hpp.corbaserver.problem_solver.ProblemSolver Class Reference

Definition of a path planning problem. More...

Inheritance diagram for hpp.corbaserver.problem_solver.ProblemSolver:

Collaboration diagram for hpp.corbaserver.problem_solver.ProblemSolver:

Public Member Functions
def	__init__ (self, robot, hppcorbaClient=None)
def	loadPlugin (self, pluginName)
	Load a plugin into the current ProblemSolver. More...
def	setRandomSeed (self, seed)
	Set random seed of random number generator. More...
def	setMaxNumThreads (self, n)
	Set the maximum number of threads. More...
def	getMaxNumThreads (self)
	Get the maximum number of concurrent access to the device (in thread safe areas). More...
def	getAvailable (self, type)
	Return a list of available elements of type type. More...
def	getSelected (self, type)
	Return a list of selected elements of type type. More...
def	setParameter (self, name, value)
	Set a parameter. More...
def	getParameter (self, name, keep_any=False)
	Get parameter with given name raise an exception when the parameter is not found. More...
def	getParameterDoc (self, name)
	Get parameter documentation raise an exception when the parameter is not found. More...
def	selectProblem (self, name)
def	movePathToProblem (self, pathId, problemName, jointNames)
Initial and goal configurations
def	setInitialConfig (self, dofArray)
	Set initial configuration of specified problem. More...
def	getInitialConfig (self)
	Get initial configuration of specified problem. More...
def	addGoalConfig (self, dofArray)
	Add goal configuration to specified problem. More...
def	getGoalConfigs (self)
	Get goal configurations of specified problem. More...
def	resetGoalConfigs (self)
	Reset goal configurations. More...
Obstacles
def	loadObstacleFromUrdf (self, package, filename, prefix)
	Load obstacle from urdf file. More...
def	removeObstacleFromJoint (self, objectName, jointName, collision, distance)
	Remove an obstacle from outer objects of a joint body. More...
def	cutObstacle (self, objectName, aabb)
	Cut the obstacle with the given AABB. More...
def	moveObstacle (self, objectName, cfg)
	Move an obstacle to a given configuration. More...
def	getObstaclePosition (self, objectName)
	Get the position of an obstacle. More...
def	getObstacleNames (self, collision, distance)
	Get list of obstacles. More...
def	getObstacleLinkPosition (self, objectName)
def	getObstacleLinkNames (self)
	Get list of obstacles. More...
Constraints
def	createOrientationConstraint (self, constraintName, joint1Name, joint2Name, p, mask)
	Create orientation constraint between two joints. More...
def	createTransformationConstraint (self, constraintName, joint1Name, joint2Name, ref, mask)
	Create transformation constraint between two joints. More...
def	createLockedJoint (self, lockedDofName, jointName, value)
	Create a LockedJoint constraint with given value. More...
def	createLockedExtraDof (self, lockedDofName, index, value)
	Create a locked extradof hpp::manipulation::ProblemSolver map. More...
def	createRelativeComConstraint (self, constraintName, comName, jointLName, point, mask)
	Create RelativeCom constraint between two joints. More...
def	createComBeetweenFeet (self, constraintName, comName, jointLName, jointRName, pointL, pointR, jointRefName, mask)
	Create ComBeetweenFeet constraint between two joints. More...
def	addPartialCom (self, comName, jointNames)
	Add an object to compute a partial COM of the robot. More...
def	getPartialCom (self, comName)
def	createPositionConstraint (self, constraintName, joint1Name, joint2Name, point1, point2, mask)
	Create position constraint between two joints. More...
def	createDistanceBetweenJointConstraint (self, constraintName, joint1Name, joint2Name, distance)
	Create distance constraint between robot objects. More...
def	createDistanceBetweenJointAndObjects (self, constraintName, joint1Name, objects, distance)
	Create distance constraint between robot and environment objects. More...
def	resetConstraints (self)
	Reset Constraints. More...
def	resetConstraintMap (self)
	Delete all the constraint in the ProblemSolver map. More...
def	addNumericalConstraints (self, name, names, priorities=None)
	Add numerical constraints in ConfigProjector. More...
def	addLockedJointConstraints (self, name, names)
	Add locked joint in ConfigProjector. More...
def	setRightHandSide (self, rhs)
	Set right hand side of constraints in config projector. More...
def	setRightHandSideByName (self, constraintName, rhs)
	Set right hand side of given constraint in config projector. More...
def	setRightHandSideFromConfig (self, config)
	Set right hand side of constraints in config projector. More...
def	setRightHandSideFromConfigByName (self, constraintName, config)
	Set right hand side of given constraint in config projector. More...
