agimus_sot.factory.TaskFactory Class Reference

Create task.Task s. More...

Inheritance diagram for agimus_sot.factory.TaskFactory:
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Collaboration diagram for agimus_sot.factory.TaskFactory:
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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',)
 

Detailed Description

Create task.Task s.

See also
manipulation.constraint_graph_factory.ConstraintFactoryAbstract

Constructor & Destructor Documentation

◆ __init__()

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.

Member Function Documentation

◆ buildGrasp()

def agimus_sot.factory.TaskFactory.buildGrasp (   self,
  g,
  h,
  otherGrasp = None 
)

References agimus_sot.factory.TaskFactory._buildGripper().

Referenced by agimus_sot.factory.TaskFactory.getGrasp().

◆ buildPlacement()

def agimus_sot.factory.TaskFactory.buildPlacement (   self,
  o,
  grasp 
)

Build the constraint for pre-placement (6D)

Todo:
The pre-placement only relies on the first shape on the object and the first shape on the environment.

Maybe we should add the possibility to constrain only tz, rx and ry.

Referenced by agimus_sot.factory.TaskFactory.getPlacement().

◆ event()

def agimus_sot.factory.TaskFactory.event (   self,
  gripper,
  handle,
  what,
  default 
)

References agimus_sot.factory.TaskFactory._buildGripper().

◆ g()

def agimus_sot.factory.TaskFactory.g (   self,
  gripper,
  handle,
  what,
  otherGrasp = None 
)

◆ getGrasp()

def agimus_sot.factory.TaskFactory.getGrasp (   self,
  gripper,
  handle,
  otherGrasp = None 
)

◆ getPlacement()

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().

◆ p()

def agimus_sot.factory.TaskFactory.p (   self,
  object,
  grasp,
  what 
)

Member Data Documentation

◆ gfields

tuple agimus_sot.factory.TaskFactory.gfields = ('grasp', 'pregrasp', 'gripper_open', 'gripper_close')
static

◆ pfields

tuple agimus_sot.factory.TaskFactory.pfields = ('preplace',)
static