hpp::corbaserver::manipulation::Graph Interface Reference

import"/home/jmirabel/devel/demo/src/hpp-manipulation-corba/idl/hpp/corbaserver/manipulation/graph.idl";

Public Member Functions
long	createGraph (in string graphName) raises (Error)
	Initialize the graph of constraints and add it to the ProblemSolver map. More...
void	deleteGraph (in string graphName) raises (Error)
void	selectGraph (in string graphName) raises (Error)
	Select the graph of contraints from the ProblemSolver map. More...
long	createSubGraph (in string subgraphName) raises (Error)
	Create a subgraph of the constraint graph for one particular end-effector. More...
void	setTargetNodeList (in ID subgraph, in IDseq nodes) raises (Error)
long	createNode (in long subGraphId, in string nodeName, in boolean waypoint, in long priority) raises (Error)
	Add a node to the graph. More...
long	createEdge (in long nodeFromId, in long nodeToId, in string edgeName, in long weight, in long isInNodeId) raises (Error)
	Add an edge between two nodes of the graph. More...
void	setContainingNode (in ID edgeId, in ID nodeId) raises (Error)
	Set in which node an edge is. More...
string	getContainingNode (in ID edgeId) raises (Error)
	Get in which node an edge is. More...
long	createWaypointEdge (in long nodeFromId, in long nodeToId, in string edgeName, in long number, in long weight, in long isInNode) raises (Error)
	Add an edge with waypoint between two nodes of the graph. More...
long	getWaypoint (in long edgeId, in long index, out ID nodeId) raises (Error)
	Get waypoint IDs of an edge. More...
void	setWaypoint (in ID waypointEdgeId, in long index, in ID edgeId, in ID nodeId) raises (Error)
void	getGraph (out GraphComp graph, out GraphElements elmts) raises (Error)
	Get full graph. More...
void	getEdgeStat (in ID edgeId, out Names_t reasons, out intSeq freqs) raises (Error)
long	getFrequencyOfNodeInRoadmap (in ID nodeId, out intSeq freqPerConnectedComponent) raises (Error)
	Get the number of nodes in the roadmap being in the node nodeId of the graph. More...
boolean	getConfigProjectorStats (in ID elmt, out ConfigProjStat config, out ConfigProjStat path) raises (Error)
	Get config projector statistics. More...
long	createLevelSetEdge (in long nodeFromId, in long nodeToId, in string edgeName, in long weight, in ID isInNodeId) raises (Error)
	Add an edge of type LevelSetEdge between two nodes. More...
void	setLevelSetFoliation (in long edgeId, in Names_t condNC, in Names_t condLJ, in Names_t paramNC, in Names_t paramPassiveJoints, in Names_t paramLJ) raises (Error)
void	addLevelSetFoliation (in long edgeId, in Names_t condNC, in Names_t condLJ, in Names_t paramNC, in Names_t paramPassiveJoints, in Names_t paramLJ) raises (Error)
	Add the constraints to a LevelSetEdge that create the foliation. More...
void	resetConstraints (in long graphComponentId) raises (Error)
	Reset the numerical constraints and the locked joints of a component. More...
void	setNumericalConstraints (in long graphComponentId, in Names_t constraintNames, in Names_t passiveDofsNames) raises (Error)
void	addNumericalConstraints (in long graphComponentId, in Names_t constraintNames, in Names_t passiveDofsNames) raises (Error)
	Add the numerical constraints to a component. More...
