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

Inheritance diagram for manipulation.constraint_graph.ConstraintGraph:

Collaboration diagram for manipulation.constraint_graph.ConstraintGraph:

Public Member Functions
def	__init__ (self, robot, graphName, makeGraph=True)

def	addTextToTeXTranslation (self, text, tex)
	Add entry to the local dictionnary. More...

def	setTextToTeXTranslation (self, textToTex)
	Set the local dictionnary. More...

def	setSecurityMarginForEdge (self, edge, joint1, joint2, margin)
	Set collision security margin for a pair of joints along an edge. More...

Working with the constraint graph
def	display (self, dotOut='/tmp/constraintgraph.dot', pdfOut='/tmp/constraintgraph', format='pdf', open=True)
	Display the current graph. More...

def	getNodesConnectedByEdge (self, edge)
	Get nodes connected by an edge. More...

def	applyNodeConstraints (self, node, input)
	Apply constaints to a configuration. More...

def	applyEdgeLeafConstraints (self, edge, qfrom, input)
	Apply edge constaints to a configuration. More...

def	generateTargetConfig (self, edge, qfrom, input)
	Generate configuration in destination state on a given leaf. More...

def	buildAndProjectPath (self, edge, qb, qe)
	Build a path from qb to qe using the Edge::build. More...

def	getConfigErrorForNode (self, nodeId, config)
	Get error of a config with respect to a node constraint. More...

def	getNode (self, config)
	Get the node corresponding to the state of the configuration. More...

def	getConfigErrorForEdge (self, edgeId, config)
	Get error of a config with respect to a edge constraint. More...

def	getConfigErrorForEdgeLeaf (self, edgeId, leafConfig, config)
	Get error of a config with respect to an edge foliation leaf. More...

def	getConfigErrorForEdgeTarget (self, edgeId, leafConfig, config)
	Get error of a config with respect to the target of an edge foliation leaf. More...

def	displayNodeConstraints (self, node)
	Print set of constraints relative to a node in a string. More...

def	displayEdgeConstraints (self, edge)
	Print set of constraints relative to an edge in a string. More...

def	displayEdgeTargetConstraints (self, edge)
	Print set of constraints relative to an edge in a string. More...

Public Attributes
	robot

	client

	clientBasic

	graph

	name

	grasps

	pregrasps

	nodes
	A dictionnary mapping the node names to their ID. More...

	edges
	A dictionnary mapping the edge names to their ID. More...

	graphId

	textToTex

Static Public Attributes
dictionary	cmdDot

dictionary	cmdViewer

Building the constraint graph
def	createNode (self, node, waypoint=False, priority=None)
	Create one or several node. More...

def	createEdge (self, nodeFrom, nodeTo, name, weight=1, isInNode=None)
	Create an edge. More...

def	setContainingNode (self, edge, node)
	Set in which node an edge is. More...

def	getContainingNode (self, edge)
	Get in which node an edge is. More...

def	setShort (self, edge, isShort)
	Set that an edge is short. More...

def	isShort (self, edge)

def	createWaypointEdge (self, nodeFrom, nodeTo, name, nb=1, weight=1, isInNode=None, automaticBuilder=True)
	Create a WaypointEdge. More...

def	createLevelSetEdge (self, nodeFrom, nodeTo, name, weight=1, isInNode=None)
	Create a LevelSetEdge. More...

def	createGrasp (self, name, gripper, handle, passiveJoints="")
	Create grasp constraints between robot gripper and object handle. More...

def	createPreGrasp (self, name, gripper, handle, passiveJoints="")
	Create pre-grasp constraints between robot gripper and object handle. More...

def	setProblemConstraints (self, name, target)
	Set the problem constraints to the specified constraint. More...

def	addConstraints (self, graph=False, node=None, edge=None, constraints=None, passiveJoints=[])
	Add the constraints to an edge, a node or the whole graph. More...

def	removeCollisionPairFromEdge (self, edge, joint1, joint2)
	Remove collision pairs from an edge. More...

def	addLevelSetFoliation (self, edge, condGrasps=None, condPregrasps=None, condNC=[], condLJ=[], paramGrasps=None, paramPregrasps=None, paramNC=[], paramPassiveJoints=[], paramLJ=[])
	Add the numerical constraints to a LevelSetEdge that create the foliation. More...

def	getWeight (self, edge)
	Get weight of an edge. More...

def	setWeight (self, edge, weight)
	Set weight of an edge. More...

Automatic building
def	initialize (self)

def	buildGenericGraph (robot, name, grippers, objects, handlesPerObjects, shapesPerObjects, envNames, rules=[])
	Build a graph. More...

