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pyhpp.manipulation.steering_method

Functions

defDescription
def makePiecewiseLinearTrajectory(arg1: numpy.ndarray, arg2: numpy.ndarray) -> pyhpp.core.bindings.PathBuild a piecewise linear path. See C++ documentation of class hpp::manipulation::steeringMethod::Cartesian.

Cartesian

Build a robot trajectory from an end-effector trajectory

This class does not derive from SteeringMethod since it does not link two configurations by a path. Instead, it only takes an initial configuration and a trajectory of an end-effector.

To use this class, the user needs to provide

a constraint with value in . An easy way to create such a constraint is to use method hpp::manipulation::Handle::createGrasp. The constraint is passed to this class using method trajectoryConstraint .

the time-varying right hand side of this constraint along the path the user wants to create in the form of a hpp::core::Path instance with values in . For that, makePiecewiseLinearTrajectory method may be useful.

Once the steering method has been initialized, it can be called with and initial configuration q_init. The interval of definition of the output path is the same as the one of the path provided as the right hand side of the constraint. Note that q_init should satisfy the constraint at times 0.

defDescription
def init(self, arg2: pyhpp.core.bindings.Problem) -> None
def getRightHandSide(self) -> pyhpp.constraints.bindings.DifferentiableFunctionGet right hand side function of trajectory constraint.
def planPath(self, arg2: numpy.ndarray) -> tuplePlan a path starting from an initial configuration.
@typing.overload
def setRightHandSide(self, arg2: pyhpp.core.bindings.Path, arg3: bool) -> None

@typing.overload
def setRightHandSide(self, arg2: pyhpp.constraints.bindings.DifferentiableFunction, arg3: pyhpp.core.bindings.interval) -> None		Set right hand side from a hpp::core::Path
def timeRange(self) -> pyhpp.core.bindings.intervalGet interval of definition of right hand side of trajectory constraint.
@property
def errorThreshold(*args, **kwargs)

@errorThreshold.setter
def errorThreshold(*args, **kwargs)		Error threshold of numerical solver.
@property
def maxIterations(*args, **kwargs)

@maxIterations.setter
def maxIterations(*args, **kwargs)		Maximal number of iterations of numerical solver.
@property
def nDiscreteSteps(*args, **kwargs)

@nDiscreteSteps.setter
def nDiscreteSteps(*args, **kwargs)		Number of discretization steps in the interval of definition where configurations are computed.
@property
def trajectoryConstraint(*args, **kwargs)

@trajectoryConstraint.setter
def trajectoryConstraint(*args, **kwargs)		Constraint with a time-varying right hand side.