void	getNumericalConstraints (in long graphComponentId, out Names_t constraintNames) raises (Error)
	Get the list of numerical constraints applied to a component. More...
void	getLockedJoints (in long graphComponentId, out Names_t constraintNames) raises (Error)
	Get the list of locked joints in a component. More...
void	setNumericalConstraintsForPath (in long nodeId, in Names_t constraintNames, in Names_t passiveDofsNames) raises (Error)
void	addNumericalConstraintsForPath (in long nodeId, in Names_t constraintNames, in Names_t passiveDofsNames) raises (Error)
	Add the numerical constraints for path to a node. More...
void	setLockedDofConstraints (in long graphComponentId, in Names_t constraintNames) raises (Error)
void	addLockedDofConstraints (in long graphComponentId, in Names_t constraintNames) raises (Error)
	Add the LockedDof constraints to a component. More...
void	removeCollisionPairFromEdge (in ID edgeId, in string joint1, in string joint2) raises (Error)
	Remove collision pairs from an edge. More...
void	getNode (in floatSeq dofArray, out ID nodeId) raises (Error)
	Get the node corresponding to the state of the configuration. More...
boolean	getConfigErrorForNode (in ID nodeId, in floatSeq config, out floatSeq errorVector) raises (Error)
	Get error of a config with respect to a node constraint. More...
boolean	getConfigErrorForEdge (in ID EdgeId, in floatSeq config, out floatSeq errorVector) raises (Error)
	Get error of a config with respect to an edge constraint. More...
boolean	getConfigErrorForEdgeLeaf (in ID EdgeId, in floatSeq leafConfig, in floatSeq config, out floatSeq errorVector) raises (Error)
	Get error of a config with respect to an edge foliation leaf. More...
boolean	getConfigErrorForEdgeTarget (in ID EdgeId, in floatSeq leafConfig, in floatSeq config, out floatSeq errorVector) raises (Error)
	Get error of a config with respect to the target of an edge foliation leaf. More...
void	displayNodeConstraints (in ID nodeId, out string constraints) raises (Error)
	Print set of constraints relative to a node in a string. More...
void	displayEdgeTargetConstraints (in ID edgeId, out string constraints) raises (Error)
	Print set of constraints relative to an edge in a string. More...
void	displayEdgeConstraints (in ID edgeId, out string constraints) raises (Error)
	Print set of constraints relative to an edge in a string. More...
void	getNodesConnectedByEdge (in ID edgeId, out string from, out string to) raises (Error)
	Get nodes connected by an edge. More...
void	display (in string filename) raises (Error)
void	getHistogramValue (in ID edgeId, out floatSeq freq, out floatSeqSeq values) raises (Error)
void	setShort (in ID edgeId, in boolean isShort) raises (Error)
boolean	isShort (in ID edgeId) raises (Error)
intSeq	autoBuild (in string graphName, in Names_t grippers, in Names_t objects, in Namess_t handlesPerObject, in Namess_t contactsPerObject, in Names_t envNames, in Rules rulesList) raises (Error)
	Automatically build a constraint graph. More...
void	setWeight (in ID edgeID, in long weight) raises (Error)
long	getWeight (in ID edgeID) raises (Error)
string	getName (in ID elmtID) raises (Error)
void	initialize () raises (Error)
	This must be called when the graph has been built. More...
void	getRelativeMotionMatrix (in ID edgeID, out intSeqSeq matrix) raises (Error)