Detailed Description

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

◆ init()

def manipulation.constraint_graph.ConstraintGraph.__init__	(	self,
		robot,
		graphName,
		makeGraph = `True`
	)

Member Function Documentation

◆ addConstraints()

def manipulation.constraint_graph.ConstraintGraph.addConstraints	(	self,
		graph = `False`,
		node = `None`,
		edge = `None`,
		constraints = `None`,
		passiveJoints = `[]`
	)

Add the constraints to an edge, a node or the whole graph.

This method adds the constraints to an element of the graph and handles the special cases of grasp and pregrasp constraints.

Parameters

graph	set to true if you are defining constraints for every nodes,
node	edge name of a component of the graph,
constraints	set of constraints containing grasps, pregrasps, numerical constraints and locked joints. It must be of type hpp.corbaserver.manipulation.Constraints.
passiveJoints	passive joints (not modified by constraint resolution)

Note

Exaclty one of the parameter graph, node and edge must be set.

Add the constraints to an edge, a node or the whole graph

  This method adds the constraints to an element of the graph and
  handles the special cases of grasp and pregrasp constraints.

  input
    graph: set to true if you are defining constraints for every nodes,
    node, edge: name of a component of the graph,
    constraints: set of constraints containing grasps, pregrasps,
         numerical constraints and locked joints.
         It must be of type hpp.corbaserver.manipulation.Constraints.
    passiveJoints: passive joints (not modified by constraint
           resolution)
  note: Exaclty one of the parameter graph, node and edge must be set.

◆ addLevelSetFoliation()

def manipulation.constraint_graph.ConstraintGraph.addLevelSetFoliation	(	self,
		edge,
		condGrasps = `None`,
		condPregrasps = `None`,
		condNC = `[]`,
		condLJ = `[]`,
		paramGrasps = `None`,
		paramPregrasps = `None`,
		paramNC = `[]`,
		paramPassiveJoints = `[]`,
		paramLJ = `[]`
	)

Add the numerical constraints to a LevelSetEdge that create the foliation.

Parameters

edge	name of a LevelSetEdge of the graph.
condGrasps,condPregrasps	name, or list of names, of grasp or pregrasp that define the foliated manifold
condNC,condLJ	numerical constraints and locked joints that define the foliated manifold
paramGrasps,paramPregrasps	name, or list of names, of grasp or pregrasp that parametrize the foliation
paramNC,paramPassiveJoints,paramLJ	numerical constraints and locked joints that parametrize the foliation

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

◆ addTextToTeXTranslation()

def manipulation.constraint_graph.ConstraintGraph.addTextToTeXTranslation	(	self,
		text,
		tex
	)

Add entry to the local dictionnary.

Parameters

text	plain text
tex	its latex translation

See also: ConstraintGraph.setTextToTeXTranslation

◆ applyEdgeLeafConstraints()

def manipulation.constraint_graph.ConstraintGraph.applyEdgeLeafConstraints	(	self,
		edge,
		qfrom,
		input
	)

Apply edge constaints to a configuration.

Parameters

edge	name of the edge
qfrom	configuration defining the right hand side of the edge constraint,
input	input configuration,

Return values

output	output configuration,
error	norm of the residual error.

If success, the output configuration is reachable from qfrom along the transition.

◆ applyNodeConstraints()

def manipulation.constraint_graph.ConstraintGraph.applyNodeConstraints	(	self,
		node,
		input
	)

Apply constaints to a configuration.

Parameters

node	name of the node the constraints of which to apply
input	input configuration,

Return values

output	output configuration,
error	norm of the residual error.

◆ buildAndProjectPath()

def manipulation.constraint_graph.ConstraintGraph.buildAndProjectPath	(	self,
		edge,
		qb,
		qe
	)

Build a path from qb to qe using the Edge::build.

Parameters

edge	name of the edge to use.
qb	configuration at the beginning of the path
qe	configuration at the end of the path

Return values

return	true if the path is built and fully projected.
indexNotProj	-1 is the path could not be built. The index of the built path (before projection) in the in the ProblemSolver path vector.
indexProj	-1 is the path could not be fully projected. The index of the built path (before projection) in the in the ProblemSolver path vector. No path validation is made. The paths can be retrieved using corbaserver::Problem::configAtParam

◆ buildGenericGraph()

def manipulation.constraint_graph.ConstraintGraph.buildGenericGraph	(	robot,
		name,
		grippers,
		objects,
		handlesPerObjects,
		shapesPerObjects,
		envNames,
		rules = `[]`
	)

static

Build a graph.

Returns: a Initialized ConstraintGraph object

See also: hpp::corbaserver::manipulation::Graph::autoBuild for complete documentation.