def	applyConstraints (self, q)
	Apply constraints. More...
def	optimize (self, q)
	Find a local minimum of the least priority constraints. More...
def	computeValueAndJacobian (self, q)
	Compute value and Jacobian of numerical constraints. More...
def	addPassiveDofs (self, name, dofNames)
	Create a vector of passive dofs. More...
def	setConstantRightHandSide (self, constraintName, constant)
	(Dis-)Allow to modify right hand side of a numerical constraint More...
def	getConstantRightHandSide (self, constraintName)
	Get whether right hand side of a numerical constraint is constant. More...
def	generateValidConfig (self, maxIter)
	Generate a configuration satisfying the constraints. More...
def	getErrorThreshold (self)
	error threshold in numerical constraint resolution More...
def	setErrorThreshold (self, threshold)
	error threshold in numerical constraint resolution More...
def	setDefaultLineSearchType (self, type)
	set the default line search type used in the projection. More...
def	getMaxIterPathPlanning (self)
	Get the maximal number of iterations in projection. More...
def	setMaxIterPathPlanning (self, iterations)
	Set the maximal number of iterations in projection. More...
def	getTimeOutPathPlanning (self)
	Get time out in path planning (in seconds) More...
def	setTimeOutPathPlanning (self, timeOut)
	Set time out in path planning (in seconds) More...
def	getMaxIterProjection (self)
	Get the maximal number of iterations in projection. More...
def	setMaxIterProjection (self, iterations)
	Set the maximal number of iterations in projection. More...
Collision Checking
def	filterCollisionPairs (self)
	Build matrix of relative motions between joints. More...
Solve problem and get paths
def	selectPathPlanner (self, pathPlannerType)
	Select path planner type. More...
def	selectConfigurationShooter (self, configurationShooterType)
	Select configuration shooter type. More...
def	addPathOptimizer (self, pathOptimizerType)
	Add a path optimizer. More...
def	clearPathOptimizers (self)
	Clear sequence of path optimizers. More...
def	selectPathValidation (self, pathValidationType, tolerance)
	Select path validation method. More...
def	addConfigValidation (self, configValidationType)
	Add path validation object. More...
def	selectConfigurationShooter (self, type)
	Select configuration shooter type. More...
def	selectPathProjector (self, pathProjectorType, tolerance)
	Select path projector method. More...
def	selectDistance (self, distanceType)
	Select distance type. More...
def	selectSteeringMethod (self, steeringMethodType)
	Select steering method type. More...
def	prepareSolveStepByStep (self)
def	executeOneStep (self)
def	finishSolveStepByStep (self)
def	solve (self)
	Solve the problem of corresponding ChppPlanner object. More...
def	directPath (self, startConfig, endConfig, validate)
	Make direct connection between two configurations. More...
def	appendDirectPath (self, pathId, config, validate)
	Append a path to an existing path. More...
def	concatenatePath (self, startId, endId)
	Concatenate path endId at the end of startId. More...
def	extractPath (self, pathId, start, end)
	extract path pathId from param start to end More...
def	erasePath (self, pathId)
	Erase path pathId from stored. More...
def	projectPath (self, pathId)
	Project path using the path projector. More...
def	numberPaths (self)
	Get Number of paths. More...
def	optimizePath (self, inPathId)
	Optimize a given path. More...
def	pathLength (self, inPathId)
	Get length of path. More...
def	configAtParam (self, inPathId, param)
	Get the robot config at param on a path. More...
def	derivativeAtParam (self, inPathId, order, param)
	Get the robot velocity at param on a path. More...
def	getWaypoints (self, pathId)
	Get way points of a path. More...
Interruption of a path planning request
def	interruptPathPlanning (self)
	Interrupt path planning activity. More...
exploring the roadmap
def	nodes (self)
	Get nodes of the roadmap. More...
def	node (self, nodeId)
def	numberNodes (self)
def	numberEdges (self)
	Number of edges. More...
def	edge (self, edgeId)
	Edge at given rank. More...
def	numberConnectedComponents (self)
	Number of connected components. More...
def	nodesConnectedComponent (self, ccId)
	Nodes of a connected component. More...
def	getNearestConfig (self, randomConfig, connectedComponentId=-1)
	Return nearest neighbour of given input configuration. More...
def	addConfigToRoadmap (self, config)
	Add a configuration to the roadmap. More...
def	addEdgeToRoadmap (self, config1, config2, pathId, bothEdges)
	Add an edge to roadmap. More...
def	clearRoadmap (self)
	Clear the roadmap. More...
def	saveRoadmap (self, filename)
	Save the current roadmap in a file. More...
def	readRoadmap (self, filename)
	Read a roadmap from a file. More...