Member Function Documentation

void hpp::corbaserver::manipulation::Graph::addLevelSetFoliation	(	in long	edgeId,
		in Names_t	condNC,
		in Names_t	condLJ,
		in Names_t	paramNC,
		in Names_t	paramPassiveJoints,
		in Names_t	paramLJ
	)
raises	(	Error
	)

Add the constraints to a LevelSetEdge that create the foliation.

Parameters

edgeId	if of a LevelSetEdge of the graph.
condNC,condLJ	numerical constraints and locked joints that define the foliated manifold
paramNC,paramPassiveJoints,paramLJ	numerical constraints and locked joints that parametrize the foliation

Note

If passiveDofsNames is a shorter list than constraintNames, passiveDofsNames is extended with an empty string, which corresponds to an empty vector of passive dofs.

Referenced by manipulation.constraint_graph.ConstraintGraph::setLevelSetFoliation().

void hpp::corbaserver::manipulation::Graph::addLockedDofConstraints	(	in long	graphComponentId,
		in Names_t	constraintNames
	)
raises	(	Error
	)

Add the LockedDof constraints to a component.

Parameters

graphComponentId	ID of the component.
constraintNames	is an array of names of constraints in the ProblemSolver map.

void hpp::corbaserver::manipulation::Graph::addNumericalConstraints	(	in long	graphComponentId,
		in Names_t	constraintNames,
		in Names_t	passiveDofsNames
	)
raises	(	Error
	)

Add the numerical constraints to a component.

Parameters

graphComponentId	ID of the component.
constraintNames	is an array of names of constraints in the ProblemSolver map.
passiveDofsNames	array of names of vector of passive dofs in the ProblemSolver map.

Note

If passiveDofsNames is a shorter list than constraintNames, passiveDofsNames is extended with an empty string, which corresponds to an empty vector of passive dofs.

void hpp::corbaserver::manipulation::Graph::addNumericalConstraintsForPath	(	in long	nodeId,
		in Names_t	constraintNames,
		in Names_t	passiveDofsNames
	)
raises	(	Error
	)

Add the numerical constraints for path to a node.

Parameters

nodeId	ID of the node.
constraintNames	is an array of names of constraints in the ProblemSolver map.
passiveDofsNames	array of names of vector of passive dofs in the ProblemSolver map.

Note

If passiveDofsNames is a shorter list than constraintNames, passiveDofsNames is extended with an empty string, which corresponds to an empty vector of passive dofs.

intSeq hpp::corbaserver::manipulation::Graph::autoBuild	(	in string	graphName,
		in Names_t	grippers,
		in Names_t	objects,
		in Namess_t	handlesPerObject,
		in Namess_t	contactsPerObject,
		in Names_t	envNames,
		in Rules	rulesList
	)
raises	(	Error
	)

Automatically build a constraint graph.

Parameters

graphName	name of the graph,
grippers	list of gripper names,
objects	list of object names,
handlesPerObject	list of lists of handles, one list per object
contactsPerObject	list of lists of contact surfaces, one list per object
envNames	list of names of contact surfaces in the environment,
list	of rules.

Note

We consider a robot with two grippers, three objects with respectively two, one and one handles, and respectively one, two and one contact surface.

grippers = ['gripper_1', 'gripper_2']
objects = ['object_1', 'object_2', 'object_3']
handlesPerObject = [['object_1/handle_1','object_1/handle_2',],
   ['object_2/handle_1',], ['object_3/handle_1',]]
contactsPerObject = [['object_1/contact_1',],
   ['object_2/contact_1','object_2/contact_2',],
   ['object_3/contact_1',]]
from hpp.corbaserver.manipulation import Rule
rules = [Rule(['gripper_1'], ['object_1/handle_2'], True),
         Rule(['gripper_1'], ['object_3/handle_1'], True),]

Note

In the rules, gripper and handle names are treated as regular expressions as defined in http://www.boost.org/doc/libs/1_58_0/libs/regex/doc/html/boost_regex/syntax/basic_syntax.html . Pay attention to the version of boost you use.

When creating placement constraints for object "foo", if a constraint with name "place_foo" already exists, the constraint will be used as placement constraint. In this case, if defined, constraint "preplace_foo" will be used as preplacement constraint, if not defined, no preplacement waypoint will be inserted in the graph. If constraint "place_foo" is not defined, it will be created with selected environment and object contact surface.

long hpp::corbaserver::manipulation::Graph::createEdge	(	in long	nodeFromId,
		in long	nodeToId,
		in string	edgeName,
		in long	weight,
		in long	isInNodeId
	)
raises	(	Error
	)

Add an edge between two nodes of the graph.

Parameters

nodeFromId,nodeToId	the ID of the ends of the new edge.
edgeName	name of the new edge.
weight	weight of the edge.
isInNodeId	id of the node in which paths of the edge are included.

Referenced by manipulation.constraint_graph.ConstraintGraph::createWaypointEdge().

long hpp::corbaserver::manipulation::Graph::createGraph	(	in string	graphName	)
raises	(	Error
	)

Initialize the graph of constraints and add it to the ProblemSolver map.

