manipulation.constraint_graph_factory.ConstraintGraphFactory Class Reference

Default implementation of ConstraintGraphFactory. More...

Inheritance diagram for manipulation.constraint_graph_factory.ConstraintGraphFactory:

Collaboration diagram for manipulation.constraint_graph_factory.ConstraintGraphFactory:

Classes
class	StateAndManifold

Public Member Functions
def	__init__ (self, graph)
Default functions
def	makeState (self, grasps, priority)
def	makeLoopTransition (self, state)
def	makeTransition (self, stateFrom, stateTo, ig)
	Make transition between to states. More...
Tuning the constraints
def	setPreplacementDistance (self, obj, distance)
	Set preplacement distance. More...
def	getPreplacementDistance (self, obj)
	Get preplacement distance. More...
Public Member Functions inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
def	__init__ (self)
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...
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
	constraints
	Stores the constraints in a child class of ConstraintFactoryAbstract. More...
	graph
Public Attributes inherited from manipulation.constraint_graph_factory.GraphFactoryAbstract
	graspIsAllowed
	Reduces the problem combinatorial. More...
	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...

Static Public Attributes
float	defaultPreplaceDist = 0.05
	defaut distance between objec and surface in preplacement configuration More...
	preplaceDistance = dict()

Detailed Description

Default implementation of ConstraintGraphFactory.

The minimal usage is the following:

graph = ConstraintGraph (robot, "graph")

# Required calls
factory = ConstraintGraphFactory (graph)
factory.setGrippers (["gripper1", ... ])
factory.setObjects (["object1", ], [ [ "object1/handle1", ... ] ], [ [] ])

# Optionally
factory.environmentContacts (["contact1", ... ])
factory.setRules ([ Rule (["gripper1", ..], ["handle1", ...], True), ... ])

factory.generate ()
# graph is initialized

Constructor & Destructor Documentation

__init__()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.__init__	(		self,
			graph
	)

Parameters

graph

an instance of ConstraintGraph

Member Function Documentation

getPreplacementDistance()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.getPreplacementDistance	(		self,
			obj
	)

Get preplacement distance.

Parameters

obj	name of the object

makeLoopTransition()

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

makeState()

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

makeTransition()

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

Make transition between to states.

Parameters

stateFrom	initial state,
stateTo	new state
ig	index of gripper

stateTo grasps are the union of stateFrom grasps with a set containing a grasp by gripper of index ig in list self.grippers of a handle. The index of the newly grasped handle can be found by stateTo.grasps[ig]

setPreplacementDistance()

def manipulation.constraint_graph_factory.ConstraintGraphFactory.setPreplacementDistance	(		self,
			obj,
			distance
	)

Set preplacement distance.

Parameters

obj	name of the object
distance	distance of object to surface in preplacement configuration

Member Data Documentation

constraints

manipulation.constraint_graph_factory.ConstraintGraphFactory.constraints

Stores the constraints in a child class of ConstraintFactoryAbstract.

defaultPreplaceDist

float manipulation.constraint_graph_factory.ConstraintGraphFactory.defaultPreplaceDist = 0.05

static

defaut distance between objec and surface in preplacement configuration

graph

manipulation.constraint_graph_factory.ConstraintGraphFactory.graph

preplaceDistance

manipulation.constraint_graph_factory.ConstraintGraphFactory.preplaceDistance = dict()

static

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

• src/hpp/corbaserver/manipulation/constraint_graph_factory.py