedDofName, jointName, value, comp=None) | |
createLockedExtraDof (self, lockedDofName, index, value) | |
createRelativeComConstraint (self, constraintName, comName, jointLName, point, mask) | |
createComBeetweenFeet (self, constraintName, comName, jointLName, jointRName, pointL, pointR, jointRefName, mask) | |
addPartialCom (self, comName, jointNames) | |
getPartialCom (self, comName) | |
createPositionConstraint (self, constraintName, joint1Name, joint2Name, point1, point2, mask) | |
createDistanceBetweenJointConstraint (self, constraintName, joint1Name, joint2Name, distance) | |
createDistanceBetweenJointAndObjects (self, constraintName, joint1Name, objects, distance) | |
resetConstraints (self) | |
resetConstraintMap (self) | |
addNumericalConstraints (self, name, names, priorities=None) | |
addLockedJointConstraints (self, name, names) | |
setRightHandSide (self, rhs) | |
setRightHandSideByName (self, constraintName, rhs) | |
setRightHandSideFromConfig (self, config) | |
setRightHandSideFromConfigByName (self, constraintName, config) | |
applyConstraints (self, q) | |
optimize (self, q) | |
computeValueAndJacobian (self, q) | |
addPassiveDofs (self, name, dofNames) | |
setConstantRightHandSide (self, constraintName, constant) | |
getConstantRightHandSide (self, constraintName) | |
generateValidConfig (self, maxIter) | |
getErrorThreshold (self) | |
setErrorThreshold (self, threshold) | |
setDefaultLineSearchType (self, type) | |
getMaxIterPathPlanning (self) | |
setMaxIterPathPlanning (self, iterations) | |
getTimeOutPathPlanning (self) | |
setTimeOutPathPlanning (self, timeOut) | |
getMaxIterProjection (self) | |
setMaxIterProjection (self, iterations) | |
filterCollisionPairs (self) | |
selectPathPlanner (self, pathPlannerType) | |
selectConfigurationShooter (self, configurationShooterType) | |
addPathOptimizer (self, pathOptimizerType) | |
clearPathOptimizers (self) | |
selectPathValidation (self, pathValidationType, tolerance) | |
addConfigValidation (self, configValidationType) | |
clearConfigValidations (self) | |
selectPathProjector (self, pathProjectorType, tolerance) | |
selectDistance (self, distanceType) | |
selectSteeringMethod (self, steeringMethodType) | |
prepareSolveStepByStep (self) | |
executeOneStep (self) | |
finishSolveStepByStep (self) | |
solve (self) | |
directPath (self, startConfig, endConfig, validate) | |
appendDirectPath (self, pathId, config, validate) | |
concatenatePath (self, startId, endId) | |
extractPath (self, pathId, start, end) | |
erasePath (self, pathId) | |
projectPath (self, pathId) | |
numberPaths (self) | |
optimizePath (self, inPathId) | |
pathLength (self, inPathId) | |
configAtParam (self, inPathId, param) | |
derivativeAtParam (self, inPathId, order, param) | |
getWaypoints (self, pathId) | |
interruptPathPlanning (self) | |
nodes (self) | |
node (self, nodeId) | |
numberNodes (self) | |
numberEdges (self) | |
edge (self, edgeId) | |
numberConnectedComponents (self) | |
nodesConnectedComponent (self, ccId) | |
getNearestConfig (self, randomConfig, connectedComponentId=-1) | |
addConfigToRoadmap (self, config) | |
addEdgeToRoadmap (self, config1, config2, pathId, bothEdges) | |
clearRoadmap (self) | |
saveRoadmap (self, filename) | |
loadRoadmap (self, filename) | |
Public Attributes | |
client | |
hppcorba | |
robot | |
hpp.corbaserver.problem_solver.ProblemSolver.__init__ | ( | self, | |
robot, | |||
hppcorbaClient = None |
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) |
hpp.corbaserver.problem_solver.ProblemSolver.addConfigToRoadmap | ( | self, | |
config | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.addConfigValidation | ( | self, | |
configValidationType | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.addEdgeToRoadmap | ( | self, | |
config1, | |||
config2, | |||
pathId, | |||
bothEdges | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.addGoalConfig | ( | self, | |
dofArray | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.addLockedJointConstraints | ( | self, | |
name, | |||
names | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.addNumericalConstraints | ( | self, | |
name, | |||
names, | |||
priorities = None |
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) |
hpp.corbaserver.problem_solver.ProblemSolver.addPartialCom | ( | self, | |
comName, | |||
jointNames | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.addPassiveDofs | ( | self, | |
name, | |||
dofNames | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.addPathOptimizer | ( | self, | |
pathOptimizerType | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.appendDirectPath | ( | self, | |
pathId, | |||
config, | |||
validate | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.applyConstraints | ( | self, | |
q | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.clearConfigValidations | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.clearPathOptimizers | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.clearRoadmap | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.computeValueAndJacobian | ( | self, | |
q | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.concatenatePath | ( | self, | |
startId, | |||
endId | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.configAtParam | ( | self, | |
inPathId, | |||
param | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.createComBeetweenFeet | ( | self, | |
constraintName, | |||
comName, | |||
jointLName, | |||
jointRName, | |||
pointL, | |||
pointR, | |||
jointRefName, | |||
mask | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointAndObjects | ( | self, | |
constraintName, | |||
joint1Name, | |||
objects, | |||
distance | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointConstraint | ( | self, | |
constraintName, | |||
joint1Name, | |||
joint2Name, | |||
distance | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.createLockedExtraDof | ( | self, | |
lockedDofName, | |||
index, | |||
value | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.createLockedJoint | ( | self, | |
lockedDofName, | |||
jointName, | |||
value, | |||
comp = None |
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) |
hpp.corbaserver.problem_solver.ProblemSolver.createOrientationConstraint | ( | self, | |
constraintName, | |||
joint1Name, | |||
joint2Name, | |||
p, | |||
mask | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.createPositionConstraint | ( | self, | |
constraintName, | |||
joint1Name, | |||
joint2Name, | |||
point1, | |||
point2, | |||
mask | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.createRelativeComConstraint | ( | self, | |
constraintName, | |||
comName, | |||
jointLName, | |||
point, | |||
mask | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.createTransformationConstraint | ( | self, | |
constraintName, | |||
joint1Name, | |||
joint2Name, | |||
ref, | |||
mask | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.cutObstacle | ( | self, | |
objectName, | |||
