Create a set of controllers for a set of tasks. More...
Classes | |
class | State |
Public Member Functions | |
def | __init__ (self, supervisor) |
def | addAffordance (self, aff) |
Add an Affordance or ObjectAffordance. More... | |
def | generate (self) |
def | setupFrames (self, srdfGrippers, srdfHandles, sotrobot, disabledGrippers=()) |
def | setupContactFrames (self, srdfContacts) |
def | makeState (self, grasps, priority) |
def | makeLoopTransition (self, state) |
def | makeTransition (self, stateFrom, stateTo, ig) |
Public Attributes | |
tasks | |
hpTasks | |
lpTasks | |
affordances | |
objectAffordances | |
sots | |
postActions | |
A dictionnary. More... | |
preActions | |
A dictionnary. More... | |
tracers | |
controllers | |
supervisor | |
parameters | |
Accepted parameters: More... | |
SoTtracer | |
sotrobot | |
grippersIdx | |
handlesIdx | |
gripperFrames | |
handleFrames | |
contactFrames | |
Create a set of controllers for a set of tasks.
A controller is created for each transition of the graph of constraints.
See the following example for usage.
def agimus_sot.factory.Factory.__init__ | ( | self, | |
supervisor | |||
) |
def agimus_sot.factory.Factory.addAffordance | ( | self, | |
aff | |||
) |
Add an Affordance or ObjectAffordance.
References agimus_sot.factory.Factory.affordances, and agimus_sot.factory.Factory.objectAffordances.
def agimus_sot.factory.Factory.generate | ( | self | ) |
def agimus_sot.factory.Factory.makeLoopTransition | ( | self, | |
state | |||
) |
References agimus_sot.factory.Factory._newSoT(), agimus_sot.factory.Factory.hpTasks, agimus_sot.events.logical_and_entity(), agimus_sot.factory.Factory.lpTasks, agimus_sot.factory.Factory.sots, and agimus_sot.factory.Factory.supervisor.
def agimus_sot.factory.Factory.makeState | ( | self, | |
grasps, | |||
priority | |||
) |
References agimus_sot.factory.Factory.tasks.
def agimus_sot.factory.Factory.makeTransition | ( | self, | |
stateFrom, | |||
stateTo, | |||
ig | |||
) |
References agimus_sot.factory.Factory._newSoT(), agimus_sot.factory.Factory.gripperFrames, agimus_sot.factory.Factory.handleFrames, agimus_sot.factory.ObjectAffordance.handles, agimus_sot.factory.Factory.hpTasks, agimus_sot.events.logical_and_entity(), agimus_sot.factory.Factory.lpTasks, simulation.Simulation.objects, agimus_sot.factory.Factory.postActions, agimus_sot.factory.Factory.preActions, agimus_sot.factory.Factory.sots, agimus_sot.factory.Factory.supervisor, and agimus_sot.factory.Factory.tasks.
def agimus_sot.factory.Factory.setupContactFrames | ( | self, | |
srdfContacts | |||
) |
def agimus_sot.factory.Factory.setupFrames | ( | self, | |
srdfGrippers, | |||
srdfHandles, | |||
sotrobot, | |||
disabledGrippers = () |
|||
) |
agimus_sot.factory.Factory.affordances |
Referenced by agimus_sot.factory.Factory.addAffordance().
agimus_sot.factory.Factory.contactFrames |
agimus_sot.factory.Factory.controllers |
agimus_sot.factory.Factory.gripperFrames |
Referenced by agimus_sot.factory.Factory.makeTransition().
agimus_sot.factory.Factory.grippersIdx |
agimus_sot.factory.Factory.handleFrames |
Referenced by agimus_sot.factory.Factory.makeTransition().
agimus_sot.factory.Factory.handlesIdx |
agimus_sot.factory.Factory.hpTasks |
agimus_sot.factory.Factory.lpTasks |
agimus_sot.factory.Factory.objectAffordances |
Referenced by agimus_sot.factory.Factory.addAffordance().
agimus_sot.factory.Factory.parameters |
Accepted parameters:
Referenced by agimus_sot.factory.Factory.generate().
agimus_sot.factory.Factory.postActions |
A dictionnary.
Referenced by agimus_sot.supervisor.Supervisor.addPostActions(), agimus_sot.factory.Factory.makeTransition(), and agimus_sot.supervisor.Supervisor.runPostAction().
agimus_sot.factory.Factory.preActions |
A dictionnary.
Referenced by agimus_sot.supervisor.Supervisor.addPreAction(), agimus_sot.factory.Factory.makeTransition(), and agimus_sot.supervisor.Supervisor.runPreAction().
agimus_sot.factory.Factory.sotrobot |
Referenced by agimus_sot.factory.Factory.generate(), agimus_sot.supervisor.Supervisor.getJointList(), agimus_sot.supervisor.Supervisor.isSotConsistentWithCurrent(), agimus_sot.supervisor.Supervisor.makeInitialSot(), agimus_sot.supervisor.Supervisor.plugSot(), agimus_sot.supervisor.Supervisor.readQueue(), agimus_sot.supervisor.Supervisor.runPostAction(), agimus_sot.supervisor.Supervisor.runPreAction(), agimus_sot.supervisor.Supervisor.setBasePose(), and agimus_sot.supervisor.Supervisor.waitForQueue().
agimus_sot.factory.Factory.sots |
Referenced by agimus_sot.supervisor.Supervisor.addSolver(), agimus_sot.supervisor.Supervisor.duplicateSolver(), agimus_sot.supervisor.Supervisor.isSotConsistentWithCurrent(), agimus_sot.factory.Factory.makeLoopTransition(), agimus_sot.factory.Factory.makeTransition(), and agimus_sot.supervisor.Supervisor.plugSot().
agimus_sot.factory.Factory.SoTtracer |
agimus_sot.factory.Factory.supervisor |
Referenced by agimus_sot.ros_interface.RosInterface.clearQueues(), agimus_sot.factory.Factory.generate(), agimus_sot.factory.Factory.makeLoopTransition(), agimus_sot.factory.Factory.makeTransition(), agimus_sot.ros_interface.RosInterface.plugSot(), agimus_sot.ros_interface.RosInterface.publishState(), agimus_sot.ros_interface.RosInterface.readQueue(), agimus_sot.ros_interface.RosInterface.requestHppTopics(), agimus_sot.ros_interface.RosInterface.runPostAction(), agimus_sot.ros_interface.RosInterface.runPreAction(), agimus_sot.ros_interface.RosInterface.setBasePose(), agimus_sot.ros_interface.RosInterface.setupHppJoints(), agimus_sot.ros_interface.RosInterface.stopReadingQueue(), and agimus_sot.ros_interface.RosInterface.waitForMinQueueSize().
agimus_sot.factory.Factory.tasks |
agimus_sot.factory.Factory.tracers |
Referenced by agimus_sot.factory.Factory.generate().