hpp.corbaserver.robot.Robot Class Reference

Helper class to load a robot model in hpp::core::ProblemSolver. More...

Inheritance diagram for hpp.corbaserver.robot.Robot:

Collaboration diagram for hpp.corbaserver.robot.Robot:

Public Member Functions
def	__init__ (self, robotName=None, rootJointType=None, load=True, client=None, hppcorbaClient=None)
def	rebuildRanks (self)
	Rebuild inner variables rankInConfiguration and rankInVelocity. More...
def	loadModel (self, robotName, rootJointType)
def	urdfPath (self)
Degrees of freedom
def	getConfigSize (self)
	Get size of configuration. More...
def	getNumberDof (self)
Joints
def	getJointNames (self)
	Get joint names in the same order as in the configuration. More...
def	getJointTypes (self)
	Get joint types in the same order as in the configuration. More...
def	getAllJointNames (self)
	Get joint names in the same order as in the configuration. More...
def	getJointPosition (self, jointName)
	Get joint position. More...
def	getRootJointPosition (self)
	Get constant position of root joint in world frame in initial position. More...
def	setRootJointPosition (self, position)
	Set position of root joint in world frame in initial configuration. More...
def	setJointPosition (self, jointName, position)
	Set the static position of joint WRT its parent. More...
def	getCurrentTransformation (self, jointName)
	Get joint transformation in world frame for current configuration. More...
def	getJointNumberDof (self, jointName)
	Get joint number degrees of freedom. More...
def	getJointConfigSize (self, jointName)
	Get joint number config size. More...
def	setJointBounds (self, jointName, inJointBound)
	set bounds for the joint More...
def	getJointBounds (self, jointName)
	Get bounds for a joint. More...
def	getSaturated (self, q)
	Get joints that are saturated for a given configuration. More...
def	getLinkPosition (self, linkName)
	Get link position in world frame. More...
def	getLinkNames (self, jointName)
	Get link name. More...
Configurations
def	setCurrentConfig (self, q)
	Set current configuration of composite robot. More...
def	getCurrentConfig (self)
	Get current configuration of composite robot. More...
def	setCurrentVelocity (self, v)
	Set current velocity of composite robot. More...
def	getCurrentVelocity (self)
	Get current velocity of composite robot. More...
def	shootRandomConfig (self)
	Shoot random configuration. More...
Bodies
def	getJointInnerObjects (self, jointName)
	Get the list of objects attached to a joint. More...
def	getJointOuterObjects (self, jointName)
	Get list of collision objects tested with the body attached to a joint. More...
def	getObjectPosition (self, objectName)
	Get position of robot object. More...
def	removeObstacleFromJoint (self, objectName, jointName)
	Remove an obstacle from outer objects of a joint body. More...
Collision checking and distance computation
def	isConfigValid (self, cfg)
	Check the validity of a configuration. More...
def	distancesToCollision (self)
	Compute distances between bodies and obstacles. More...
def	getRobotAABB (self)
	Get the aligned axes bounding box around the robot. More...
Mass and inertia
def	getMass (self)
	Get mass of robot. More...
def	getCenterOfMass (self)
	Get position of center of mass. More...
def	getJacobianCenterOfMass (self)
	Get Jacobian of the center of mass. More...

Public Attributes
	client
	hppcorba
	name
	rootJointType
	displayName
	jointNames
	allJointNames
	rankInConfiguration
	rankInVelocity

Detailed Description

Helper class to load a robot model in hpp::core::ProblemSolver.

This class is also a wrapper of idl methods defined by hpp::corbaserver::Robot. Most methods call idl methods.

Constructor & Destructor Documentation

__init__()

def hpp.corbaserver.robot.Robot.__init__	(		self,
			robotName = None,
			rootJointType = None,
			load = True,
			client = None,
			hppcorbaClient = None
	)

Member Function Documentation

distancesToCollision()

def hpp.corbaserver.robot.Robot.distancesToCollision

(

self

)

Compute distances between bodies and obstacles.

Returns

list of distances,

names of the objects belonging to a body

names of the objects tested with inner objects,

closest points on the body,

closest points on the obstacles

Note

outer objects for a body can also be inner objects of another body.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getAllJointNames()

def hpp.corbaserver.robot.Robot.getAllJointNames

(

self

)

Get joint names in the same order as in the configuration.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getCenterOfMass()

def hpp.corbaserver.robot.Robot.getCenterOfMass

(

self

)

Get position of center of mass.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getConfigSize()

def hpp.corbaserver.robot.Robot.getConfigSize

(

self

)

Get size of configuration.

Returns

size of configuration

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getCurrentConfig()

def hpp.corbaserver.robot.Robot.getCurrentConfig

(

self

)

Get current configuration of composite robot.

Returns

configuration of the composite robot

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getCurrentTransformation()

def hpp.corbaserver.robot.Robot.getCurrentTransformation	(		self,
			jointName
	)

Get joint transformation in world frame for current configuration.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getCurrentVelocity()

def hpp.corbaserver.robot.Robot.getCurrentVelocity

(

self

)

Get current velocity of composite robot.

