hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
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hpp.corbaserver.problem_solver.ProblemSolver Class Reference

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
 

Constructor & Destructor Documentation

◆ __init__()

hpp.corbaserver.problem_solver.ProblemSolver.__init__ (   self,
  robot,
  hppcorbaClient = None 
)

Member Function Documentation

◆ addConfigToRoadmap()

hpp.corbaserver.problem_solver.ProblemSolver.addConfigToRoadmap (   self,
  config 
)

◆ addConfigValidation()

hpp.corbaserver.problem_solver.ProblemSolver.addConfigValidation (   self,
  configValidationType 
)

◆ addEdgeToRoadmap()

hpp.corbaserver.problem_solver.ProblemSolver.addEdgeToRoadmap (   self,
  config1,
  config2,
  pathId,
  bothEdges 
)

◆ addGoalConfig()

hpp.corbaserver.problem_solver.ProblemSolver.addGoalConfig (   self,
  dofArray 
)

◆ addLockedJointConstraints()

hpp.corbaserver.problem_solver.ProblemSolver.addLockedJointConstraints (   self,
  name,
  names 
)

◆ addNumericalConstraints()

hpp.corbaserver.problem_solver.ProblemSolver.addNumericalConstraints (   self,
  name,
  names,
  priorities = None 
)

◆ addPartialCom()

hpp.corbaserver.problem_solver.ProblemSolver.addPartialCom (   self,
  comName,
  jointNames 
)

◆ addPassiveDofs()

hpp.corbaserver.problem_solver.ProblemSolver.addPassiveDofs (   self,
  name,
  dofNames 
)

◆ addPathOptimizer()

hpp.corbaserver.problem_solver.ProblemSolver.addPathOptimizer (   self,
  pathOptimizerType 
)

◆ appendDirectPath()

hpp.corbaserver.problem_solver.ProblemSolver.appendDirectPath (   self,
  pathId,
  config,
  validate 
)

◆ applyConstraints()

hpp.corbaserver.problem_solver.ProblemSolver.applyConstraints (   self,
  q 
)

◆ clearConfigValidations()

hpp.corbaserver.problem_solver.ProblemSolver.clearConfigValidations (   self)

◆ clearPathOptimizers()

hpp.corbaserver.problem_solver.ProblemSolver.clearPathOptimizers (   self)

◆ clearRoadmap()

hpp.corbaserver.problem_solver.ProblemSolver.clearRoadmap (   self)

◆ computeValueAndJacobian()

hpp.corbaserver.problem_solver.ProblemSolver.computeValueAndJacobian (   self,
  q 
)

◆ concatenatePath()

hpp.corbaserver.problem_solver.ProblemSolver.concatenatePath (   self,
  startId,
  endId 
)

◆ configAtParam()

hpp.corbaserver.problem_solver.ProblemSolver.configAtParam (   self,
  inPathId,
  param 
)

◆ createComBeetweenFeet()

hpp.corbaserver.problem_solver.ProblemSolver.createComBeetweenFeet (   self,
  constraintName,
  comName,
  jointLName,
  jointRName,
  pointL,
  pointR,
  jointRefName,
  mask 
)

◆ createDistanceBetweenJointAndObjects()

hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointAndObjects (   self,
  constraintName,
  joint1Name,
  objects,
  distance 
)

◆ createDistanceBetweenJointConstraint()

hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointConstraint (   self,
  constraintName,
  joint1Name,
  joint2Name,
  distance 
)

◆ createLockedExtraDof()

hpp.corbaserver.problem_solver.ProblemSolver.createLockedExtraDof (   self,
  lockedDofName,
  index,
  value 
)

◆ createLockedJoint()

hpp.corbaserver.problem_solver.ProblemSolver.createLockedJoint (   self,
  lockedDofName,
  jointName,
  value,
  comp = None 
)

◆ createOrientationConstraint()

hpp.corbaserver.problem_solver.ProblemSolver.createOrientationConstraint (   self,
  constraintName,
  joint1Name,
  joint2Name,
  p,
  mask 
)

◆ createPositionConstraint()

hpp.corbaserver.problem_solver.ProblemSolver.createPositionConstraint (   self,
  constraintName,
  joint1Name,
  joint2Name,
  point1,
  point2,
  mask 
)

◆ createRelativeComConstraint()

hpp.corbaserver.problem_solver.ProblemSolver.createRelativeComConstraint (   self,
  constraintName,
  comName,
  jointLName,
  point,
  mask 
)

◆ createTransformationConstraint()

hpp.corbaserver.problem_solver.ProblemSolver.createTransformationConstraint (   self,
  constraintName,
  joint1Name,
  joint2Name,
  ref,
  mask 
)

◆ cutObstacle()

hpp.corbaserver.problem_solver.ProblemSolver.cutObstacle (   self,
  objectName,
  aabb 
)

◆ derivativeAtParam()

hpp.corbaserver.problem_solver.ProblemSolver.derivativeAtParam (   self,
  inPathId,
  order,
  param 
)