◆ createEdge()

def manipulation.constraint_graph.ConstraintGraph.createEdge	(	self,
		nodeFrom,
		nodeTo,
		name,
		weight = `1`,
		isInNode = `None`
	)

Create an edge.

Parameters

nodeFrom,nodeTo	the extremities of the edge,
name	name of the edge,
weight	see note,
isInNode	name of the node in which paths of the edge are included. if None, it consists of the node coming the latest in the list of nodes.

Note: The weights define the probability of selecting an edge among all the outgoing edges of a node. The probability of an edge is $\frac{w_i}{\sum_j{w_j}}$ , where each corresponds to an outgoing edge from a given node. To have an edge that cannot be selected by the M-RRT algorithm but is still acceptable, set its weight to zero.

◆ createGrasp()

def manipulation.constraint_graph.ConstraintGraph.createGrasp	(	self,
		name,
		gripper,
		handle,
		passiveJoints = `""`
	)

Create grasp constraints between robot gripper and object handle.

Creates two contraints between a handle and a gripper.

The first constraint named "${name}" is defined by the type of handle. For instance, an axial handle defines a five degree of freedom constraint with free rotation around the x-axis.
the second constraint named "${name}/complement" is the complement to the full transformation constraint. For the axial handle, it corresponds to the rotation around x.

Parameters

name	prefix of the constraint names for storing in ProblemSolver map,
gripper	name of the gripper used when it has been created
handle	name of the handle in the form "object/handle" where object is the name of the object owning the handle and handle is the name of the handle in this object.
passiveJoints	name of the set of passive joints associated to the grasp constraints as register in ProblemSolver

See also: manipulation.problem_solver.ProblemSolver::addPassiveDofs.; method hpp::corbaserver::manipulation::Problem::createGrasp.

Note: Passive joints are only used for path constraints and are for computational optimization only.

◆ createLevelSetEdge()

def manipulation.constraint_graph.ConstraintGraph.createLevelSetEdge	(	self,
		nodeFrom,
		nodeTo,
		name,
		weight = `1`,
		isInNode = `None`
	)

Create a LevelSetEdge.

Parameters

nodeFrom,nodeTo,name,weight,isInNode see createEdge note.

Note: See documentation of class hpp::manipulation::graph::LevelSetEdge for more information.

◆ createNode()

def manipulation.constraint_graph.ConstraintGraph.createNode	(	self,
		node,
		waypoint = `False`,
		priority = `None`
	)

Create one or several node.

Parameters

node	name (resp. list of names) of the node(s) to be created.
waypoint	set to True when creating waypoint nodes.
priority	integer (resp. list of) used to order the states. If two states have the same priority, then the order is the order of creation.

Note: The order is important. The first should be the most restrictive one as a configuration will be in the first node for which the constraint are satisfied.

◆ createPreGrasp()

def manipulation.constraint_graph.ConstraintGraph.createPreGrasp	(	self,
		name,
		gripper,
		handle,
		passiveJoints = `""`
	)

Create pre-grasp constraints between robot gripper and object handle.

Creates two contraints between a handle and a gripper.

The first constraint named "${name}" is the same as the grasp defined in createGrasp, except that the translation along x is not constrained. For instance, an axial handle defines a four degree of freedom constraint with free rotation and translation around/along the x-axis,
the second constraint named "${name}/double_ineq" is a double inequality on the relative x-position of the handle and of the gripper. the bounds of the inequality are for now [-.001 c, 2.001 c].

Parameters

name	prefix of the constraint names for storing in ProblemSolver map,
gripper	name of the gripper used when it has been created
handle	name of the handle in the form "object/handle" where object is the name of the object owning the handle and handle is the name of the handle in this object,
passiveJoints	name of the set of passive joints associated to the pre-grasp constraints as register in ProblemSolver.

See also: manipulation.problem_solver.ProblemSolver::addPassiveDofs.; hpp::corbaserver::manipulation::Problem::createPreGrasp

Note: Passive joints are only used for path constraints and are for computational optimization only.

◆ createWaypointEdge()

def manipulation.constraint_graph.ConstraintGraph.createWaypointEdge	(	self,
		nodeFrom,
		nodeTo,
		name,
		nb = `1`,
		weight = `1`,
		isInNode = `None`,
		automaticBuilder = `True`
	)

Create a WaypointEdge.

Parameters

nodeFrom,nodeTo,name,weight,isInNode	see createEdge note,
nb	number of waypoints,

Note: See documentation of class hpp::manipulation::graph::WaypointEdge for more information.

