Creation of a device. More...
import"/local/robotpkg/var/tmp/robotpkg/wip/py-hpp-affordance-corba/work/hpp-affordance-corba-4.7.0/idl/hpp/corbaserver/affordance/affordance.idl";
Public Member Functions | |
void | resetAffordanceConfig () raises (Error) |
reset the current configuration of the given affordance type requirement to default values More... | |
void | setAffordanceConfig (in string affType, in doubleSeq conf) raises (Error) |
changes the default configuration of the given affordance type requirement More... | |
doubleSeq | getAffordanceConfig (in string affType) raises (Error) |
returns the configuration of the given affordance type requirement More... | |
void | setMargin (in string affType, in double margin) raises (Error) |
changes the error margin used to evaluate the affordance requirement of a given affordance type More... | |
void | setNeighbouringTriangleMargin (in string affType, in double nbTriMargin) raises (Error) |
changes the angle margin used to evaluate whether neighbouring triangles form part of the potential affordance as the current triangle. More... | |
void | setMinimumArea (in string affType, in double minArea) raises (Error) |
changes the minimum area used to evaluate the affordance requirement More... | |
boolean | checkModel (in string obstacleName) raises (Error) |
checks whether obstacle model is of a type compatible with affordance analysis. More... | |
void | analyseObject (in string obstacleName, in doubleSeq reduceSizes) raises (Error) |
creates collisionObjects for each found affordance of given object. More... | |
void | analyseAll (in doubleSeq reduceSizes) raises (Error) |
creates collisionObjects for each affordance found in the scene (goes through all obstacles). More... | |
void | deleteAffordances (in string obstacleName) raises (Error) |
deletes all affordance objects of given obstacle. More... | |
void | deleteAffordancesByType (in string affordance, in string obstacleName) raises (Error) |
deletes affordance objects of given affordance type for a given obstacle More... | |
doubleSeqSeqSeqSeq | getAffordancePoints (in string affordance) raises (Error) |
returns vertice points for each triangle in each affordance object of specified aff type More... | |
Names_t | getAffRefObstacles (in string affordance) raises (Error) |
returns a list of reference obstacles corresponding to the affordance type. More... | |
Names_t | getAffordanceTypes () raises (Error) |
Get list of affordance types used in affordance analysis. More... | |
Names_t | getAffordanceConfigTypes () raises (Error) |
Get list of affordance configuration types used in affordance analysis. More... | |
Creation of a device.
creates collisionObjects for each affordance found in the scene (goes through all obstacles).
Affordances are added to a container in problemSolver.
void hpp::corbaserver::affordance::Afford::analyseObject | ( | in string | obstacleName, |
in doubleSeq | reduceSizes | ||
) | |||
raises | ( | Error | |
) |
creates collisionObjects for each found affordance of given object.
Affordances are added to a container in problemSolver
obstacleName | Name of the collisionObstacle to be analysed |
Referenced by affordance.affordance.AffordanceTool::loadObstacleModel().
boolean hpp::corbaserver::affordance::Afford::checkModel | ( | in string | obstacleName | ) | |
raises | ( | Error | |||
) |
checks whether obstacle model is of a type compatible with affordance analysis.
The only accepted model type is fcl::BVH_MODEL_TRIANGLES.
obstacleName | Name of the collisionObstacle to be checked. |
void hpp::corbaserver::affordance::Afford::deleteAffordances | ( | in string | obstacleName | ) | |
raises | ( | Error | |||
) |
deletes all affordance objects of given obstacle.
obstacleName | name of obstacle, the affordances of which will be deleted |
Referenced by affordance.affordance.AffordanceTool::removeObstacleFromJoint().
void hpp::corbaserver::affordance::Afford::deleteAffordancesByType | ( | in string | affordance, |
in string | obstacleName | ||
) | |||
raises | ( | Error | |
) |
deletes affordance objects of given affordance type for a given obstacle
affordance | Type of affordance to be deleted |
obstacleName | name of obstacle, the affordances of which will be deleted. |
doubleSeq hpp::corbaserver::affordance::Afford::getAffordanceConfig | ( | in string | affType | ) | |
raises | ( | Error | |||
) |
returns the configuration of the given affordance type requirement
affType | affordance type for which the configuration is requested. |
Get list of affordance configuration types used in affordance analysis.
doubleSeqSeqSeqSeq hpp::corbaserver::affordance::Afford::getAffordancePoints | ( | in string | affordance | ) | |
raises | ( | Error | |||
) |
returns vertice points for each triangle in each affordance object of specified aff type
affordance | Affordance type for which triangle points are searched. |
Referenced by affordance.affordance.AffordanceTool::visualiseAffordances(), and affordance.affordance.AffordanceTool::visualiseAllAffordances().
Get list of affordance types used in affordance analysis.
Referenced by affordance.affordance.AffordanceTool::deleteAffordancesByTypeFromViewer(), and affordance.affordance.AffordanceTool::deleteAffordancesFromViewer().
Names_t hpp::corbaserver::affordance::Afford::getAffRefObstacles | ( | in string | affordance | ) | |
raises | ( | Error | |||
) |
returns a list of reference obstacles corresponding to the affordance type.
The size of the return variable is equal to the number of affordances of given type.
affordance | Affordance type for which reference obstacles are searched. |
Referenced by affordance.affordance.AffordanceTool::deleteAffordancesByTypeFromViewer(), affordance.affordance.AffordanceTool::deleteAffordancesFromViewer(), affordance.affordance.AffordanceTool::visualiseAffordances(), and affordance.affordance.AffordanceTool::visualiseAllAffordances().
void hpp::corbaserver::affordance::Afford::resetAffordanceConfig | ( | ) | ||
raises | ( | Error | ||
) |
reset the current configuration of the given affordance type requirement to default values
void hpp::corbaserver::affordance::Afford::setAffordanceConfig | ( | in string | affType, |
in doubleSeq | conf | ||
) | |||
raises | ( | Error | |
) |
changes the default configuration of the given affordance type requirement
The configuration vector has size 3 and comprises the error margin, the angle margin for neighbouring triangles and the minimum area, in that order.
affType | affordance type for which the change is made |
conf | configuration vector of size 3. The parameters are (in order): +the margin needed for the evaluation of the requirement function, +the margin between two triangles tested for a single affordance surface. If the angle between two triangles is greater than the provided margin, the triangles cannot be part of the same affordance surface.
|
void hpp::corbaserver::affordance::Afford::setMargin | ( | in string | affType, |
in double | margin | ||
) | |||
raises | ( | Error | |
) |
changes the error margin used to evaluate the affordance requirement of a given affordance type
affType | affordance type for which the change is made |
margin | new value for the error margin |
void hpp::corbaserver::affordance::Afford::setMinimumArea | ( | in string | affType, |
in double | minArea | ||
) | |||
raises | ( | Error | |
) |
changes the minimum area used to evaluate the affordance requirement
of a given affordance type
affType | affordance type for which the change is made |
nimArea | new value for the minimum accepted area |
void hpp::corbaserver::affordance::Afford::setNeighbouringTriangleMargin | ( | in string | affType, |
in double | nbTriMargin | ||
) | |||
raises | ( | Error | |
) |
changes the angle margin used to evaluate whether neighbouring triangles form part of the potential affordance as the current triangle.
affType | affordance type for which the change is made |
nbTriMargin | new value for the neighbouring triangle margin |