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

Public Member Functions

 __init__ (self, robotName=None, rootJointType=None, load=True, client=None, hppcorbaClient=None)
 
 rebuildRanks (self)
 
 urdfSrdfFilenames (self)
 
 urdfSrdfString (self)
 
 loadModel (self, robotName, rootJointType)
 
 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 Attributes

 client
 
 hppcorba
 
 name
 
 rootJointType
 
 displayName
 
 jointNames
 
 allJointNames
 
 rankInConfiguration
 
 rankInVelocity
 
 childFrames
 
 parentJoint
 
 childJoints
 
 urdfString
 

Protected Member Functions

 _computeKinematicChain (self)
 

Constructor & Destructor Documentation

◆ __init__()

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

Member Function Documentation

◆ _computeKinematicChain()

hpp.corbaserver.robot.Robot._computeKinematicChain (   self)
protected

◆ configIsValid()

hpp.corbaserver.robot.Robot.configIsValid (   self,
  cfg 
)

◆ distancesToCollision()

hpp.corbaserver.robot.Robot.distancesToCollision (   self)

◆ getAllJointNames()

hpp.corbaserver.robot.Robot.getAllJointNames (   self)

◆ getCenterOfMass()

hpp.corbaserver.robot.Robot.getCenterOfMass (   self)

◆ getChildFrames()

hpp.corbaserver.robot.Robot.getChildFrames (   self,
  frameName,
  recursive = False 
)

◆ getChildJoints()

hpp.corbaserver.robot.Robot.getChildJoints (   self,
  jointName,
  recursive = False 
)

◆ getConfigSize()

hpp.corbaserver.robot.Robot.getConfigSize (   self)

◆ getCurrentConfig()

hpp.corbaserver.robot.Robot.getCurrentConfig (   self)

◆ getCurrentTransformation()

hpp.corbaserver.robot.Robot.getCurrentTransformation (   self,
  jointName 
)

◆ getCurrentVelocity()

hpp.corbaserver.robot.Robot.getCurrentVelocity (   self)

◆ getJacobianCenterOfMass()

hpp.corbaserver.robot.Robot.getJacobianCenterOfMass (   self)

◆ getJointBounds()

hpp.corbaserver.robot.Robot.getJointBounds (   self,
  jointName 
)

◆ getJointConfigSize()

hpp.corbaserver.robot.Robot.getJointConfigSize (   self,
  jointName 
)

◆ getJointInnerObjects()

hpp.corbaserver.robot.Robot.getJointInnerObjects (   self,
  jointName 
)

◆ getJointNames()

hpp.corbaserver.robot.Robot.getJointNames (   self)

◆ getJointNumberDof()

hpp.corbaserver.robot.Robot.getJointNumberDof (   self,
  jointName 
)

◆ getJointOuterObjects()

hpp.corbaserver.robot.Robot.getJointOuterObjects (   self,
  jointName 
)

◆ getJointPosition()

hpp.corbaserver.robot.Robot.getJointPosition (   self,
  jointName 
)

◆ getJointTypes()

hpp.corbaserver.robot.Robot.getJointTypes (   self)

◆ getLinkNames()

hpp.corbaserver.robot.Robot.getLinkNames (   self,
  jointName 
)

◆ getLinkPosition()

hpp.corbaserver.robot.Robot.getLinkPosition (   self,
  linkName 
)

◆ getMass()

hpp.corbaserver.robot.Robot.getMass (   self)

◆ getNumberDof()

hpp.corbaserver.robot.Robot.getNumberDof (   self)

◆ getObjectPosition()

hpp.corbaserver.robot.Robot.getObjectPosition (   self,
  objectName 
)

◆ getParentFrame()

hpp.corbaserver.robot.Robot.getParentFrame (   self,
  frameName 
)

◆ getParentJoint()

hpp.corbaserver.robot.Robot.getParentJoint (   self,
  jointName 
)

◆ getRobotAABB()

hpp.corbaserver.robot.Robot.getRobotAABB (   self)

◆ getRootJointPosition()

hpp.corbaserver.robot.Robot.getRootJointPosition (   self)

◆ getSaturated()

hpp.corbaserver.robot.Robot.getSaturated (   self,
  q 
)

◆ isConfigValid()

hpp.corbaserver.robot.Robot.isConfigValid (   self,
  cfg 
)

◆ loadModel()

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

◆ rebuildRanks()

hpp.corbaserver.robot.Robot.rebuildRanks (   self)

◆ removeObstacleFromJoint()

hpp.corbaserver.robot.Robot.removeObstacleFromJoint (   self,
  objectName,
  jointName 
)

◆ setCurrentConfig()

hpp.corbaserver.robot.Robot.setCurrentConfig (   self,
  q 
)

◆ setCurrentVelocity()

hpp.corbaserver.robot.Robot.setCurrentVelocity (   self,
  v 
)

◆ setJointBounds()

hpp.corbaserver.robot.Robot.setJointBounds (   self,
  jointName,
  inJointBound 
)

◆ setJointPosition()

hpp.corbaserver.robot.Robot.setJointPosition (   self,
  jointName,
  position 
)

◆ setRootJointPosition()

hpp.corbaserver.robot.Robot.setRootJointPosition (   self,
  position 
)

◆ shootRandomConfig()

hpp.corbaserver.robot.Robot.shootRandomConfig (   self)

◆ srdfPath()

hpp.corbaserver.robot.Robot.srdfPath (   self)

◆ urdfPath()

hpp.corbaserver.robot.Robot.urdfPath (   self)

Reimplemented in hpp.corbaserver.robot.RobotXML.

◆ urdfSrdfFilenames()

hpp.corbaserver.robot.Robot.urdfSrdfFilenames (   self)

◆ urdfSrdfString()

hpp.corbaserver.robot.Robot.urdfSrdfString (   self)

Member Data Documentation

◆ allJointNames

hpp.corbaserver.robot.Robot.allJointNames

◆ childFrames

hpp.corbaserver.robot.Robot.childFrames

◆ childJoints

hpp.corbaserver.robot.Robot.childJoints

◆ client

hpp.corbaserver.robot.Robot.client

◆ displayName

hpp.corbaserver.robot.Robot.displayName

◆ hppcorba

hpp.corbaserver.robot.Robot.hppcorba

◆ jointNames

hpp.corbaserver.robot.Robot.jointNames

◆ name

hpp.corbaserver.robot.Robot.name

◆ parentJoint

hpp.corbaserver.robot.Robot.parentJoint

◆ rankInConfiguration

hpp.corbaserver.robot.Robot.rankInConfiguration

◆ rankInVelocity

hpp.corbaserver.robot.Robot.rankInVelocity

◆ rootJointType

hpp.corbaserver.robot.Robot.rootJointType

◆ urdfString

hpp.corbaserver.robot.Robot.urdfString

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