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| def | __init__ (self, robotName, rootJointType, urdfString, srdfString="", load=True, client=None, hppcorbaClient=None) |
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| def | loadModel (self, robotName, rootJointType) |
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| def | urdfPath (self) |
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| def | __init__ (self, robotName=None, rootJointType=None, load=True, client=None, hppcorbaClient=None) |
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| def | rebuildRanks (self) |
| | Rebuild inner variables rankInConfiguration and rankInVelocity. More...
|
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| def | urdfSrdfFilenames (self) |
| | Return urdf and srdf filenames. More...
|
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| def | urdfSrdfString (self) |
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| def | loadModel (self, robotName, rootJointType) |
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| def | urdfPath (self) |
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| def | srdfPath (self) |
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| def | getConfigSize (self) |
| | Get size of configuration. More...
|
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| def | getNumberDof (self) |
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| def | getJointNames (self) |
| | Get joint names in the same order as in the configuration. More...
|
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| def | getJointTypes (self) |
| | Get joint types in the same order as in the configuration. More...
|
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| def | getAllJointNames (self) |
| | Get joint names in the same order as in the configuration. More...
|
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| def | getParentFrame (self, frameName) |
| | Get parent frame of a frame. More...
|
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| def | getChildFrames (self, frameName, recursive=False) |
| | Get child frames of a frame. More...
|
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| def | getParentJoint (self, jointName) |
| | Get parent joint of a joint (excluding anchor joints) More...
|
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| def | getChildJoints (self, jointName, recursive=False) |
| | Get child joints of a joint (excluding anchor joints) More...
|
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| def | getJointPosition (self, jointName) |
| | Get joint position. More...
|
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| def | getRootJointPosition (self) |
| | Get constant position of root joint in world frame in initial position. More...
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| def | setRootJointPosition (self, position) |
| | Set position of root joint in world frame in initial configuration. More...
|
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| def | setJointPosition (self, jointName, position) |
| | Set the static position of joint WRT its parent. More...
|
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| def | getCurrentTransformation (self, jointName) |
| | Get joint transformation in world frame for current configuration. More...
|
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| def | getJointNumberDof (self, jointName) |
| | Get joint number degrees of freedom. More...
|
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| def | getJointConfigSize (self, jointName) |
| | Get joint number config size. More...
|
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| def | setJointBounds (self, jointName, inJointBound) |
| | set bounds for the joint More...
|
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| def | getJointBounds (self, jointName) |
| | Get bounds for a joint. More...
|
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| def | getSaturated (self, q) |
| | Get joints that are saturated for a given configuration. More...
|
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| def | getLinkPosition (self, linkName) |
| | Get link position in world frame. More...
|
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| def | getLinkNames (self, jointName) |
| | Get link name. More...
|
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| def | setCurrentConfig (self, q) |
| | Set current configuration of composite robot. More...
|
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| def | getCurrentConfig (self) |
| | Get current configuration of composite robot. More...
|
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| def | setCurrentVelocity (self, v) |
| | Set current velocity of composite robot. More...
|
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| def | getCurrentVelocity (self) |
| | Get current velocity of composite robot. More...
|
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| def | shootRandomConfig (self) |
| | Shoot random configuration. More...
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| def | getJointInnerObjects (self, jointName) |
| | Get the list of objects attached to a joint. More...
|
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| def | getJointOuterObjects (self, jointName) |
| | Get list of collision objects tested with the body attached to a joint. More...
|
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| def | getObjectPosition (self, objectName) |
| | Get position of robot object. More...
|
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| def | removeObstacleFromJoint (self, objectName, jointName) |
| | Remove an obstacle from outer objects of a joint body. More...
|
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| def | isConfigValid (self, cfg) |
| | Check the validity of a configuration. More...
|
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| def | distancesToCollision (self) |
| | Compute distances between bodies and obstacles. More...
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| def | getRobotAABB (self) |
| | Get the aligned axes bounding box around the robot. More...
|
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| def | getMass (self) |
| | Get mass of robot. More...
|
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| def | getCenterOfMass (self) |
| | Get position of center of mass. More...
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| def | getJacobianCenterOfMass (self) |
| | Get Jacobian of the center of mass. More...
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Public Member Functions inherited from hpp.corbaserver.robot.Robot