Create task.Task s. More...
Public Member Functions | |
def | __init__ (self, graphfactory) |
def | buildGrasp (self, g, h, otherGrasp=None) |
def | buildPlacement (self, o, grasp) |
Build the constraint for pre-placement (6D) More... | |
Accessors to the different elementary constraints | |
def | getGrasp (self, gripper, handle, otherGrasp=None) |
def | g (self, gripper, handle, what, otherGrasp=None) |
def | getPlacement (self, object, grasp) |
def | p (self, object, grasp, what) |
def | event (self, gripper, handle, what, default) |
Static Public Attributes | |
tuple | gfields = ('grasp', 'pregrasp', 'gripper_open', 'gripper_close') |
tuple | pfields = ('preplace',) |
Create task.Task s.
def agimus_sot.factory.TaskFactory.__init__ | ( | self, | |
graphfactory | |||
) |
References agimus_sot.factory.TaskFactory._grasps, agimus_sot.factory.TaskFactory._grippers, and agimus_sot.factory.TaskFactory._placements.
def agimus_sot.factory.TaskFactory.buildGrasp | ( | self, | |
g, | |||
h, | |||
otherGrasp = None |
|||
) |
References agimus_sot.factory.TaskFactory._buildGripper().
Referenced by agimus_sot.factory.TaskFactory.getGrasp().
def agimus_sot.factory.TaskFactory.buildPlacement | ( | self, | |
o, | |||
grasp | |||
) |
Build the constraint for pre-placement (6D)
Maybe we should add the possibility to constrain only tz, rx and ry.
Referenced by agimus_sot.factory.TaskFactory.getPlacement().
def agimus_sot.factory.TaskFactory.event | ( | self, | |
gripper, | |||
handle, | |||
what, | |||
default | |||
) |
References agimus_sot.factory.TaskFactory._buildGripper().
def agimus_sot.factory.TaskFactory.g | ( | self, | |
gripper, | |||
handle, | |||
what, | |||
otherGrasp = None |
|||
) |
References agimus_sot.factory.TaskFactory.getGrasp().
def agimus_sot.factory.TaskFactory.getGrasp | ( | self, | |
gripper, | |||
handle, | |||
otherGrasp = None |
|||
) |
References agimus_sot.factory.TaskFactory.buildGrasp().
Referenced by agimus_sot.factory.TaskFactory.g().
def agimus_sot.factory.TaskFactory.getPlacement | ( | self, | |
object, | |||
grasp | |||
) |
References agimus_sot.factory.TaskFactory._placements, and agimus_sot.factory.TaskFactory.buildPlacement().
Referenced by agimus_sot.factory.TaskFactory.p().
def agimus_sot.factory.TaskFactory.p | ( | self, | |
object, | |||
grasp, | |||
what | |||
) |
References agimus_sot.factory.TaskFactory.getPlacement().
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static |
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static |