Returns

velocity of the composite robot

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getJacobianCenterOfMass()

def hpp.corbaserver.robot.Robot.getJacobianCenterOfMass

(

self

)

Get Jacobian of the center of mass.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getJointBounds()

def hpp.corbaserver.robot.Robot.getJointBounds	(		self,
			jointName
	)

Get bounds for a joint.

Parameters

jointName

name of the joint

Returns

sequence of bounds in order [v0_min,v0_max,v1_min,v1_max,...] where vi_min, vi_max are the bounds of the i-th degree of freedom of the joint if the degree of freedom is bounded, 1, 0 otherwise.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

Referenced by hpp.corbaserver.robot.Robot.getSaturated().

getJointConfigSize()

def hpp.corbaserver.robot.Robot.getJointConfigSize	(		self,
			jointName
	)

Get joint number config size.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getJointInnerObjects()

def hpp.corbaserver.robot.Robot.getJointInnerObjects	(		self,
			jointName
	)

Get the list of objects attached to a joint.

Parameters

inJointName

name of the joint.

Returns

list of names of CollisionObject attached to the body.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getJointNames()

def hpp.corbaserver.robot.Robot.getJointNames

(

self

)

Get joint names in the same order as in the configuration.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getJointNumberDof()

def hpp.corbaserver.robot.Robot.getJointNumberDof	(		self,
			jointName
	)

Get joint number degrees of freedom.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getJointOuterObjects()

def hpp.corbaserver.robot.Robot.getJointOuterObjects	(		self,
			jointName
	)

Get list of collision objects tested with the body attached to a joint.

Parameters

inJointName

name of the joint.

Returns

list of names of CollisionObject

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getJointPosition()

def hpp.corbaserver.robot.Robot.getJointPosition	(		self,
			jointName
	)

Get joint position.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getJointTypes()

def hpp.corbaserver.robot.Robot.getJointTypes

(

self

)

Get joint types in the same order as in the configuration.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getLinkNames()

def hpp.corbaserver.robot.Robot.getLinkNames	(		self,
			jointName
	)

Get link name.

Parameters

jointName

name of the joint,

Returns

name of the link.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getLinkPosition()

def hpp.corbaserver.robot.Robot.getLinkPosition	(		self,
			linkName
	)

Get link position in world frame.

Joints are oriented in a different way as in urdf standard since rotation and uni-dimensional translation joints act around or along their x-axis. This method returns the position of the urdf link in world frame.

Parameters

jointName

name of the joint

Returns

position of the link in world frame.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getMass()

def hpp.corbaserver.robot.Robot.getMass

(

self

)

Get mass of robot.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getNumberDof()

def hpp.corbaserver.robot.Robot.getNumberDof

(

self

)

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getObjectPosition()

def hpp.corbaserver.robot.Robot.getObjectPosition	(		self,
			objectName
	)

Get position of robot object.

Parameters

objectName

name of the object.

Returns

transformation as a hpp.Transform object

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getRobotAABB()

def hpp.corbaserver.robot.Robot.getRobotAABB

(

self

)

Get the aligned axes bounding box around the robot.

Returns

a vector a 6 floats. The 3 first are one corner of the box (lowest in all dimensions), the 3 last are the opposite corner.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getRootJointPosition()

def hpp.corbaserver.robot.Robot.getRootJointPosition

(

self

)

Get constant position of root joint in world frame in initial position.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

getSaturated()

def hpp.corbaserver.robot.Robot.getSaturated	(		self,
			q
	)

Get joints that are saturated for a given configuration.

Parameters

q	configuration

Returns

list of triples joint names, dof id, value

References hpp.corbaserver.robot.Robot.getJointBounds(), hpp::corbaServer::impl::Robot.getJointBounds(), _objref_Robot.getJointBounds(), hpp::corbaserver::Robot.getJointBounds(), _impl_Robot.getJointBounds(), hpp.corbaserver.robot.Robot.jointNames, and hpp.corbaserver.robot.Robot.rankInConfiguration.

isConfigValid()

def hpp.corbaserver.robot.Robot.isConfigValid	(		self,
			cfg
	)

Check the validity of a configuration.

Check whether a configuration of robot is valid.

Parameters

cfg	a configuration

Returns

whether configuration is valid

Exceptions

if	config is not valid, raise an exception.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

loadModel()

def hpp.corbaserver.robot.Robot.loadModel	(		self,
			robotName,
			rootJointType
	)

References hpp.corbaserver.robot.Robot.hppcorba, hpp.corbaserver.problem_solver.ProblemSolver.hppcorba, and hpp.corbaserver.robot.Robot.rebuildRanks().

rebuildRanks()

def hpp.corbaserver.robot.Robot.rebuildRanks

(

self

)

Rebuild inner variables rankInConfiguration and rankInVelocity.