Note

The composite hpp::manipulation::robot must be completely defined first.

long hpp::corbaserver::manipulation::Graph::createLevelSetEdge	(	in long	nodeFromId,
		in long	nodeToId,
		in string	edgeName,
		in long	weight,
		in ID	isInNodeId
	)
raises	(	Error
	)

Add an edge of type LevelSetEdge between two nodes.

Parameters

nodeFromId,nodeToId	the ID of the ends of the new edge.
edgeName	name of the new edge.
weight	weight of the edge.
isInNodeId	id of the node in which paths of the edge are included.

long hpp::corbaserver::manipulation::Graph::createNode	(	in long	subGraphId,
		in string	nodeName,
		in boolean	waypoint,
		in long	priority
	)
raises	(	Error
	)

Add a node to the graph.

Parameters

subGraphId	is the ID of the subgraph to which the node should be added.
nodeName	the name of the new node.
waypoint	true when the node is a waypoint
priority	integer used to order the states. If two states have the same priority, then the order is the order of creation.

long hpp::corbaserver::manipulation::Graph::createSubGraph	(	in string	subgraphName	)
raises	(	Error
	)

Create a subgraph of the constraint graph for one particular end-effector.

long hpp::corbaserver::manipulation::Graph::createWaypointEdge	(	in long	nodeFromId,
		in long	nodeToId,
		in string	edgeName,
		in long	number,
		in long	weight,
		in long	isInNode
	)
raises	(	Error
	)

Add an edge with waypoint between two nodes of the graph.

Parameters

nodeFromId,nodeToId	the ID of the ends of the new edge.
edgeBaseName	basename of the new edge.
weight	weight of the edge.

void hpp::corbaserver::manipulation::Graph::deleteGraph	(	in string	graphName	)
raises	(	Error
	)

void hpp::corbaserver::manipulation::Graph::display	(	in string	filename	)
raises	(	Error
	)

void hpp::corbaserver::manipulation::Graph::displayEdgeConstraints	(	in ID	edgeId,
		out string	constraints
	)
raises	(	Error
	)

Print set of constraints relative to an edge in a string.

Parameters

config	Configuration,
edgeId	id of the edge.

Returns

string displaying path constraints of the edge

void hpp::corbaserver::manipulation::Graph::displayEdgeTargetConstraints	(	in ID	edgeId,
		out string	constraints
	)
raises	(	Error
	)

Print set of constraints relative to an edge in a string.

Parameters

config	Configuration,
edgeId	id of the edge.

Returns

string displaying constraints of the edge and of the target node

void hpp::corbaserver::manipulation::Graph::displayNodeConstraints	(	in ID	nodeId,
		out string	constraints
	)
raises	(	Error
	)

Print set of constraints relative to a node in a string.

Parameters

config	Configuration,
nodeId	id of the node.

Returns

string displaying constraints

boolean hpp::corbaserver::manipulation::Graph::getConfigErrorForEdge	(	in ID	EdgeId,
		in floatSeq	config,
		out floatSeq	errorVector
	)
raises	(	Error
	)

Get error of a config with respect to an edge constraint.

Parameters

edgeId	id of the edge.
config	Configuration,

Return values

error

the error of the edge constraint for the configuration

Returns

whether the configuration can be the start point of a path of the edge. Call methods core::ConfigProjector::rightHandSideFromConfig with the input configuration and then core::ConstraintSet::isSatisfied on the edge constraints.

boolean hpp::corbaserver::manipulation::Graph::getConfigErrorForEdgeLeaf	(	in ID	EdgeId,
		in floatSeq	leafConfig,
		in floatSeq	config,
		out floatSeq	errorVector
	)
raises	(	Error
	)

Get error of a config with respect to an edge foliation leaf.