Public Attributes
	client
	hppcorba
	robot

Detailed Description

Definition of a path planning problem.

This class wraps the Corba client to the server implemented by libhpp-corbaserver.so

Some method implemented by the server can be considered as private. The goal of this class is to hide them and to expose those that can be considered as public.

Constructor & Destructor Documentation

def hpp.corbaserver.problem_solver.ProblemSolver.__init__	(		self,
			robot,
			hppcorbaClient = None
	)

Member Function Documentation

def hpp.corbaserver.problem_solver.ProblemSolver.addConfigToRoadmap	(		self,
			config
	)

Add a configuration to the roadmap.

Parameters

config

to be added to the roadmap.

def hpp.corbaserver.problem_solver.ProblemSolver.addConfigValidation	(		self,
			configValidationType
	)

Add path validation object.

Parameters

configValidationType

name of the config validation method

def hpp.corbaserver.problem_solver.ProblemSolver.addEdgeToRoadmap	(		self,
			config1,
			config2,
			pathId,
			bothEdges
	)

Add an edge to roadmap.

If

Parameters

config1,config2	the ends of the path,
pathId	the index if the path in the vector of path,
bothEdges	if FALSE, only add config1 to config2, otherwise, If TRUE. add edges config1->config2 AND config2->config1.

def hpp.corbaserver.problem_solver.ProblemSolver.addGoalConfig	(		self,
			dofArray
	)

Add goal configuration to specified problem.

Parameters

dofArray

Array of degrees of freedom

Exceptions

Error.

def hpp.corbaserver.problem_solver.ProblemSolver.addLockedJointConstraints	(		self,
			name,
			names
	)

Add locked joint in ConfigProjector.

Parameters

name	name of the config projector created if any,
names	list of names of the locked joints previously created by method createLockedJoint.

def hpp.corbaserver.problem_solver.ProblemSolver.addNumericalConstraints	(		self,
			name,
			names,
			priorities = None
	)

Add numerical constraints in ConfigProjector.

Parameters

name	name of the config projector created if any,
names	list of names of the numerical constraints previously created by methods createTransformationConstraint, createRelativeComConstraint, ...

def hpp.corbaserver.problem_solver.ProblemSolver.addPartialCom	(		self,
			comName,
			jointNames
	)

Add an object to compute a partial COM of the robot.

Parameters

name	of the partial com
jointNames	list of joint name of each tree ROOT to consider.

Note

Joints are added recursively, it is not possible so far to add a joint without addind all its children.

def hpp.corbaserver.problem_solver.ProblemSolver.addPassiveDofs	(		self,
			name,
			dofNames
	)

Create a vector of passive dofs.

Parameters

name	name of the vector in the ProblemSolver map.
dofNames	list of names of DOF that may

def hpp.corbaserver.problem_solver.ProblemSolver.addPathOptimizer	(		self,
			pathOptimizerType
	)

Add a path optimizer.

Parameters

Name	of the path optimizer type, either "RandomShortcut" or any type added by core::ProblemSolver::addPathOptimizerType

def hpp.corbaserver.problem_solver.ProblemSolver.appendDirectPath	(		self,
			pathId,
			config,
			validate
	)

Append a path to an existing path.

Parameters

pathId	Id of the path in this problem,
config	end configuration of the new path.

Exceptions

Error

if steering method fails to create a direct path of if direct path is not valid Call steering method between end of path and input config and append direct path in case of success.

def hpp.corbaserver.problem_solver.ProblemSolver.applyConstraints	(		self,
			q
	)

Apply constraints.

Parameters

q	initial configuration

Returns

configuration projected in success,

Exceptions

Error

if projection failed.

def hpp.corbaserver.problem_solver.ProblemSolver.clearPathOptimizers

(

self

)

Clear sequence of path optimizers.

def hpp.corbaserver.problem_solver.ProblemSolver.clearRoadmap

(

self

)

Clear the roadmap.

def hpp.corbaserver.problem_solver.ProblemSolver.computeValueAndJacobian	(		self,
			q
	)

Compute value and Jacobian of numerical constraints.

Parameters

q	input configuration

Returns

value values of the numerical constraints stacked in a unique vector,

Jacobian of the numerical constraints stacked in a unique matrix.

