manipulation.constraint_graph_factory.ConstraintFactoryAbstract Class Reference

An abstract class which stores the constraints. More...

Inheritance diagram for manipulation.constraint_graph_factory.ConstraintFactoryAbstract:

Public Member Functions
def	__init__ (self, graphfactory)
def	buildGrasp (self, g, h)
	Function called to create grasp constraints. More...
def	buildPlacement (self, o)
	Function called to create placement constraints. More...
Accessors to the different elementary constraints
def	getGrasp (self, gripper, handle)
def	g (self, gripper, handle, what)
def	getPlacement (self, object)
def	p (self, object, what)

Public Attributes
	graphfactory

Detailed Description

An abstract class which stores the constraints.

Child classes are responsible for building them.

• buildGrasp
• buildPlacement

Constructor & Destructor Documentation

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.__init__	(		self,
			graphfactory
	)

References manipulation.constraint_graph_factory.ConstraintFactoryAbstract._grasp, and manipulation.constraint_graph_factory.ConstraintFactoryAbstract._placement.

Member Function Documentation

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildGrasp	(		self,
			g,
			h
	)

Function called to create grasp constraints.

Must return a tuple of Constraints objects as:

• constraint that validates the grasp
• constraint that parameterizes the graph
• constraint that validates the pre-grasp

  Parameters

  g	gripper string
  h	handle string

Referenced by manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getGrasp().

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildPlacement	(		self,
			o
	)

Function called to create placement constraints.

Must return a tuple of Constraints objects as:

• constraint that validates placement
• constraint that parameterizes placement
• constraint that validates pre-placement

  Parameters

  o

  string

Referenced by manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getPlacement().

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.g	(		self,
			gripper,
			handle,
			what
	)

References manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getGrasp().

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getGrasp	(		self,
			gripper,
			handle
	)

References manipulation.constraint_graph_factory.ConstraintFactoryAbstract._grasp, and manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildGrasp().

Referenced by manipulation.constraint_graph_factory.ConstraintFactoryAbstract.g().

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getPlacement	(		self,
			object
	)

References manipulation.constraint_graph_factory.ConstraintFactoryAbstract._placement, and manipulation.constraint_graph_factory.ConstraintFactoryAbstract.buildPlacement().

Referenced by manipulation.constraint_graph_factory.ConstraintFactoryAbstract.p().

def manipulation.constraint_graph_factory.ConstraintFactoryAbstract.p	(		self,
			object,
			what
	)

References manipulation.constraint_graph_factory.ConstraintFactoryAbstract.getPlacement().

Member Data Documentation

manipulation.constraint_graph_factory.ConstraintFactoryAbstract.graphfactory