manipulation.constraint_graph_factory.ConstraintGraphFactory Class Reference

Default implementation of ConstraintGraphFactory. More...

Inheritance diagram for manipulation.constraint_graph_factory.ConstraintGraphFactory:

Collaboration diagram for manipulation.constraint_graph_factory.ConstraintGraphFactory:

Classes
class	StateAndManifold

Public Member Functions
def	__init__ (self, graph)
Default functions
def	makeState (self, grasps, priority)
def	makeLoopTransition (self, state)
def	makeTransition (self, stateFrom, stateTo, ig)
Public Member Functions inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
def	__init__ (self)
def	setGrippers (self, grippers)
def	setObjects (self, objects, handlesPerObjects, contactsPerObjects)
def	environmentContacts (self, envContacts)
def	setRules (self, rules)
	Set the function graspIsAllowed. More...
def	generate (self)
	Go through the combinatorial defined by the grippers and handles and create the states and transitions. More...
def	makeState (self, grasps, priority)
	Create a new state. More...
def	makeLoopTransition (self, state)
	Create a loop transition. More...
def	makeTransition (self, stateFrom, stateTo, ig)
	Create two transitions between two different states. More...

Public Attributes
	constraints
	Stores the constraints in a child class of ConstraintFactoryAbstract. More...
	graph
Public Attributes inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
	graspIsAllowed
	Reduces the problem combinatorial. More...
	states
	transitions
	handles
	the handle names More...
	grippers
	the gripper names More...
	envContacts
	the names of contact on the environment More...
	objects
	the object names More...
	handlesPerObjects
	See setObjects. More...
	objectFromHandle
	See setObjects. More...
	contactsPerObjects
	See setObjects. More...

Detailed Description

Default implementation of ConstraintGraphFactory.

The minimal usage is the following:

graph = ConstraintGraph (robot, "graph")

# Required calls
factory = ConstraintGraphFactory (graph)
factory.setGrippers (["gripper1", ... ])
factory.setObjects (["object1", ], [ [ "object1/handle1", ... ] ], [ [] ])

# Optionally
factory.environmentContacts (["contact1", ... ])
factory.setRules ([ Rule (["gripper1", ..], ["handle1", ...], True), ... ])

factory.generate ()
# graph is initialized

Constructor & Destructor Documentation

def manipulation.constraint_graph_factory.ConstraintGraphFactory.__init__	(		self,
			graph
	)

Parameters

graph

an instance of ConstraintGraph

Member Function Documentation

def manipulation.constraint_graph_factory.ConstraintGraphFactory.makeLoopTransition	(		self,
			state
	)

References manipulation.constraint_graph_factory.GraphFactoryAbstract._loopTransitionName().

def manipulation.constraint_graph_factory.ConstraintGraphFactory.makeState	(		self,
			grasps,
			priority
	)

References manipulation.constraint_graph_factory.GraphFactoryAbstract._stateName().

def manipulation.constraint_graph_factory.ConstraintGraphFactory.makeTransition	(		self,
			stateFrom,
			stateTo,
			ig
	)

References manipulation.constraint_graph_factory.GraphFactoryAbstract._isObjectGrasped(), manipulation.constraint_graph_factory.GraphFactoryAbstract._transitionNames(), manipulation.constraint_graph_factory.GraphFactoryAbstract.objectFromHandle, manipulation.constraint_graph_factory.GraphFactoryAbstract.objects, and manipulation.constraint_graph_factory.GraphFactoryAbstract.transitions.

Member Data Documentation

manipulation.constraint_graph_factory.ConstraintGraphFactory.constraints

Stores the constraints in a child class of ConstraintFactoryAbstract.

manipulation.constraint_graph_factory.ConstraintGraphFactory.graph