◆ directPath()

hpp.corbaserver.problem_solver.ProblemSolver.directPath (   self,
  startConfig,
  endConfig,
  validate 
)

◆ edge()

hpp.corbaserver.problem_solver.ProblemSolver.edge (   self,
  edgeId 
)

◆ erasePath()

hpp.corbaserver.problem_solver.ProblemSolver.erasePath (   self,
  pathId 
)

◆ executeOneStep()

hpp.corbaserver.problem_solver.ProblemSolver.executeOneStep (   self)

◆ extractPath()

hpp.corbaserver.problem_solver.ProblemSolver.extractPath (   self,
  pathId,
  start,
  end 
)

◆ filterCollisionPairs()

hpp.corbaserver.problem_solver.ProblemSolver.filterCollisionPairs (   self)

◆ finishSolveStepByStep()

hpp.corbaserver.problem_solver.ProblemSolver.finishSolveStepByStep (   self)

◆ generateValidConfig()

hpp.corbaserver.problem_solver.ProblemSolver.generateValidConfig (   self,
  maxIter 
)

◆ getAvailable()

hpp.corbaserver.problem_solver.ProblemSolver.getAvailable (   self,
  type 
)

◆ getConstantRightHandSide()

hpp.corbaserver.problem_solver.ProblemSolver.getConstantRightHandSide (   self,
  constraintName 
)

◆ getErrorThreshold()

hpp.corbaserver.problem_solver.ProblemSolver.getErrorThreshold (   self)

◆ getGoalConfigs()

hpp.corbaserver.problem_solver.ProblemSolver.getGoalConfigs (   self)

◆ getInitialConfig()

hpp.corbaserver.problem_solver.ProblemSolver.getInitialConfig (   self)

◆ getMaxIterPathPlanning()

hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterPathPlanning (   self)

◆ getMaxIterProjection()

hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterProjection (   self)

◆ getMaxNumThreads()

hpp.corbaserver.problem_solver.ProblemSolver.getMaxNumThreads (   self)

◆ getNearestConfig()

hpp.corbaserver.problem_solver.ProblemSolver.getNearestConfig (   self,
  randomConfig,
  connectedComponentId = -1 
)

◆ getObstacleLinkNames()

hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkNames (   self)

◆ getObstacleLinkPosition()

hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkPosition (   self,
  objectName 
)

◆ getObstacleNames()

hpp.corbaserver.problem_solver.ProblemSolver.getObstacleNames (   self,
  collision,
  distance 
)

◆ getObstaclePosition()

hpp.corbaserver.problem_solver.ProblemSolver.getObstaclePosition (   self,
  objectName 
)

◆ getParameter()

hpp.corbaserver.problem_solver.ProblemSolver.getParameter (   self,
  name,
  keep_any = False 
)

◆ getParameterDoc()

hpp.corbaserver.problem_solver.ProblemSolver.getParameterDoc (   self,
  name 
)

◆ getPartialCom()

hpp.corbaserver.problem_solver.ProblemSolver.getPartialCom (   self,
  comName 
)

◆ getSelected()

hpp.corbaserver.problem_solver.ProblemSolver.getSelected (   self,
  type 
)

◆ getTimeOutPathPlanning()

hpp.corbaserver.problem_solver.ProblemSolver.getTimeOutPathPlanning (   self)

◆ getWaypoints()

hpp.corbaserver.problem_solver.ProblemSolver.getWaypoints (   self,
  pathId 
)

◆ interruptPathPlanning()

hpp.corbaserver.problem_solver.ProblemSolver.interruptPathPlanning (   self)

◆ loadObstacleFromUrdf()

hpp.corbaserver.problem_solver.ProblemSolver.loadObstacleFromUrdf (   self,
args 
)

◆ loadPlugin()

hpp.corbaserver.problem_solver.ProblemSolver.loadPlugin (   self,
  pluginName 
)

◆ loadRoadmap()

hpp.corbaserver.problem_solver.ProblemSolver.loadRoadmap (   self,
  filename 
)

◆ moveObstacle()

hpp.corbaserver.problem_solver.ProblemSolver.moveObstacle (   self,
  objectName,
  cfg 
)

◆ movePathToProblem()

hpp.corbaserver.problem_solver.ProblemSolver.movePathToProblem (   self,
  pathId,
  problemName,
  jointNames 
)

◆ node()

hpp.corbaserver.problem_solver.ProblemSolver.node (   self,
  nodeId 
)

◆ nodes()

hpp.corbaserver.problem_solver.ProblemSolver.nodes (   self)

◆ nodesConnectedComponent()

hpp.corbaserver.problem_solver.ProblemSolver.nodesConnectedComponent (   self,
  ccId 
)

◆ numberConnectedComponents()

hpp.corbaserver.problem_solver.ProblemSolver.numberConnectedComponents (   self)

◆ numberEdges()

hpp.corbaserver.problem_solver.ProblemSolver.numberEdges (   self)

