From b211682c8c5d8e54bbe0aaaa66a713d9bebe396f Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Tue, 29 Sep 2015 18:18:35 +0200
Subject: [PATCH] doc
---
src/hpp/corbaserver/rbprm/rbprmbuilder.py | 11 +--
src/hpp/corbaserver/rbprm/rbprmfullbody.py | 78 +++++++++++++++++++---
2 files changed, 69 insertions(+), 20 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/rbprmbuilder.py b/src/hpp/corbaserver/rbprm/rbprmbuilder.py
index 4e06324..4d53db1 100755
--- a/src/hpp/corbaserver/rbprm/rbprmbuilder.py
+++ b/src/hpp/corbaserver/rbprm/rbprmbuilder.py
@@ -31,17 +31,10 @@ class CorbaClient:
## Load and handle a RbprmDevice robot for rbprm planning
#
-# A RbprmDevice robot is a set of two robots. One for the
-# trunk of the robot, one for the range of motion
+# A RbprmDevice robot is a dual representation of a robots. One robot describes the
+# trunk of the robot, and a set of robots describe the range of motion of each limb of the robot.
class Builder (object):
## Constructor
- # \param trunkName name of the first robot that is loaded now,
- # \param romName name of the first robot that is loaded now,
- # \param rootJointType type of root joint among ("freeflyer", "planar",
- # "anchor"),
- # \param load whether to actually load urdf files. Set to no if you only
- # want to initialize a corba client to an already initialized
- # problem.
def __init__ (self, load = True):
self.tf_root = "base_link"
self.rootJointType = dict()
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index 73f44bb..d19d078 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -35,19 +35,21 @@ class CorbaClient:
# trunk of the robot, one for the range of motion
class FullBody (object):
## Constructor
- # \param trunkName name of the first robot that is loaded now,
- # \param romName name of the first robot that is loaded now,
- # \param rootJointType type of root joint among ("freeflyer", "planar",
- # "anchor"),
- # \param load whether to actually load urdf files. Set to no if you only
- # want to initialize a corba client to an already initialized
- # problem.
def __init__ (self, load = True):
self.tf_root = "base_link"
self.rootJointType = dict()
self.client = CorbaClient ()
self.load = load
-
+
+ ## Virtual function to load the fullBody robot model.
+ #
+ # \param urdfName urdf description of the fullBody robot
+ # \param rootJointType type of root joint among ("freeflyer", "planar",
+ # "anchor"), WARNING. Currently RB-PRM only considerds freeflyer roots
+ # \param meshPackageName name of the meshpackage from where the robot mesh will be loaded
+ # \param packageName name of the package from where the robot will be loaded
+ # \param urdfSuffix optional suffix for the urdf of the robot package
+ # \param srdfSuffix optional suffix for the srdf of the robot package
def loadFullBodyModel (self, urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix):
self.client.rbprm.rbprm.loadFullBodyRobot(urdfName, rootJointType, packageName, urdfName, urdfSuffix, srdfSuffix)
self.name = urdfName
@@ -71,30 +73,84 @@ class FullBody (object):
self.rankInVelocity [j] = rankInVelocity
rankInVelocity += self.client.basic.robot.getJointNumberDof (j)
+ ## Add a limb to the model
+ #
+ # \param id: user defined id for the limb. Must be unique.
+ # The id is used if several contact points are defined for the same limb (ex: the knee and the foot)
+ # \param name: name of the joint corresponding to the root of the limb.
+ # \param effectorName name of the joint to be considered as the effector of the limb
+ # \param offset position of the effector in joint coordinates relatively to the effector joint
+ # \param unit normal vector of the contact point, expressed in the effector joint coordinates
+ # \param x width of the default support polygon of the effector
+ # \param y height of the default support polygon of the effector
+ # \param collisionObjects objects to be considered for collisions with the limb. TODO remove
+ # \param nbSamples number of samples to generate for the limb
+ # \param resolution, resolution of the octree voxels. The samples generated are stored in an octree data
+ # structure to perform efficient proximity requests. The resulution of the octree, in meters, specifies the size
+ # of the unit voxel of the octree. The larger they are, the more samples will be considered as candidates for contact.
+ # This can be problematic in terms of performance. The default value is 3 cm.
def addLimb(self, limbId, name, effectorname, offset, normal, x, y, samples, resolution):
self.client.rbprm.rbprm.addLimb(limbId, name, effectorname, offset, normal, x, y, samples, resolution)
+ ## Returns the configuration of a limb described by a sample
+ #
+ # \param name name of the limb considered
+ # \param idsample identifiant of the sample considered
def getSample(self, name, idsample):
return self.client.rbprm.rbprm.getSampleConfig(name,idsample)
+ ## Returns the end effector position of en effector,
+ # given the current root configuration of the robot and a limb sample
+ #
+ # \param name name of the limb considered
+ # \param idsample identifiant of the sample considered
def getSamplePosition(self, name, idsample):
return self.client.rbprm.rbprm.getSamplePosition(name,idsample)
+ ## Generates a balanced contact configuration, considering the
+ # given current configuration of the robot, and a direction of motion.
+ # Typically used to generate a start and / or goal configuration automatically for a planning problem.
+ #
+ # \param configuration the initial robot configuration
+ # \param direction a 3d vector specifying the desired direction of motion
def generateContacts(self, configuration, direction):
return self.client.rbprm.rbprm.generateContacts(configuration, direction)
+ ## Retrieves the contact candidates configurations given a configuration and a limb
+ #
+ # \param name id of the limb considered
+ # \param configuration the considered robot configuration
+ # \param direction a 3d vector specifying the desired direction of motion
def getContactSamplesIds(self, name, configuration, direction):
return self.client.rbprm.rbprm.getContactSamplesIds(name, configuration, direction)
-
+
+ ## Initialize the first configuration of the path discretization
+ # with a balanced configuration for the interpolation problem;
+ #
+ # \param configuration the desired start configuration
+ # \param contacts the array of limbs in contact
def setStartState(self, configuration, contacts):
return self.client.rbprm.rbprm.setStartState(configuration, contacts)
+ ## Initialize the last configuration of the path discretization
+ # with a balanced configuration for the interpolation problem;
+ #
+ # \param configuration the desired end configuration
+ # \param contacts the array of limbs in contact
def setEndState(self, configuration, contacts):
return self.client.rbprm.rbprm.setEndState(configuration, contacts)
-
+
+ ## Saves a computed contact sequence in a given filename
+ #
+ # \param The file where the configuration must be saved
def saveComputedStates(self, filename):
return self.client.rbprm.rbprm.saveComputedStates(filename)
-
+
+ ## Discretizes a path return by a motion planner into a discrete
+ # sequence of balanced, contact configurations and returns
+ # the sequence as an array of configurations
+ #
+ # \param stepSize discretization step
def interpolate(self, stepsize):
return self.client.rbprm.rbprm.interpolate(stepsize)
--
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