Parameters

edgeId	id of the edge.
leafConfig	Configuration that determines the foliation leaf,
config	Configuration the error of which is computed

Return values

error

the error

Returns

whether config can be the end point of a path of the edge starting at leafConfig Call methods core::ConfigProjector::rightHandSideFromConfig with leafConfig and then core::ConstraintSet::isSatisfied with config. on the edge constraints.

boolean hpp::corbaserver::manipulation::Graph::getConfigErrorForEdgeTarget	(	in ID	EdgeId,
		in floatSeq	leafConfig,
		in floatSeq	config,
		out floatSeq	errorVector
	)
raises	(	Error
	)

Get error of a config with respect to the target of an edge foliation leaf.

Parameters

edgeId	id of the edge.
leafConfig	Configuration that determines the foliation leaf,
config	Configuration the error of which is computed

Return values

error

the error

Returns

whether config can be the end point of a path of the edge starting at leafConfig Call methods core::ConfigProjector::rightHandSideFromConfig with leafConfig and then core::ConstraintSet::isSatisfied with config. on the edge constraints.

boolean hpp::corbaserver::manipulation::Graph::getConfigErrorForNode	(	in ID	nodeId,
		in floatSeq	config,
		out floatSeq	errorVector
	)
raises	(	Error
	)

Get error of a config with respect to a node constraint.

Parameters

nodeId	id of the node.
config	Configuration,

Return values

error

the error of the node constraint for the configuration

Returns

whether the configuration belongs to the node. Call method core::ConstraintSet::isSatisfied for the node constraints.

boolean hpp::corbaserver::manipulation::Graph::getConfigProjectorStats	(	in ID	elmt,
		out ConfigProjStat	config,
		out ConfigProjStat	path
	)
raises	(	Error
	)

Get config projector statistics.

Parameters

output

config, path object containing the number of success and the number of times a config projector has been called.

Returns

true if the given has a config projector, false otherwise

string hpp::corbaserver::manipulation::Graph::getContainingNode	(	in ID	edgeId	)
raises	(	Error
	)

Get in which node an edge is.

Parameters

edgeId

the ID of the edge,

Returns

the name of the containing node.

void hpp::corbaserver::manipulation::Graph::getEdgeStat	(	in ID	edgeId,
		out Names_t	reasons,
		out intSeq	freqs
	)
raises	(	Error
	)

long hpp::corbaserver::manipulation::Graph::getFrequencyOfNodeInRoadmap	(	in ID	nodeId,
		out intSeq	freqPerConnectedComponent
	)
raises	(	Error
	)

Get the number of nodes in the roadmap being in the node nodeId of the graph.

Returns

freqPerConnectedComponent is a vector of same number, by connected components.

Warning

The connected components of the roadmap are in no specific order.

void hpp::corbaserver::manipulation::Graph::getGraph	(	out GraphComp	graph,
		out GraphElements	elmts
	)
raises	(	Error
	)

Get full graph.

Returns

a structure with all the IDs and names

void hpp::corbaserver::manipulation::Graph::getHistogramValue	(	in ID	edgeId,
		out floatSeq	freq,
		out floatSeqSeq	values
	)
raises	(	Error
	)

void hpp::corbaserver::manipulation::Graph::getLockedJoints	(	in long	graphComponentId,
		out Names_t	constraintNames
	)
raises	(	Error
	)

Get the list of locked joints in a component.

Parameters

graphComponentId

Id of the component.

Returns

the list of joints name.

string hpp::corbaserver::manipulation::Graph::getName	(	in ID	elmtID	)
raises	(	Error
	)

void hpp::corbaserver::manipulation::Graph::getNode	(	in floatSeq	dofArray,
		out ID	nodeId
	)
raises	(	Error
	)

Get the node corresponding to the state of the configuration.

Parameters

dofArray

the configuration.

Returns

the ID corresponding to the node.

void hpp::corbaserver::manipulation::Graph::getNodesConnectedByEdge	(	in ID	edgeId,
		out string	from,
		out string	to
	)
raises	(	Error
	)

Get nodes connected by an edge.

Parameters

edgeId	id of the edge
from	name of the node the edge starts from,
to	name of the node the edge finishes in.

void hpp::corbaserver::manipulation::Graph::getNumericalConstraints	(	in long	graphComponentId,
		out Names_t	constraintNames
	)
raises	(	Error
	)

Get the list of numerical constraints applied to a component.