Warning: Waypoint are now specified by hand to allow finer handling of edge types between waypoints. This function has been updated to be backward compatible but except for the return value. For a finer control of what you are doing, set automaticBuilder to False.

◆ display()

def manipulation.constraint_graph.ConstraintGraph.display	(	self,
		dotOut = `'/tmp/constraintgraph.dot'`,
		pdfOut = `'/tmp/constraintgraph'`,
		format = `'pdf'`,
		open = `True`
	)

Display the current graph.

The graph is printed in DOT format. Command dot must be available.

Parameters

dotOut	full path of the generated DOT file.
pdfOut	fill path of the generated PDF document.
openPDF	set to False if you just want to generate the PDF.

Note: DOT and PDF files will be overwritten and are not automatically deleted so you can keep them.

◆ displayEdgeConstraints()

def manipulation.constraint_graph.ConstraintGraph.displayEdgeConstraints	(	self,
		edge
	)

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

◆ displayEdgeTargetConstraints()

def manipulation.constraint_graph.ConstraintGraph.displayEdgeTargetConstraints	(	self,
		edge
	)

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

◆ displayNodeConstraints()

def manipulation.constraint_graph.ConstraintGraph.displayNodeConstraints	(	self,
		node
	)

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

Parameters

config	Configuration,
nodeId	id of the node.

Returns: string displaying constraints

◆ generateTargetConfig()

def manipulation.constraint_graph.ConstraintGraph.generateTargetConfig	(	self,
		edge,
		qfrom,
		input
	)

Generate configuration in destination state on a given leaf.

Parameters

edge	name of the edge
qfrom	configuration defining the right hand side of the edge constraint,
input	input configuration,

Return values

output	output configuration,
error	norm of the residual error.

Compute a configuration in the destination node of the edge, reachable from qFrom.

◆ getConfigErrorForEdge()

def manipulation.constraint_graph.ConstraintGraph.getConfigErrorForEdge	(	self,
		edgeId,
		config
	)

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

Parameters

edge	name of the edge.
config	Configuration,

Return values

error the error of the edge constraint for the configuration

Returns: whether the configuration belongs to the edge. Call methods core::ConfigProjector::rightHandSideFromConfig with the input configuration and then core::ConstraintSet::isSatisfied on the edge constraints.

◆ getConfigErrorForEdgeLeaf()

def manipulation.constraint_graph.ConstraintGraph.getConfigErrorForEdgeLeaf	(	self,
		edgeId,
		leafConfig,
		config
	)

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.

◆ getConfigErrorForEdgeTarget()

def manipulation.constraint_graph.ConstraintGraph.getConfigErrorForEdgeTarget	(	self,
		edgeId,
		leafConfig,
		config
	)

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.

◆ getConfigErrorForNode()

def manipulation.constraint_graph.ConstraintGraph.getConfigErrorForNode	(	self,
		nodeId,
		config
	)

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

Parameters

node	name 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.

◆ getContainingNode()

def manipulation.constraint_graph.ConstraintGraph.getContainingNode	(	self,
		edge
	)

Get in which node an edge is.

Parameters

edge	the edge, Paths satisfying the edge constraints satisfy the node constraints.

◆ getNode()

def manipulation.constraint_graph.ConstraintGraph.getNode	(	self,
		config
	)

Get the node corresponding to the state of the configuration.

Parameters

dofArray the configuration.

Returns: the name of the node

◆ getNodesConnectedByEdge()

def manipulation.constraint_graph.ConstraintGraph.getNodesConnectedByEdge	(	self,
		edge
	)

Get nodes connected by an edge.

Parameters

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

◆ getWeight()

def manipulation.constraint_graph.ConstraintGraph.getWeight	(	self,
		edge
	)

Get weight of an edge.

◆ initialize()

def manipulation.constraint_graph.ConstraintGraph.initialize ( self )

◆ isShort()

def manipulation.constraint_graph.ConstraintGraph.isShort	(	self,
		edge
	)

◆ removeCollisionPairFromEdge()

def manipulation.constraint_graph.ConstraintGraph.removeCollisionPairFromEdge	(	self,
		edge,
		joint1,
		joint2
	)

Remove collision pairs from an edge.

Parameters

edge	name of the edge,
joint1,joint2,names	of the joints defining the pair.

◆ setContainingNode()

def manipulation.constraint_graph.ConstraintGraph.setContainingNode	(	self,
		edge,
		node
	)

Set in which node an edge is.

Parameters

edge	the edge,
node	the node. Paths satisfying the edge constraints satisfy the node constraints.

◆ setProblemConstraints()

def manipulation.constraint_graph.ConstraintGraph.setProblemConstraints	(	self,
		name,
		target
	)

Set the problem constraints to the specified constraint.

