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

Public Attributes
	constraints = ConstraintFactory(self, graph)
	graph = graph
bool	preplaceGuide = False
Public Attributes inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
	graspIsAllowed = GraspIsAllowed()
	states = dict()
	transitions = set()
	handles = tuple()
	grippers = tuple()
	envContacts = tuple()
	objects = tuple()
	handlesPerObjects = tuple()
	objectFromHandle = tuple()
	contactsPerObjects = tuple()

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

Additional Inherited Members
Protected Member Functions inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
	_existState (self, grasps)
	_makeState (self, grasps, priority)
	_isObjectGrasped (self, grasps, object)
	_stateName (self, grasps, abbrev=False)
	_transitionNames (self, sFrom, sTo, ig)
	_loopTransitionName (self, grasps)
	_recurse (self, grippers, handles, grasps, depth)

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__()

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

\\param graph an instance of ConstraintGraph

Member Function Documentation

getPreplacementDistance()

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

Get preplacement distance
\\param obj name of the object

makeLoopTransition()

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()

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()

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()

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

setPreplacementDistance()

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 = ConstraintFactory(self, graph)

defaultPreplaceDist

manipulation.constraint_graph_factory.ConstraintGraphFactory.defaultPreplaceDist = 0.05

static

graph

manipulation.constraint_graph_factory.ConstraintGraphFactory.graph = graph

preplaceDistance

manipulation.constraint_graph_factory.ConstraintGraphFactory.preplaceDistance = dict()

static

preplaceGuide

bool manipulation.constraint_graph_factory.ConstraintGraphFactory.preplaceGuide = False

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

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