Parameters

graphComponentId

Id of the component.

Returns

the list of constraints name.

void hpp::corbaserver::manipulation::Graph::getRelativeMotionMatrix	(	in ID	edgeID,
		out intSeqSeq	matrix
	)
raises	(	Error
	)

long hpp::corbaserver::manipulation::Graph::getWaypoint	(	in long	edgeId,
		in long	index,
		out ID	nodeId
	)
raises	(	Error
	)

Get waypoint IDs of an edge.

Parameters

edgeId	the ID of the edge.
index	index of the waypoint.

Returns

the ID of the edge and the node associated with the node.

long hpp::corbaserver::manipulation::Graph::getWeight	(	in ID	edgeID	)
raises	(	Error
	)

void hpp::corbaserver::manipulation::Graph::initialize	(		)
raises	(	Error
	)

This must be called when the graph has been built.

boolean hpp::corbaserver::manipulation::Graph::isShort	(	in ID	edgeId	)
raises	(	Error
	)

void hpp::corbaserver::manipulation::Graph::removeCollisionPairFromEdge	(	in ID	edgeId,
		in string	joint1,
		in string	joint2
	)
raises	(	Error
	)

Remove collision pairs from an edge.

Parameters

edgeId	id of the edge,
joint1,joint2,names	of the joints defining the pair.

void hpp::corbaserver::manipulation::Graph::resetConstraints	(	in long	graphComponentId	)
raises	(	Error
	)

Reset the numerical constraints and the locked joints of a component.

Parameters

graphComponentId

ID of the component.

void hpp::corbaserver::manipulation::Graph::selectGraph	(	in string	graphName	)
raises	(	Error
	)

Select the graph of contraints from the ProblemSolver map.

Note

The composite hpp::manipulation::robot must be completely defined first.

void hpp::corbaserver::manipulation::Graph::setContainingNode	(	in ID	edgeId,
		in ID	nodeId
	)
raises	(	Error
	)

Set in which node an edge is.

Parameters

edgeId	the ID of the edge,
nodeId	the ID of the node in which the edge is.

void hpp::corbaserver::manipulation::Graph::setLevelSetFoliation	(	in long	edgeId,
		in Names_t	condNC,
		in Names_t	condLJ,
		in Names_t	paramNC,
		in Names_t	paramPassiveJoints,
		in Names_t	paramLJ
	)
raises	(	Error
	)

Deprecated:

use addLevelSetFoliation

void hpp::corbaserver::manipulation::Graph::setLockedDofConstraints	(	in long	graphComponentId,
		in Names_t	constraintNames
	)
raises	(	Error
	)

Deprecated:

use addLockedDofConstraints

void hpp::corbaserver::manipulation::Graph::setNumericalConstraints	(	in long	graphComponentId,
		in Names_t	constraintNames,
		in Names_t	passiveDofsNames
	)
raises	(	Error
	)

Deprecated:

use addNumericalConstraints

void hpp::corbaserver::manipulation::Graph::setNumericalConstraintsForPath	(	in long	nodeId,
		in Names_t	constraintNames,
		in Names_t	passiveDofsNames
	)
raises	(	Error
	)

Deprecated:

use addNumericalConstraintsForPath

void hpp::corbaserver::manipulation::Graph::setShort	(	in ID	edgeId,
		in boolean	isShort
	)
raises	(	Error
	)

void hpp::corbaserver::manipulation::Graph::setTargetNodeList	(	in ID	subgraph,
		in IDseq	nodes
	)
raises	(	Error
	)

void hpp::corbaserver::manipulation::Graph::setWaypoint	(	in ID	waypointEdgeId,
		in long	index,
		in ID	edgeId,
		in ID	nodeId
	)
raises	(	Error
	)

void hpp::corbaserver::manipulation::Graph::setWeight	(	in ID	edgeID,
		in long	weight
	)
raises	(	Error
	)