Columns of the Jacobian corresponding to locked joints are omitted, columns corresponding to passive dofs are set to 0.

def hpp.corbaserver.problem_solver.ProblemSolver.concatenatePath	(		self,
			startId,
			endId
	)

Concatenate path endId at the end of startId.

Note

No path are created. The resulting path is at rank startId.

def hpp.corbaserver.problem_solver.ProblemSolver.configAtParam	(		self,
			inPathId,
			param
	)

Get the robot config at param on a path.

Parameters

inPathId	rank of the path in the problem
param	: the user parameter choice

Returns

dofseq : the config at param

def hpp.corbaserver.problem_solver.ProblemSolver.createComBeetweenFeet	(		self,
			constraintName,
			comName,
			jointLName,
			jointRName,
			pointL,
			pointR,
			jointRefName,
			mask
	)

Create ComBeetweenFeet constraint between two joints.

Parameters

constraintName	name of the constraint created,
comName	name of CenterOfMassComputation
jointLName	name of first joint
jointRName	name of second joint
pointL	point in local frame of jointL.
pointR	point in local frame of jointR.
jointRefName	name of second joint
mask	Select axis to be constrained. If jointRef is "", the robot root joint is used. Constraints are stored in ProblemSolver object

Referenced by hpp.corbaserver.problem_solver.ProblemSolver.createRelativeComConstraint().

def hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointAndObjects	(		self,
			constraintName,
			joint1Name,
			objects,
			distance
	)

Create distance constraint between robot and environment objects.

Parameters

constraintName	name of the constraint created,
joint1Name	name of first joint,
objects	names of environment objects,
distance	desired distance between joint bodies. Constraints are stored in ProblemSolver object

Referenced by hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointConstraint().

def hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointConstraint	(		self,
			constraintName,
			joint1Name,
			joint2Name,
			distance
	)

Create distance constraint between robot objects.

Parameters

constraintName	name of the constraint created,
joint1Name	name of first joint,
joint2Name	name of second joint,
distance	desired distance between joint bodies. Constraints are stored in ProblemSolver object

References hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointAndObjects().

Referenced by hpp.corbaserver.problem_solver.ProblemSolver.createPositionConstraint().

def hpp.corbaserver.problem_solver.ProblemSolver.createLockedExtraDof	(		self,
			lockedDofName,
			index,
			value
	)

Create a locked extradof hpp::manipulation::ProblemSolver map.

Parameters

lockedDofName	key of the constraint in the Problem Solver map
index	index of the extra dof (0 means the first extra dof)
value	value of the extra dof configuration. The size of this vector defines the size of the constraints.

def hpp.corbaserver.problem_solver.ProblemSolver.createLockedJoint	(		self,
			lockedDofName,
			jointName,
			value
	)

Create a LockedJoint constraint with given value.

Parameters

lockedJointName	key of the constraint in the ProblemSolver map,
jointName	name of the joint,
value	value of the joint configuration,

def hpp.corbaserver.problem_solver.ProblemSolver.createOrientationConstraint	(		self,
			constraintName,
			joint1Name,
			joint2Name,
			p,
			mask
	)

Create orientation constraint between two joints.

Parameters

constraintName	name of the constraint created,
joint1Name	name of first joint
joint2Name	name of second joint
p	quaternion representing the desired orientation of joint2 in the frame of joint1.
mask	Select which axis to be constrained. If joint1 or joint2 is "", the corresponding joint is replaced by the global frame. constraints are stored in ProblemSolver object

References hpp.corbaserver.problem_solver.ProblemSolver.createTransformationConstraint().

Referenced by hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkNames().

def hpp.corbaserver.problem_solver.ProblemSolver.createPositionConstraint	(		self,
			constraintName,
			joint1Name,
			joint2Name,
			point1,
			point2,
			mask
	)

Create position constraint between two joints.

Parameters

constraintName	name of the constraint created,
joint1Name	name of first joint
joint2Name	name of second joint
point1	point in local frame of joint1,
point2	point in local frame of joint2.
mask	Select which axis to be constrained. If joint1 of joint2 is "", the corresponding joint is replaced by the global frame. constraints are stored in ProblemSolver object

References hpp.corbaserver.problem_solver.ProblemSolver.createDistanceBetweenJointConstraint().

Referenced by hpp.corbaserver.problem_solver.ProblemSolver.getPartialCom().

def hpp.corbaserver.problem_solver.ProblemSolver.createRelativeComConstraint	(		self,
			constraintName,
			comName,
			jointLName,
			point,
			mask
	)

Create RelativeCom constraint between two joints.