◆ numberNodes()

hpp.corbaserver.problem_solver.ProblemSolver.numberNodes (   self)

◆ numberPaths()

hpp.corbaserver.problem_solver.ProblemSolver.numberPaths (   self)

◆ optimize()

hpp.corbaserver.problem_solver.ProblemSolver.optimize (   self,
  q 
)

◆ optimizePath()

hpp.corbaserver.problem_solver.ProblemSolver.optimizePath (   self,
  inPathId 
)

◆ pathLength()

hpp.corbaserver.problem_solver.ProblemSolver.pathLength (   self,
  inPathId 
)

◆ prepareSolveStepByStep()

hpp.corbaserver.problem_solver.ProblemSolver.prepareSolveStepByStep (   self)

◆ projectPath()

hpp.corbaserver.problem_solver.ProblemSolver.projectPath (   self,
  pathId 
)

◆ removeObstacleFromJoint()

hpp.corbaserver.problem_solver.ProblemSolver.removeObstacleFromJoint (   self,
  objectName,
  jointName,
  collision,
  distance 
)

◆ resetConstraintMap()

hpp.corbaserver.problem_solver.ProblemSolver.resetConstraintMap (   self)

◆ resetConstraints()

hpp.corbaserver.problem_solver.ProblemSolver.resetConstraints (   self)

◆ resetGoalConfigs()

hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConfigs (   self)

◆ resetGoalConstraints()

hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConstraints (   self)

◆ saveRoadmap()

hpp.corbaserver.problem_solver.ProblemSolver.saveRoadmap (   self,
  filename 
)

◆ selectConfigurationShooter()

hpp.corbaserver.problem_solver.ProblemSolver.selectConfigurationShooter (   self,
  configurationShooterType 
)

◆ selectDistance()

hpp.corbaserver.problem_solver.ProblemSolver.selectDistance (   self,
  distanceType 
)

◆ selectPathPlanner()

hpp.corbaserver.problem_solver.ProblemSolver.selectPathPlanner (   self,
  pathPlannerType 
)

◆ selectPathProjector()

hpp.corbaserver.problem_solver.ProblemSolver.selectPathProjector (   self,
  pathProjectorType,
  tolerance 
)

◆ selectPathValidation()

hpp.corbaserver.problem_solver.ProblemSolver.selectPathValidation (   self,
  pathValidationType,
  tolerance 
)

◆ selectProblem()

hpp.corbaserver.problem_solver.ProblemSolver.selectProblem (   self,
  name 
)

◆ selectSteeringMethod()

hpp.corbaserver.problem_solver.ProblemSolver.selectSteeringMethod (   self,
  steeringMethodType 
)

◆ setConstantRightHandSide()

hpp.corbaserver.problem_solver.ProblemSolver.setConstantRightHandSide (   self,
  constraintName,
  constant 
)

◆ setDefaultLineSearchType()

hpp.corbaserver.problem_solver.ProblemSolver.setDefaultLineSearchType (   self,
  type 
)

◆ setErrorThreshold()

hpp.corbaserver.problem_solver.ProblemSolver.setErrorThreshold (   self,
  threshold 
)

◆ setGoalConstraints()

hpp.corbaserver.problem_solver.ProblemSolver.setGoalConstraints (   self,
  constraints 
)

◆ setInitialConfig()

hpp.corbaserver.problem_solver.ProblemSolver.setInitialConfig (   self,
  dofArray 
)

◆ setMaxIterPathPlanning()

hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterPathPlanning (   self,
  iterations 
)

◆ setMaxIterProjection()

hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterProjection (   self,
  iterations 
)

◆ setMaxNumThreads()

hpp.corbaserver.problem_solver.ProblemSolver.setMaxNumThreads (   self,
  n 
)

◆ setParameter()

hpp.corbaserver.problem_solver.ProblemSolver.setParameter (   self,
  name,
  value 
)

◆ setRandomSeed()

hpp.corbaserver.problem_solver.ProblemSolver.setRandomSeed (   self,
  seed 
)

◆ setRightHandSide()

hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSide (   self,
  rhs 
)

◆ setRightHandSideByName()

hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideByName (   self,
  constraintName,
  rhs 
)

◆ setRightHandSideFromConfig()

hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfig (   self,
  config 
)

◆ setRightHandSideFromConfigByName()

hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfigByName (   self,
  constraintName,
  config 
)

◆ setTimeOutPathPlanning()

hpp.corbaserver.problem_solver.ProblemSolver.setTimeOutPathPlanning (   self,
  timeOut 
)

◆ solve()

hpp.corbaserver.problem_solver.ProblemSolver.solve (   self)

Member Data Documentation

◆ client

hpp.corbaserver.problem_solver.ProblemSolver.client

◆ hppcorba

hpp.corbaserver.problem_solver.ProblemSolver.hppcorba

◆ robot

hpp.corbaserver.problem_solver.ProblemSolver.robot

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