Parameters

idComp	ID of a node or a configuration
target	ignored for states. For edges: true: uses the edge target constraint false: uses the edge path constraint

◆ setSecurityMarginForEdge()

def manipulation.constraint_graph.ConstraintGraph.setSecurityMarginForEdge	(	self,
		edge,
		joint1,
		joint2,
		margin
	)

Set collision security margin for a pair of joints along an edge.

Parameters

edge	name of the edge,
joint1,joint2	names of the joints or "universe" for the environment,
margin	security margin.

◆ setShort()

def manipulation.constraint_graph.ConstraintGraph.setShort	(	self,
		edge,
		isShort
	)

Set that an edge is short.

Parameters

edge	name of the edge
True	or False

When an edge is tagged as short, extension along this edge is done differently in RRT-like algorithms. Instead of projecting a random configuration in the destination node, the configuration to extend itself is projected in the destination node. This makes the rate of success higher.

◆ setTextToTeXTranslation()

def manipulation.constraint_graph.ConstraintGraph.setTextToTeXTranslation	(	self,
		textToTex
	)

Set the local dictionnary.

Parameters

textToTex a dictionnary of (plain text, TeX replacment) If the name of a node or an edges is a key of the dictionnary, it is replaced by the corresponding value.

◆ setWeight()

def manipulation.constraint_graph.ConstraintGraph.setWeight	(	self,
		edge,
		weight
	)

Set weight of an edge.

Member Data Documentation

◆ client

manipulation.constraint_graph.ConstraintGraph.client

◆ clientBasic

manipulation.constraint_graph.ConstraintGraph.clientBasic

◆ cmdDot

dictionary manipulation.constraint_graph.ConstraintGraph.cmdDot

static

Initial value:

=  {
            'pdf': ['dot', '-Gsize=7.5,10', '-Tpdf'],
            'svg': ['dot', '-Gsize=7.5,10', '-Tsvg']
            }

◆ cmdViewer

dictionary manipulation.constraint_graph.ConstraintGraph.cmdViewer

static

Initial value:

=  {
            'pdf': ['evince'],
            'svg': ['firefox']
            }

◆ edges

manipulation.constraint_graph.ConstraintGraph.edges

A dictionnary mapping the edge names to their ID.

◆ graph

manipulation.constraint_graph.ConstraintGraph.graph

◆ graphId

manipulation.constraint_graph.ConstraintGraph.graphId

◆ grasps

manipulation.constraint_graph.ConstraintGraph.grasps

◆ name

manipulation.constraint_graph.ConstraintGraph.name

◆ nodes

manipulation.constraint_graph.ConstraintGraph.nodes

A dictionnary mapping the node names to their ID.

◆ pregrasps

manipulation.constraint_graph.ConstraintGraph.pregrasps

◆ robot

manipulation.constraint_graph.ConstraintGraph.robot

◆ textToTex

manipulation.constraint_graph.ConstraintGraph.textToTex

The documentation for this class was generated from the following file:

src/hpp/corbaserver/manipulation/constraint_graph.py

Public Member Functions

Public Attributes

Static Public Attributes

Building the constraint graph

Automatic building

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ addConstraints()

◆ addLevelSetFoliation()

◆ addTextToTeXTranslation()

◆ applyEdgeLeafConstraints()

◆ applyNodeConstraints()

◆ buildAndProjectPath()

◆ buildGenericGraph()

◆ createEdge()

◆ createGrasp()

◆ createLevelSetEdge()

◆ createNode()

◆ createPreGrasp()

◆ createWaypointEdge()

◆ display()

◆ displayEdgeConstraints()

◆ displayEdgeTargetConstraints()

◆ displayNodeConstraints()

◆ generateTargetConfig()

◆ getConfigErrorForEdge()

◆ getConfigErrorForEdgeLeaf()

◆ getConfigErrorForEdgeTarget()

◆ getConfigErrorForNode()

◆ getContainingNode()

◆ getNode()

◆ getNodesConnectedByEdge()

◆ getWeight()

◆ initialize()

◆ isShort()

◆ removeCollisionPairFromEdge()

◆ setContainingNode()

◆ setProblemConstraints()

◆ setSecurityMarginForEdge()

◆ setShort()

◆ setTextToTeXTranslation()

◆ setWeight()

Member Data Documentation

◆ client

◆ clientBasic

◆ cmdDot

◆ cmdViewer

◆ edges

◆ graph

◆ graphId

◆ grasps

◆ name

◆ nodes

◆ pregrasps

◆ robot

◆ textToTex

◆ init()