Parameters

constraintName	name of the constraint created,
comName	name of CenterOfMassComputation
jointName	name of joint
point	point in local frame of joint.
mask	Select axis to be constrained. If jointName is "", the robot root joint is used. Constraints are stored in ProblemSolver object

References hpp.corbaserver.problem_solver.ProblemSolver.createComBeetweenFeet().

def hpp.corbaserver.problem_solver.ProblemSolver.createTransformationConstraint	(		self,
			constraintName,
			joint1Name,
			joint2Name,
			ref,
			mask
	)

Create transformation constraint between two joints.

Parameters

constraintName	name of the constraint created,
joint1Name	name of first joint
joint2Name	name of second joint
ref	desired transformation of joint2 in the frame of joint1.
mask	Select which axis to be constrained. If joint1 of joint2 is "", the corresponding joint is replaced by the global frame. constraints are stored in ProblemSolver object

Referenced by hpp.corbaserver.problem_solver.ProblemSolver.createOrientationConstraint().

def hpp.corbaserver.problem_solver.ProblemSolver.cutObstacle	(		self,
			objectName,
			aabb
	)

Cut the obstacle with the given AABB.

Parameters

aabb	a vector of 6 floats. The 3 first represent one corner and the 3 last represent the opposite corner.

def hpp.corbaserver.problem_solver.ProblemSolver.derivativeAtParam	(		self,
			inPathId,
			order,
			param
	)

Get the robot velocity at param on a path.

Parameters

inPathId	rank of the path in the problem
orderId	order of the derivative
param	: the user parameter choice

Returns

dofseq : the velocity at param

def hpp.corbaserver.problem_solver.ProblemSolver.directPath	(		self,
			startConfig,
			endConfig,
			validate
	)

Make direct connection between two configurations.

Parameters

startConfig,endConfig	the configurations to link.
validate	whether path should be validated. If true, path validation is called and only valid part of path is inserted in the path vector.

Returns

True if the path is fully valid, False otherwise.

the path index of the collision-free part from startConfig,

a message explaining the reason why the path is not valid if relevant

def hpp.corbaserver.problem_solver.ProblemSolver.edge	(		self,
			edgeId
	)

Edge at given rank.

def hpp.corbaserver.problem_solver.ProblemSolver.erasePath	(		self,
			pathId
	)

Erase path pathId from stored.

def hpp.corbaserver.problem_solver.ProblemSolver.executeOneStep

(

self

)

def hpp.corbaserver.problem_solver.ProblemSolver.extractPath	(		self,
			pathId,
			start,
			end
	)

extract path pathId from param start to end

Note

a New path is added to problem-solver

def hpp.corbaserver.problem_solver.ProblemSolver.filterCollisionPairs

(

self

)

Build matrix of relative motions between joints.

See hpp::core::Problem::filterCollisionPairs.

def hpp.corbaserver.problem_solver.ProblemSolver.finishSolveStepByStep

(

self

)

def hpp.corbaserver.problem_solver.ProblemSolver.generateValidConfig	(		self,
			maxIter
	)

Generate a configuration satisfying the constraints.

Parameters

maxIter

maximum number of tries,

Returns

configuration projected in success,

Exceptions

Error

if projection failed.

def hpp.corbaserver.problem_solver.ProblemSolver.getAvailable	(		self,
			type
	)

Return a list of available elements of type type.

Parameters

type	enter "type" to know what types I know of. This is case insensitive.

def hpp.corbaserver.problem_solver.ProblemSolver.getConstantRightHandSide	(		self,
			constraintName
	)

Get whether right hand side of a numerical constraint is constant.

Parameters

constraintName

Name of the numerical constraint,

Returns

whether right hand side is constant

def hpp.corbaserver.problem_solver.ProblemSolver.getErrorThreshold

(

self

)

error threshold in numerical constraint resolution

def hpp.corbaserver.problem_solver.ProblemSolver.getGoalConfigs

(

self

)

Get goal configurations of specified problem.

Returns

Array of degrees of freedom

def hpp.corbaserver.problem_solver.ProblemSolver.getInitialConfig

(

self

)

Get initial configuration of specified problem.

Returns

Array of degrees of freedom

def hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterPathPlanning

(

self

)

Get the maximal number of iterations in projection.

def hpp.corbaserver.problem_solver.ProblemSolver.getMaxIterProjection

(

self

)

Get the maximal number of iterations in projection.

def hpp.corbaserver.problem_solver.ProblemSolver.getMaxNumThreads

(

self

)

Get the maximum number of concurrent access to the device (in thread safe areas).

def hpp.corbaserver.problem_solver.ProblemSolver.getNearestConfig	(		self,
			randomConfig,
			connectedComponentId = -1
	)

Return nearest neighbour of given input configuration.

