manipulation.problem_solver.ProblemSolver Class Reference

Definition of a manipulation planning problem. More...

Inheritance diagram for manipulation.problem_solver.ProblemSolver:

Collaboration diagram for manipulation.problem_solver.ProblemSolver:

Public Member Functions
def	__init__ (self, robot)
def	selectProblem (self, name)
	Select a problem by its name. More...
def	getAvailable (self, type)
	Return a list of available elements of type type. More...
def	getSelected (self, type)
	Return a list of selected elements of type type. More...
Constraints
def	createPlacementConstraints (self, placementName, shapeName, envContactName, width=0.05)
	Create placement and pre-placement constraints. More...
def	balanceConstraints (self)
	Return balance constraints created by method ProblemSolver.createStaticStabilityConstraints. More...
def	getConstantRightHandSide (self, constraintName)
	Get whether right hand side of a numerical constraint is constant. More...
def	lockFreeFlyerJoint (self, freeflyerBname, lockJointBname, values=(0, 0, 0, 0, 0, 0, 1))
	Lock degree of freedom of a FreeFlyer joint. More...
def	lockPlanarJoint (self, jointName, lockJointName, values=(0, 0, 1, 0))
	Lock degree of freedom of a planar joint. More...
Solve problem and get paths
def	setTargetState (self, stateId)
	Set the problem target to stateId The planner will look for a path from the init configuration to a configuration in state stateId. More...

Detailed Description

Definition of a manipulation planning problem.

This class wraps the Corba client to the server implemented by libhpp-manipulation-corba.so

Some method implemented by the server can be considered as private. The goal of this class is to hide them and to expose those that can be considered as public.

Constructor & Destructor Documentation

def manipulation.problem_solver.ProblemSolver.__init__	(		self,
			robot
	)

References hpp::corbaserver::problem_solver::ProblemSolver.__init__().

Member Function Documentation

def manipulation.problem_solver.ProblemSolver.balanceConstraints

(

self

)

Return balance constraints created by method ProblemSolver.createStaticStabilityConstraints.

def manipulation.problem_solver.ProblemSolver.createPlacementConstraints	(		self,
			placementName,
			shapeName,
			envContactName,
			width = 0.05
	)

Create placement and pre-placement constraints.

Parameters

width

set to None to skip creation of pre-placement constraint

See hpp::corbaserver::manipulation::Problem::createPlacementConstraint and hpp::corbaserver::manipulation::Problem::createPrePlacementConstraint

def manipulation.problem_solver.ProblemSolver.getAvailable	(		self,
			type
	)

Return a list of available elements of type type.

Parameters

type	enter "type" to know what types I know of. This is case insensitive.

References hpp::corbaserver::problem_solver::ProblemSolver.getAvailable().

Referenced by manipulation.problem_solver.ProblemSolver.getConstantRightHandSide().

def manipulation.problem_solver.ProblemSolver.getConstantRightHandSide	(		self,
			constraintName
	)

Get whether right hand side of a numerical constraint is constant.

Parameters

constraintName

Name of the numerical constraint,

Returns

whether right hand side is constant

Note

LockedJoint have non constant right hand side

References hpp::corbaserver::Problem.getAvailable(), hpp::corbaserver::problem_solver::ProblemSolver.getAvailable(), hpp::corbaServer::impl::Problem.getAvailable(), hpp::corbaserver::manipulation::Problem.getAvailable(), manipulation.problem_solver.ProblemSolver.getAvailable(), and hpp::corbaserver::problem_solver::ProblemSolver.getConstantRightHandSide().

def manipulation.problem_solver.ProblemSolver.getSelected	(		self,
			type
	)

Return a list of selected elements of type type.

Parameters

type	enter "type" to know what types I know of. This is case insensitive.

Note

For most of the types, the list will contain only one element.

References hpp::corbaserver::problem_solver::ProblemSolver.getSelected().

def manipulation.problem_solver.ProblemSolver.lockFreeFlyerJoint	(		self,
			freeflyerBname,
			lockJointBname,
			values = (0,0,0,0,0,0,1)
	)

Lock degree of freedom of a FreeFlyer joint.

Parameters

freeflyerBname	base name of the joint (It will be completed by '_xyz' and '_SO3'),
lockJointBname	base name of the LockedJoint constraints (It will be completed by '_xyz' and '_SO3'),
values	config of the locked joints (7 float)

References hpp::corbaserver::Problem.createLockedJoint(), hpp::corbaserver::problem_solver::ProblemSolver.createLockedJoint(), and hpp::corbaServer::impl::Problem.createLockedJoint().

def manipulation.problem_solver.ProblemSolver.lockPlanarJoint	(		self,
			jointName,
			lockJointName,
			values = (0,0,1,0)
	)

Lock degree of freedom of a planar joint.

Parameters

jointName	name of the joint (It will be completed by '_xy' and '_rz'),
lockJointName	name of the LockedJoint constraint
values	config of the locked joints (4 float)

References hpp::corbaserver::Problem.createLockedJoint(), hpp::corbaserver::problem_solver::ProblemSolver.createLockedJoint(), and hpp::corbaServer::impl::Problem.createLockedJoint().

def manipulation.problem_solver.ProblemSolver.selectProblem	(		self,
			name
	)

Select a problem by its name.

If no problem with this name exists, a new hpp::manipulation::ProblemSolver is created and selected.

Parameters

name	the problem name.

Returns

true if a new problem was created.

References hpp::corbaserver::problem_solver::ProblemSolver.selectProblem().

def manipulation.problem_solver.ProblemSolver.setTargetState	(		self,
			stateId
	)

Set the problem target to stateId The planner will look for a path from the init configuration to a configuration in state stateId.