aabb | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.derivativeAtParam | ( | self, | |
inPathId, | |||
order, | |||
param | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.directPath | ( | self, | |
startConfig, | |||
endConfig, | |||
validate | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.edge | ( | self, | |
edgeId | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.erasePath | ( | self, | |
pathId | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.executeOneStep | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.extractPath | ( | self, | |
pathId, | |||
start, | |||
end | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.filterCollisionPairs | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.finishSolveStepByStep | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.generateValidConfig | ( | self, | |
maxIter | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.getAvailable | ( | self, | |
type | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.getConstantRightHandSide | ( | self, | |
constraintName | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.getErrorThreshold | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.getGoalConfigs | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.getInitialConfig | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterPathPlanning | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterProjection | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.getMaxNumThreads | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.getNearestConfig | ( | self, | |
randomConfig, | |||
connectedComponentId = -1 |
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) |
hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkNames | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkPosition | ( | self, | |
objectName | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.getObstacleNames | ( | self, | |
collision, | |||
distance | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.getObstaclePosition | ( | self, | |
objectName | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.getParameter | ( | self, | |
name, | |||
keep_any = False |
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) |
hpp.corbaserver.problem_solver.ProblemSolver.getParameterDoc | ( | self, | |
name | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.getPartialCom | ( | self, | |
comName | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.getSelected | ( | self, | |
type | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.getTimeOutPathPlanning | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.getWaypoints | ( | self, | |
pathId | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.interruptPathPlanning | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.loadObstacleFromUrdf | ( | self, | |
* | args | ||
) |
hpp.corbaserver.problem_solver.ProblemSolver.loadPlugin | ( | self, | |
pluginName | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.loadRoadmap | ( | self, | |
filename | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.moveObstacle | ( | self, | |
objectName, | |||
cfg | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.movePathToProblem | ( | self, | |
pathId, | |||
problemName, | |||
jointNames | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.node | ( | self, | |
nodeId | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.nodes | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.nodesConnectedComponent | ( | self, | |
ccId | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.numberConnectedComponents | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.numberEdges | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.numberNodes | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.numberPaths | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.optimize | ( | self, | |
q | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.optimizePath | ( | self, | |
inPathId | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.pathLength | ( | self, | |
inPathId | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.prepareSolveStepByStep | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.projectPath | ( | self, | |
pathId | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.removeObstacleFromJoint | ( | self, | |
objectName, | |||
jointName, | |||
collision, | |||
distance | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.resetConstraintMap | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.resetConstraints | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConfigs | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConstraints | ( | self | ) |
hpp.corbaserver.problem_solver.ProblemSolver.saveRoadmap | ( | self, | |
filename | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.selectConfigurationShooter | ( | self, | |
configurationShooterType | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.selectDistance | ( | self, | |
distanceType | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.selectPathPlanner | ( | self, | |
pathPlannerType | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.selectPathProjector | ( | self, | |
pathProjectorType, | |||
tolerance | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.selectPathValidation | ( | self, | |
pathValidationType, | |||
tolerance | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.selectProblem | ( | self, | |
name | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.selectSteeringMethod | ( | self, | |
steeringMethodType | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setConstantRightHandSide | ( | self, | |
constraintName, | |||
constant | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setDefaultLineSearchType | ( | self, | |
type | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setErrorThreshold | ( | self, | |
threshold | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setGoalConstraints | ( | self, | |
constraints | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setInitialConfig | ( | self, | |
dofArray | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterPathPlanning | ( | self, | |
iterations | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterProjection | ( | self, | |
iterations | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setMaxNumThreads | ( | self, | |
n | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setParameter | ( | self, | |
name, | |||
value | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setRandomSeed | ( | self, | |
seed | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSide | ( | self, | |
rhs | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideByName | ( | self, | |
constraintName, | |||
rhs | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfig | ( | self, | |
config | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfigByName | ( | self, | |
constraintName, | |||
config | |||
) |
hpp.corbaserver.problem_solver.ProblemSolver.setTimeOutPathPlanning | ( | self, | |
timeOut | |||
) |
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 |