Referenced by hpp.corbaserver.robot.Robot.loadModel(), hpp.corbaserver.robot.HumanoidRobot.loadModel(), and hpp.corbaserver.robot.RobotXML.loadModel().

removeObstacleFromJoint()

def hpp.corbaserver.robot.Robot.removeObstacleFromJoint	(		self,
			objectName,
			jointName
	)

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,

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

setCurrentConfig()

def hpp.corbaserver.robot.Robot.setCurrentConfig	(		self,
			q
	)

Set current configuration of composite robot.

Parameters

q	configuration of the composite robot

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

Referenced by hpp.corbaserver.robot.StaticStabilityConstraintsFactory.createSlidingStabilityConstraint(), and hpp.corbaserver.robot.StaticStabilityConstraintsFactory.createStaticStabilityConstraint().

setCurrentVelocity()

def hpp.corbaserver.robot.Robot.setCurrentVelocity	(		self,
			v
	)

Set current velocity of composite robot.

Parameters

q	velocity of the composite robot

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

setJointBounds()

def hpp.corbaserver.robot.Robot.setJointBounds	(		self,
			jointName,
			inJointBound
	)

set bounds for the joint

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

setJointPosition()

def hpp.corbaserver.robot.Robot.setJointPosition	(		self,
			jointName,
			position
	)

Set the static position of joint WRT its parent.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

setRootJointPosition()

def hpp.corbaserver.robot.Robot.setRootJointPosition	(		self,
			position
	)

Set position of root joint in world frame in initial configuration.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

shootRandomConfig()

def hpp.corbaserver.robot.Robot.shootRandomConfig

(

self

)

Shoot random configuration.

Returns

dofArray Array of degrees of freedom.

References hpp.corbaserver.robot.Robot.hppcorba, and hpp.corbaserver.problem_solver.ProblemSolver.hppcorba.

urdfPath()

def hpp.corbaserver.robot.Robot.urdfPath

(

self

)

Member Data Documentation

allJointNames

hpp.corbaserver.robot.Robot.allJointNames

client

hpp.corbaserver.robot.Robot.client

displayName

hpp.corbaserver.robot.Robot.displayName

hppcorba

hpp.corbaserver.robot.Robot.hppcorba

Referenced by hpp.corbaserver.robot.StaticStabilityConstraintsFactory.createAlignedCOMStabilityConstraint(), hpp.corbaserver.robot.StaticStabilityConstraintsFactory.createSlidingStabilityConstraint(), hpp.corbaserver.robot.StaticStabilityConstraintsFactory.createStaticStabilityConstraint(), hpp.corbaserver.robot.Robot.distancesToCollision(), hpp.corbaserver.robot.Robot.getAllJointNames(), hpp.corbaserver.robot.Robot.getCenterOfMass(), hpp.corbaserver.robot.Robot.getConfigSize(), hpp.corbaserver.robot.Robot.getCurrentConfig(), hpp.corbaserver.robot.Robot.getCurrentTransformation(), hpp.corbaserver.robot.Robot.getCurrentVelocity(), hpp.corbaserver.robot.Robot.getJacobianCenterOfMass(), hpp.corbaserver.robot.Robot.getJointBounds(), hpp.corbaserver.robot.Robot.getJointConfigSize(), hpp.corbaserver.robot.Robot.getJointInnerObjects(), hpp.corbaserver.robot.Robot.getJointNames(), hpp.corbaserver.robot.Robot.getJointNumberDof(), hpp.corbaserver.robot.Robot.getJointOuterObjects(), hpp.corbaserver.robot.Robot.getJointPosition(), hpp.corbaserver.robot.Robot.getJointTypes(), hpp.corbaserver.robot.Robot.getLinkNames(), hpp.corbaserver.robot.Robot.getLinkPosition(), hpp.corbaserver.robot.Robot.getMass(), hpp.corbaserver.robot.Robot.getNumberDof(), hpp.corbaserver.robot.Robot.getObjectPosition(), hpp.corbaserver.robot.Robot.getRobotAABB(), hpp.corbaserver.robot.Robot.getRootJointPosition(), hpp.corbaserver.robot.Robot.isConfigValid(), hpp.corbaserver.robot.Robot.loadModel(), hpp.corbaserver.robot.HumanoidRobot.loadModel(), hpp.corbaserver.robot.RobotXML.loadModel(), hpp.corbaserver.robot.Robot.removeObstacleFromJoint(), hpp.corbaserver.robot.Robot.setCurrentConfig(), hpp.corbaserver.robot.Robot.setCurrentVelocity(), hpp.corbaserver.robot.Robot.setJointBounds(), hpp.corbaserver.robot.Robot.setJointPosition(), hpp.corbaserver.robot.Robot.setRootJointPosition(), and hpp.corbaserver.robot.Robot.shootRandomConfig().

jointNames

hpp.corbaserver.robot.Robot.jointNames

Referenced by hpp.corbaserver.robot.Robot.getSaturated().

name

hpp.corbaserver.robot.Robot.name

rankInConfiguration

hpp.corbaserver.robot.Robot.rankInConfiguration

Referenced by hpp.corbaserver.robot.Robot.getSaturated().

rankInVelocity

hpp.corbaserver.robot.Robot.rankInVelocity

rootJointType

hpp.corbaserver.robot.Robot.rootJointType