hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
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hpp.corbaserver.robot Namespace Reference

Classes

class  HumanoidRobot
 
class  Robot
 
class  RobotXML
 
class  StaticStabilityConstraintsFactory
 

Functions

 shrinkJointRange (robot, joints, ratio)
 

Function Documentation

◆ shrinkJointRange()

hpp.corbaserver.robot.shrinkJointRange (   robot,
  joints,
  ratio 
)
Reduce the range of selected joints for security

  Input
    - robot: an instance of Robot class,
    - joints the list of joint names,
    - ratio: the range of the joint is shrunk around the middle of its
             bounds by this ratio.