An abstract class which is loops over the different (gripper, handle) associations. More...

Inheritance diagram for manipulation.constraint_graph_factory.GraphFactoryAbstract:

Public Member Functions
def	__init__ (self)

Main API
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...

Abstract methods of the algorithm

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
	graspIsAllowed
	Reduces the problem combinatorial. More...

Internal variables
	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

An abstract class which is loops over the different (gripper, handle) associations.

The behaviour can be tuned by setting the callback functions:

graspIsAllowed (redundant with setRules)
Algorithm steps

Constructor & Destructor Documentation

def manipulation.constraint_graph_factory.GraphFactoryAbstract.__init__ ( self )

Member Function Documentation

def manipulation.constraint_graph_factory.GraphFactoryAbstract.environmentContacts	(	self,
		envContacts
	)

Parameters

envContacts contact on the environment to be considered.

References manipulation.constraint_graph_factory.GraphFactoryAbstract.envContacts.

def manipulation.constraint_graph_factory.GraphFactoryAbstract.generate ( self )

Go through the combinatorial defined by the grippers and handles and create the states and transitions.

References manipulation.constraint_graph_factory.GraphFactoryAbstract._recurse(), hpp::manipulation::Device.grippers, hpp::corbaserver::manipulation::Rule.grippers, manipulation.constraint_graph_factory.GraphFactoryAbstract.grippers, hpp::manipulation::Device.handles, hpp::manipulation::graph::helper::ObjectDef_t.handles, hpp::corbaserver::manipulation::Rule.handles, manipulation.constraint_graph_factory.Rules.handles, and manipulation.constraint_graph_factory.GraphFactoryAbstract.handles.

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

Create a loop transition.

Parameters

state an object returned by makeState which represent the state

Referenced by manipulation.constraint_graph_factory.GraphFactoryAbstract.makeTransition().

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

Create a new state.

Parameters

grasps	a handle index for each gripper, as in GraphFactoryAbstract.graspIsAllowed.
priority	the state priority.

Returns: an object representing the state.

Referenced by manipulation.constraint_graph_factory.GraphFactoryAbstract.makeTransition().

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

Create two transitions between two different states.

Parameters

stateFrom	same as grasps in makeState
stateTo	same as grasps in makeState
ig	index if the grasp vector that changes, i.e. such that $stateFrom.grasps[i_g] \neq stateTo.grasps[i_g]$ $\forall i \neq i_g, stateFrom.grasps[i] = stateTo.grasps[i]$

Referenced by manipulation.constraint_graph_factory.GraphFactoryAbstract.makeTransition().

def manipulation.constraint_graph_factory.GraphFactoryAbstract.setGrippers	(	self,
		grippers
	)

Parameters

grippers list of gripper names to be considered

References hpp::manipulation::Device.grippers, hpp::corbaserver::manipulation::Rule.grippers, and manipulation.constraint_graph_factory.GraphFactoryAbstract.grippers.

def manipulation.constraint_graph_factory.GraphFactoryAbstract.setObjects	(	self,
		objects,
		handlesPerObjects,
		contactsPerObjects
	)

Parameters

objects	list of object names to be considered
handlesPerObjects	a list of list of handle names.
contactsPerObjects	a list of list of contact names. handlesPerObjects and contactsPerObjects must have one list for each object, in the same order.

References manipulation.constraint_graph_factory.GraphFactoryAbstract.contactsPerObjects, hpp::manipulation::Device.handles, hpp::manipulation::graph::helper::ObjectDef_t.handles, hpp::corbaserver::manipulation::Rule.handles, manipulation.constraint_graph_factory.Rules.handles, manipulation.constraint_graph_factory.GraphFactoryAbstract.handles, manipulation.constraint_graph_factory.GraphFactoryAbstract.handlesPerObjects, manipulation.constraint_graph_factory.GraphFactoryAbstract.objectFromHandle, and manipulation.constraint_graph_factory.GraphFactoryAbstract.objects.

def manipulation.constraint_graph_factory.GraphFactoryAbstract.setRules	(	self,
		rules
	)

Set the function graspIsAllowed.

Parameters

rules a list of Rule objects

References manipulation.constraint_graph_factory.GraphFactoryAbstract.graspIsAllowed, hpp::manipulation::Device.grippers, hpp::corbaserver::manipulation::Rule.grippers, manipulation.constraint_graph_factory.GraphFactoryAbstract.grippers, hpp::manipulation::Device.handles, hpp::manipulation::graph::helper::ObjectDef_t.handles, hpp::corbaserver::manipulation::Rule.handles, manipulation.constraint_graph_factory.Rules.handles, and manipulation.constraint_graph_factory.GraphFactoryAbstract.handles.

Member Data Documentation

manipulation.constraint_graph_factory.GraphFactoryAbstract.contactsPerObjects

See setObjects.

Referenced by manipulation.constraint_graph_factory.GraphFactoryAbstract.setObjects().

manipulation.constraint_graph_factory.GraphFactoryAbstract.envContacts

the names of contact on the environment

Referenced by manipulation.constraint_graph_factory.GraphFactoryAbstract.environmentContacts().

manipulation.constraint_graph_factory.GraphFactoryAbstract.graspIsAllowed

Reduces the problem combinatorial.

Function called to check whether a grasps is allowed. It takes as input a list of handle indices (or None) such that i-th grippers grasps grasps[i]-th handles. It must return a boolean

It defaults to:

1 lambda x : True

Referenced by manipulation.constraint_graph_factory.GraphFactoryAbstract.makeTransition(), and manipulation.constraint_graph_factory.GraphFactoryAbstract.setRules().

manipulation.constraint_graph_factory.GraphFactoryAbstract.grippers

the gripper names

Referenced by manipulation.constraint_graph_factory.GraphFactoryAbstract.generate(), manipulation.constraint_graph_factory.GraphFactoryAbstract.makeTransition(), manipulation.constraint_graph_factory.GraphFactoryAbstract.setGrippers(), and manipulation.constraint_graph_factory.GraphFactoryAbstract.setRules().

manipulation.constraint_graph_factory.GraphFactoryAbstract.handles

the handle names

Referenced by manipulation.constraint_graph_factory.GraphFactoryAbstract.generate(), manipulation.constraint_graph_factory.GraphFactoryAbstract.makeTransition(), manipulation.constraint_graph_factory.GraphFactoryAbstract.setObjects(), and manipulation.constraint_graph_factory.GraphFactoryAbstract.setRules().

manipulation.constraint_graph_factory.GraphFactoryAbstract.handlesPerObjects

See setObjects.

Referenced by manipulation.constraint_graph_factory.GraphFactoryAbstract.makeTransition(), and manipulation.constraint_graph_factory.GraphFactoryAbstract.setObjects().