Parameters

connectedComponentId	is the index of a connected component in the roadmap. If connectedComponentId is negative, function goes through all connected components looking for the nearest node (configuration).
distance	returns the one-dimensional distance between
config	and computed nearest node (configuration).

See also

numberConnectedComponents

def hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkNames

(

self

)

Get list of obstacles.

Parameters

collision	whether to return obstacle for collision,
distance	whether to return obstacles for distance computation

Returns

list of obstacles

References hpp.corbaserver.problem_solver.ProblemSolver.createOrientationConstraint().

def hpp.corbaserver.problem_solver.ProblemSolver.getObstacleLinkPosition	(		self,
			objectName
	)

def hpp.corbaserver.problem_solver.ProblemSolver.getObstacleNames	(		self,
			collision,
			distance
	)

Get list of obstacles.

Parameters

collision	whether to return obstacle for collision,
distance	whether to return obstacles for distance computation

Returns

list of obstacles

def hpp.corbaserver.problem_solver.ProblemSolver.getObstaclePosition	(		self,
			objectName
	)

Get the position of an obstacle.

Parameters

objectName

name of the polyhedron.

Return values

cfg	Position of the obstacle.

Exceptions

Error.

def hpp.corbaserver.problem_solver.ProblemSolver.getParameter	(		self,
			name,
			keep_any = False
	)

Get parameter with given name raise an exception when the parameter is not found.

def hpp.corbaserver.problem_solver.ProblemSolver.getParameterDoc	(		self,
			name
	)

Get parameter documentation raise an exception when the parameter is not found.

def hpp.corbaserver.problem_solver.ProblemSolver.getPartialCom	(		self,
			comName
	)

References hpp.corbaserver.problem_solver.ProblemSolver.createPositionConstraint().

def hpp.corbaserver.problem_solver.ProblemSolver.getSelected	(		self,
			type
	)

Return a list of selected elements of type type.

Parameters

type	enter "type" to know what types I know of. This is case insensitive.

Note

For most of the types, the list will contain only one element.

def hpp.corbaserver.problem_solver.ProblemSolver.getTimeOutPathPlanning

(

self

)

Get time out in path planning (in seconds)

def hpp.corbaserver.problem_solver.ProblemSolver.getWaypoints	(		self,
			pathId
	)

Get way points of a path.

Parameters

pathId

rank of the path in the problem

def hpp.corbaserver.problem_solver.ProblemSolver.interruptPathPlanning

(

self

)

Interrupt path planning activity.

Note

this method is effective only when multi-thread policy is used by CORBA server. See constructor of class Server for details.

def hpp.corbaserver.problem_solver.ProblemSolver.loadObstacleFromUrdf	(		self,
			package,
			filename,
			prefix
	)

Load obstacle from urdf file.

Parameters

package	Name of the package containing the model,
filename	name of the urdf file in the package (without suffix .urdf)
prefix	prefix added to object names in case the same file is loaded several times

The ros url is built as follows: "package://${package}/urdf/${filename}.urdf"

The kinematic structure of the urdf file is ignored. Only the geometric objects are loaded as obstacles.

References hpp.corbaserver.problem_solver.ProblemSolver.removeObstacleFromJoint().

def hpp.corbaserver.problem_solver.ProblemSolver.loadPlugin	(		self,
			pluginName
	)

Load a plugin into the current ProblemSolver.

Parameters

pluginName

either an absolute filename or a filename relative to <a_path_in_LD_LIBRARY_PATH>/hppPlugins.

Note

This is reset each time resetProblem is called.

def hpp.corbaserver.problem_solver.ProblemSolver.moveObstacle	(		self,
			objectName,
			cfg
	)

Move an obstacle to a given configuration.

Parameters

objectName	name of the polyhedron.
cfg	the configuration of the obstacle.

Exceptions

Error.

Note

The obstacle is not added to local map impl::Obstacle::collisionListMap.

Build the collision entity of polyhedron for KCD.

def hpp.corbaserver.problem_solver.ProblemSolver.movePathToProblem	(		self,
			pathId,
			problemName,
			jointNames
	)

def hpp.corbaserver.problem_solver.ProblemSolver.node	(		self,
			nodeId
	)

def hpp.corbaserver.problem_solver.ProblemSolver.nodes

(

self

)

Get nodes of the roadmap.

def hpp.corbaserver.problem_solver.ProblemSolver.nodesConnectedComponent	(		self,
			ccId
	)

Nodes of a connected component.

Parameters

connectedComponentId

index of connected component in roadmap

Returns

list of nodes of the connected component.

def hpp.corbaserver.problem_solver.ProblemSolver.numberConnectedComponents

(

self

)

Number of connected components.

def hpp.corbaserver.problem_solver.ProblemSolver.numberEdges

(

self

)

Number of edges.

def hpp.corbaserver.problem_solver.ProblemSolver.numberNodes

(

self

)

def hpp.corbaserver.problem_solver.ProblemSolver.numberPaths

(

self

)

Get Number of paths.

def hpp.corbaserver.problem_solver.ProblemSolver.optimize	(		self,
			q
	)

Find a local minimum of the least priority constraints.

while respecting the other priorities.

Parameters

input

input configuration,

Returns

output output configuration,

residualError.

def hpp.corbaserver.problem_solver.ProblemSolver.optimizePath	(		self,
			inPathId
	)

Optimize a given path.

Parameters

inPathId

Id of the path in this problem.

Exceptions

Error.

def hpp.corbaserver.problem_solver.ProblemSolver.pathLength	(		self,
			inPathId
	)

Get length of path.

Parameters

inPathId

rank of the path in the problem

Returns

length of path if path exists.

def hpp.corbaserver.problem_solver.ProblemSolver.prepareSolveStepByStep

(

self

)

def hpp.corbaserver.problem_solver.ProblemSolver.projectPath	(		self,
			pathId
	)

Project path using the path projector.

Returns

True in case of success, False otherwise.

def hpp.corbaserver.problem_solver.ProblemSolver.readRoadmap	(		self,
			filename
	)

Read a roadmap from a file.

Parameters

filename

name of the file from which the roadmap is read.

def hpp.corbaserver.problem_solver.ProblemSolver.removeObstacleFromJoint	(		self,
			objectName,
			jointName,
			collision,
			distance
	)

Remove an obstacle from outer objects of a joint body.

Parameters

objectName	name of the object to remove,
jointName	name of the joint owning the body,
collision	whether collision with object should be computed,
distance	whether distance to object should be computed.

Exceptions

Error.

Referenced by hpp.corbaserver.problem_solver.ProblemSolver.loadObstacleFromUrdf().

def hpp.corbaserver.problem_solver.ProblemSolver.resetConstraintMap

(

self

)

Delete all the constraint in the ProblemSolver map.

It erases both the numerical and locked joint constraints This does not resetConstraints of the problem to be solved.

def hpp.corbaserver.problem_solver.ProblemSolver.resetConstraints

(

self

)

Reset Constraints.

Reset all constraints, including numerical constraints and locked joints

def hpp.corbaserver.problem_solver.ProblemSolver.resetGoalConfigs

(

self

)

Reset goal configurations.

def hpp.corbaserver.problem_solver.ProblemSolver.saveRoadmap	(		self,
			filename
	)

Save the current roadmap in a file.

Parameters

filename

name of the file where the roadmap is saved

def hpp.corbaserver.problem_solver.ProblemSolver.selectConfigurationShooter	(		self,
			configurationShooterType
	)

Select configuration shooter type.

Parameters

Name	of the configuration shooter type

Note

the configuration shooter is created and initialized when calling this method. This might be important if the initialization depends on the current state of the robot.

Referenced by hpp.corbaserver.problem_solver.ProblemSolver.selectConfigurationShooter().

def hpp.corbaserver.problem_solver.ProblemSolver.selectConfigurationShooter	(		self,
			type
	)

Select configuration shooter type.

Parameters

Name	of the configuration shooter type

References hpp.corbaserver.problem_solver.ProblemSolver.selectConfigurationShooter().

def hpp.corbaserver.problem_solver.ProblemSolver.selectDistance	(		self,
			distanceType
	)

Select distance type.

Parameters

Name	of the distance type, either "WeighedDistance" or any type added by method core::ProblemSolver::addDistanceType

def hpp.corbaserver.problem_solver.ProblemSolver.selectPathPlanner	(		self,
			pathPlannerType
	)

Select path planner type.

Parameters

Name	of the path planner type, either "DiffusingPlanner", "VisibilityPrmPlanner", or any type added by method core::ProblemSolver::addPathPlannerType

def hpp.corbaserver.problem_solver.ProblemSolver.selectPathProjector	(		self,
			pathProjectorType,
			tolerance
	)

Select path projector method.

Parameters

Name	of the path projector method, either "Discretized" "Progressive", "Dichotomy", or any type added by core::ProblemSolver::addPathProjectorType,
tolerance	maximal acceptable penetration.

def hpp.corbaserver.problem_solver.ProblemSolver.selectPathValidation	(		self,
			pathValidationType,
			tolerance
	)

Select path validation method.

Parameters

Name	of the path validation method, either "Discretized" "Progressive", "Dichotomy", or any type added by core::ProblemSolver::addPathValidationType,
tolerance	maximal acceptable penetration.

def hpp.corbaserver.problem_solver.ProblemSolver.selectProblem	(		self,
			name
	)

def hpp.corbaserver.problem_solver.ProblemSolver.selectSteeringMethod	(		self,
			steeringMethodType
	)

Select steering method type.

Parameters

Name	of the steering method type, either "SteeringMethodStraight" or any type added by method core::ProblemSolver::addSteeringMethodType

def hpp.corbaserver.problem_solver.ProblemSolver.setConstantRightHandSide	(		self,
			constraintName,
			constant
	)

(Dis-)Allow to modify right hand side of a numerical constraint

Parameters

constraintName	Name of the numerical constraint,
constant	whether right hand side is constant

Constraints should have been added in the ProblemSolver local map, but not inserted in the config projector.

def hpp.corbaserver.problem_solver.ProblemSolver.setDefaultLineSearchType	(		self,
			type
	)

set the default line search type used in the projection.

Parameters

See	hpp::core::ConfigProjector::LineSearchType for possible values.

def hpp.corbaserver.problem_solver.ProblemSolver.setErrorThreshold	(		self,
			threshold
	)

error threshold in numerical constraint resolution

def hpp.corbaserver.problem_solver.ProblemSolver.setInitialConfig	(		self,
			dofArray
	)

Set initial configuration of specified problem.

Parameters

dofArray

Array of degrees of freedom

Exceptions

Error.

def hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterPathPlanning	(		self,
			iterations
	)

Set the maximal number of iterations in projection.

def hpp.corbaserver.problem_solver.ProblemSolver.setMaxIterProjection	(		self,
			iterations
	)

Set the maximal number of iterations in projection.

def hpp.corbaserver.problem_solver.ProblemSolver.setMaxNumThreads	(		self,
			n
	)

Set the maximum number of threads.

This parameter defines the number of possible concurrent access to the device.

def hpp.corbaserver.problem_solver.ProblemSolver.setParameter	(		self,
			name,
			value
	)

Set a parameter.

Parameters

value

the input type must be long, double, const char*

import CORBA
ProblemSolver ps(robot)
ps.setParameter ("name", CORBA.Any(CORBA.TC_double, 3.2233))

def hpp.corbaserver.problem_solver.ProblemSolver.setRandomSeed	(		self,
			seed
	)

Set random seed of random number generator.

def hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSide	(		self,
			rhs
	)

Set right hand side of constraints in config projector.

Parameters

rhs	right hand side of constraints. Contains only right hand side of non-constant constraints

Note

Locked joints are also considered.

def hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideByName	(		self,
			constraintName,
			rhs
	)

Set right hand side of given constraint in config projector.

Parameters

constraintName	name of the numerical constraint or locked joint
rhs	right hand side of constraint. raises an exception if constraint has constant right hand side.

def hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfig	(		self,
			config
	)

Set right hand side of constraints in config projector.

Parameters

config

a robot configuration use to compute the right hand side of constraints. Contains only right hand side of non-constant constraints

Note

Locked joints are also considered.

def hpp.corbaserver.problem_solver.ProblemSolver.setRightHandSideFromConfigByName	(		self,
			constraintName,
			config
	)

Set right hand side of given constraint in config projector.

Parameters

constraintName	name of the numerical constraint or locked joint
config	a robot configuration use to compute the right hand side. raises an exception if constraint has constant right hand side.

def hpp.corbaserver.problem_solver.ProblemSolver.setTimeOutPathPlanning	(		self,
			timeOut
	)

Set time out in path planning (in seconds)

def hpp.corbaserver.problem_solver.ProblemSolver.solve

(

self

)

Solve the problem of corresponding ChppPlanner object.

Member Data Documentation

hpp.corbaserver.problem_solver.ProblemSolver.client

hpp.corbaserver.problem_solver.ProblemSolver.hppcorba

hpp.corbaserver.problem_solver.ProblemSolver.robot