Creation of a device.
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import"/local/robotpkg/var/tmp/robotpkg/wip/py-hpp-affordance-corba/work/hpp-affordance-corba-4.9.0/idl/hpp/corbaserver/affordance/affordance.idl";
◆ analyseAll()
void hpp::corbaserver::affordance::Afford::analyseAll |
( |
in doubleSeq |
reduceSizes | ) |
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raises | ( | Error |
| ) | | |
creates collisionObjects for each affordance found in the scene (goes through all obstacles). Affordances are added to a container in problemSolver.
◆ analyseObject()
void hpp::corbaserver::affordance::Afford::analyseObject |
( |
in string |
obstacleName, |
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in doubleSeq |
reduceSizes |
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) |
| |
raises | ( | Error |
| ) | | |
creates collisionObjects for each found affordance of given object. Affordances are added to a container in problemSolver
- Parameters
-
obstacleName | Name of the collisionObstacle to be analysed |
◆ checkModel()
boolean hpp::corbaserver::affordance::Afford::checkModel |
( |
in string |
obstacleName | ) |
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raises | ( | Error |
| ) | | |
checks whether obstacle model is of a type compatible with affordance analysis. The only accepted model type is fcl::BVH_MODEL_TRIANGLES.
- Parameters
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obstacleName | Name of the collisionObstacle to be checked. |
◆ deleteAffordances()
void hpp::corbaserver::affordance::Afford::deleteAffordances |
( |
in string |
obstacleName | ) |
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raises | ( | Error |
| ) | | |
deletes all affordance objects of given obstacle.
- Parameters
-
obstacleName | name of obstacle, the affordances of which will be deleted |
◆ deleteAffordancesByType()
void hpp::corbaserver::affordance::Afford::deleteAffordancesByType |
( |
in string |
affordance, |
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in string |
obstacleName |
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) |
| |
raises | ( | Error |
| ) | | |
deletes affordance objects of given affordance type for a given obstacle
- Parameters
-
affordance | Type of affordance to be deleted |
obstacleName | name of obstacle, the affordances of which will be deleted. |
◆ getAffordanceConfig()
doubleSeq hpp::corbaserver::affordance::Afford::getAffordanceConfig |
( |
in string |
affType | ) |
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raises | ( | Error |
| ) | | |
returns the configuration of the given affordance type requirement
- Parameters
-
affType | affordance type for which the configuration is requested. |
- Returns
- configuration for which the values mean (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.
- the minimum area needed for the formation of an affordance object
◆ getAffordanceConfigTypes()
Names_t hpp::corbaserver::affordance::Afford::getAffordanceConfigTypes |
( |
| ) |
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raises | ( | Error |
| ) | | |
Get list of affordance configuration types used in affordance analysis.
◆ getAffordancePoints()
doubleSeqSeqSeqSeq hpp::corbaserver::affordance::Afford::getAffordancePoints |
( |
in string |
affordance | ) |
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raises | ( | Error |
| ) | | |
returns vertice points for each triangle in each affordance object of specified aff type
- Parameters
-
affordance | Affordance type for which triangle points are searched. |
◆ getAffordanceTypes()
Names_t hpp::corbaserver::affordance::Afford::getAffordanceTypes |
( |
| ) |
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raises | ( | Error |
| ) | | |
Get list of affordance types used in affordance analysis.
◆ getAffRefObstacles()
Names_t hpp::corbaserver::affordance::Afford::getAffRefObstacles |
( |
in string |
affordance | ) |
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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.
- Parameters
-
affordance | Affordance type for which reference obstacles are searched. |
◆ resetAffordanceConfig()
void hpp::corbaserver::affordance::Afford::resetAffordanceConfig |
( |
| ) |
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raises | ( | Error |
| ) | | |
reset the current configuration of the given affordance type requirement to default values
◆ setAffordanceConfig()
void hpp::corbaserver::affordance::Afford::setAffordanceConfig |
( |
in string |
affType, |
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in doubleSeq |
conf |
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) |
| |
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.
- Parameters
-
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.
- the minimum area needed for the formation of an affordance object
|
◆ setMargin()
void hpp::corbaserver::affordance::Afford::setMargin |
( |
in string |
affType, |
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in double |
margin |
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) |
| |
raises | ( | Error |
| ) | | |
changes the error margin used to evaluate the affordance requirement of a given affordance type
- Parameters
-
affType | affordance type for which the change is made |
margin | new value for the error margin |
◆ setMinimumArea()
void hpp::corbaserver::affordance::Afford::setMinimumArea |
( |
in string |
affType, |
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in double |
minArea |
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) |
| |
raises | ( | Error |
| ) | | |
changes the minimum area used to evaluate the affordance requirement of a given affordance type
- Parameters
-
affType | affordance type for which the change is made |
nimArea | new value for the minimum accepted area |
◆ setNeighbouringTriangleMargin()
void hpp::corbaserver::affordance::Afford::setNeighbouringTriangleMargin |
( |
in string |
affType, |
|
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in double |
nbTriMargin |
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) |
| |
raises | ( | Error |
| ) | | |
changes the angle margin used to evaluate whether neighbouring triangles form part of the potential affordance as the current triangle.
- Parameters
-
affType | affordance type for which the change is made |
nbTriMargin | new value for the neighbouring triangle margin |
The documentation for this interface was generated from the following file: