From 2d4f94bb83c235b4cce8f959ef3ce00c5bea6586 Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@laas.fr>
Date: Tue, 16 Jun 2015 17:12:29 +0200
Subject: [PATCH] managed python bindings, can plan with a rbprmdevice
---
src/CMakeLists.txt | 1 +
src/hpp/corbaserver/rbprm/problem_solver.py | 376 ++++++++++++++++++++
src/hpp/corbaserver/rbprm/rbprmbuilder.py | 32 +-
3 files changed, 402 insertions(+), 7 deletions(-)
create mode 100644 src/hpp/corbaserver/rbprm/problem_solver.py
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index a043a323..38f58e75 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -119,6 +119,7 @@ INSTALL(
FILES
${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/client.py
${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/rbprmbuilder.py
+ ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/problem_solver.py
DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm
)
diff --git a/src/hpp/corbaserver/rbprm/problem_solver.py b/src/hpp/corbaserver/rbprm/problem_solver.py
new file mode 100644
index 00000000..35ad1dd6
--- /dev/null
+++ b/src/hpp/corbaserver/rbprm/problem_solver.py
@@ -0,0 +1,376 @@
+#!/usr/bin/env python
+# Copyright (c) 2014 CNRS
+# Author: Florent Lamiraux
+#
+# This file is part of hpp-corbaserver.
+# hpp-corbaserver is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+#
+# hpp-corbaserver is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# hpp-corbaserver. If not, see
+# <http://www.gnu.org/licenses/>.
+
+## Definition of a path planning problem
+#
+# This class wraps the Corba client to the server implemented by
+# libhpp-corbaserver.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.
+class ProblemSolver (object):
+ def __init__ (self, robot):
+ self.client = robot.client.basic
+ self.robot = robot
+
+ ## \name Initial and goal configurations
+ # \{
+
+ ## Set initial configuration of specified problem.
+ # \param dofArray Array of degrees of freedom
+ # \throw Error.
+ def setInitialConfig (self, dofArray):
+ return self.client.problem.setInitialConfig (dofArray)
+
+ ## Get initial configuration of specified problem.
+ # \return Array of degrees of freedom
+ def getInitialConfig (self):
+ return self.client.problem.getInitialConfig ()
+
+ ## Add goal configuration to specified problem.
+ # \param dofArray Array of degrees of freedom
+ # \throw Error.
+ def addGoalConfig (self, dofArray):
+ return self.client.problem.addGoalConfig (dofArray)
+
+ ## Get goal configurations of specified problem.
+ # \return Array of degrees of freedom
+ def getGoalConfigs (self):
+ return self.client.problem.getGoalConfigs ()
+
+ ## Reset goal configurations
+ def resetGoalConfigs (self):
+ return self.client.problem.resetGoalConfigs ()
+ ## \}
+
+ ## \name Obstacles
+ # \{
+
+ ## Load obstacle from urdf file
+ # \param package Name of the package containing the model,
+ # \param filename name of the urdf file in the package
+ # (without suffix .urdf)
+ # \param prefix prefix added to object names in case the same file is
+ # loaded several times
+ #
+ # The ros url is built as follows:
+ # "package://${package}/urdf/${filename}.urdf"
+ #
+ # The kinematic structure of the urdf file is ignored. Only the geometric
+ # objects are loaded as obstacles.
+ def loadObstacleFromUrdf (self, package, filename, prefix):
+ return self.client.obstacle.loadObstacleModel (package, filename,
+ prefix)
+
+ ## Remove an obstacle from outer objects of a joint body
+ #
+ # \param objectName name of the object to remove,
+ # \param jointName name of the joint owning the body,
+ # \param collision whether collision with object should be computed,
+ # \param distance whether distance to object should be computed.
+ # \throw Error.
+ def removeObstacleFromJoint (self, objectName, jointName, collision,
+ distance):
+ return self.client.obstacle.removeObstacleFromJoint \
+ (objectName, jointName, collision, distance)
+
+ ## Move an obstacle to a given configuration.
+ # \param objectName name of the polyhedron.
+ # \param cfg the configuration of the obstacle.
+ # \throw Error.
+ #
+ # \note The obstacle is not added to local map
+ # impl::Obstacle::collisionListMap.
+ #
+ # \note Build the collision entity of polyhedron for KCD.
+ def moveObstacle (self, objectName, cfg):
+ return self.client.obstacle.moveObstacle (objectName, cfg)
+ ## Get the position of an obstacle
+ #
+ # \param objectName name of the polyhedron.
+ # \retval cfg Position of the obstacle.
+ # \throw Error.
+ def getObstaclePosition (self, objectName):
+ return self.client.obstacle.getObstaclePosition (objectName)
+
+ ## Get list of obstacles
+ #
+ # \param collision whether to return obstacle for collision,
+ # \param distance whether to return obstacles for distance computation
+ # \return list of obstacles
+ def getObstacleNames (self, collision, distance):
+ return self.client.obstacle.getObstacleNames (collision, distance)
+
+ ##\}
+
+ ## \name Constraints
+ # \{
+
+ ## Create orientation constraint between two joints
+ #
+ # \param constraintName name of the constraint created,
+ # \param joint1Name name of first joint
+ # \param joint2Name name of second joint
+ # \param p quaternion representing the desired orientation
+ # of joint2 in the frame of joint1.
+ # \param mask Select which axis to be constrained.
+ # If joint1 or joint2 is "", the corresponding joint is replaced by
+ # the global frame.
+ # constraints are stored in ProblemSolver object
+ def createOrientationConstraint (self, constraintName, joint1Name,
+ joint2Name, p, mask):
+ return self.client.problem.createOrientationConstraint \
+ (constraintName, joint1Name, joint2Name, p, mask)
+
+ ## Create RelativeCom constraint between two joints
+ #
+ # \param constraintName name of the constraint created,
+ # \param comName name of CenterOfMassComputation
+ # \param jointName name of joint
+ # \param point point in local frame of joint.
+ # \param mask Select axis to be constrained.
+ # If jointName is "", the robot root joint is used.
+ # Constraints are stored in ProblemSolver object
+ def createRelativeComConstraint (self, constraintName, comName, jointLName, point, mask):
+ return self.client.problem.createRelativeComConstraint \
+ (constraintName, comName, jointLName, point, mask)
+
+ ## Create ComBeetweenFeet constraint between two joints
+ #
+ # \param constraintName name of the constraint created,
+ # \param comName name of CenterOfMassComputation
+ # \param jointLName name of first joint
+ # \param jointRName name of second joint
+ # \param pointL point in local frame of jointL.
+ # \param pointR point in local frame of jointR.
+ # \param jointRefName name of second joint
+ # \param mask Select axis to be constrained.
+ # If jointRef is "", the robot root joint is used.
+ # Constraints are stored in ProblemSolver object
+ def createComBeetweenFeet (self, constraintName, comName, jointLName, jointRName,
+ pointL, pointR, jointRefName, mask):
+ return self.client.problem.createComBeetweenFeet \
+ (constraintName, comName, jointLName, jointRName, pointL, pointR, jointRefName, mask)
+
+ ## Add an object to compute a partial COM of the robot.
+ # \param name of the partial com
+ # \param jointNames list of joint name of each tree ROOT to consider.
+ # \note Joints are added recursively, it is not possible so far to add a
+ # joint without addind all its children.
+ def addPartialCom (self, comName, jointNames):
+ return self.client.robot.addPartialCom (comName, jointNames);
+
+ ## Create position constraint between two joints
+ #
+ # \param constraintName name of the constraint created,
+ # \param joint1Name name of first joint
+ # \param joint2Name name of second joint
+ # \param point1 point in local frame of joint1,
+ # \param point2 point in local frame of joint2.
+ # \param mask Select which axis to be constrained.
+ # If joint1 of joint2 is "", the corresponding joint is replaced by
+ # the global frame.
+ # constraints are stored in ProblemSolver object
+ def createPositionConstraint (self, constraintName, joint1Name,
+ joint2Name, point1, point2, mask):
+ return self.client.problem.createPositionConstraint \
+ (constraintName, joint1Name, joint2Name, point1, point2, mask)
+
+ ## Reset Constraints
+ #
+ # Reset all constraints, including numerical constraints and locked
+ # joints
+ def resetConstraints (self):
+ return self.client.problem.resetConstraints ()
+
+ ## Set numerical constraints in ConfigProjector
+ #
+ # \param name name of the resulting numerical constraint obtained
+ # by stacking elementary numerical constraints,
+ # \param names list of names of the numerical constraints as
+ # inserted by method hpp::core::ProblemSolver::addNumericalConstraint.
+ def setNumericalConstraints (self, name, names):
+ return self.client.problem.setNumericalConstraints (name, names)
+
+ ## Apply constraints
+ #
+ # \param q initial configuration
+ # \return configuration projected in success,
+ # \throw Error if projection failed.
+ def applyConstraints (self, q):
+ return self.client.problem.applyConstraints (q)
+
+ ## Create a vector of passive dofs.
+ #
+ # \param name name of the vector in the ProblemSolver map.
+ # \param dofNames list of names of DOF that may
+ def addPassiveDofs (self, name, dofNames):
+ return self.client.problem.addPassiveDofs (name, dofNames)
+
+ ## Generate a configuration satisfying the constraints
+ #
+ # \param maxIter maximum number of tries,
+ # \return configuration projected in success,
+ # \throw Error if projection failed.
+ def generateValidConfig (self, maxIter):
+ return self.client.problem.generateValidConfig (maxIter)
+
+ ## Lock joint with given joint configuration
+ # \param jointName name of the joint
+ # \param value value of the joint configuration
+ def lockJoint (self, jointName, value):
+ return self.client.problem.lockJoint (jointName, value)
+
+ ## error threshold in numerical constraint resolution
+ def setErrorThreshold (self, threshold):
+ return self.client.problem.setErrorThreshold (threshold)
+
+ ## Set the maximal number of iterations
+ def setMaxIterations (self, iterations):
+ return self.client.problem.setMaxIterations (iterations)
+
+
+ ## \}
+
+ ## \name Solve problem and get paths
+ # \{
+
+ ## Select path planner type
+ # \param Name of the path planner type, either "DiffusingPlanner",
+ # "VisibilityPrmPlanner", or any type added by method
+ # core::ProblemSolver::addPathPlannerType
+ def selectPathPlanner (self, pathPlannerType):
+ return self.client.problem.selectPathPlanner (pathPlannerType)
+
+ ## Add a path optimizer
+ # \param Name of the path optimizer type, either "RandomShortcut" or
+ # any type added by core::ProblemSolver::addPathOptimizerType
+ def addPathOptimizer (self, pathOptimizerType):
+ return self.client.problem.addPathOptimizer (pathOptimizerType)
+
+ ## Clear sequence of path optimizers
+ #
+ def clearPathOptimizers (self):
+ return self.client.problem.clearPathOptimizers ()
+
+ ## Select path validation method
+ # \param Name of the path validation method, either "Discretized"
+ # "Progressive", "Dichotomy", or any type added by
+ # core::ProblemSolver::addPathValidationType,
+ # \param tolerance maximal acceptable penetration.
+ def selectPathValidation (self, pathValidationType, tolerance):
+ return self.client.problem.selectPathValidation (pathValidationType,
+ tolerance)
+
+ ## Select path projector method
+ # \param Name of the path projector method, either "Discretized"
+ # "Progressive", "Dichotomy", or any type added by
+ # core::ProblemSolver::addPathProjectorType,
+ # \param tolerance maximal acceptable penetration.
+ def selectPathProjector (self, pathProjectorType, tolerance):
+ return self.client.problem.selectPathProjector (pathProjectorType,
+ tolerance)
+
+ ## Solve the problem of corresponding ChppPlanner object
+ def solve (self):
+ return self.client.problem.solve ()
+
+ ## Make direct connection between two configurations
+ # \param startConfig, endConfig: the configurations to link.
+ # \throw Error if steering method fails to create a direct path of if
+ # direct path is not valid
+ def directPath (self, startConfig, endConfig):
+ return self.client.problem.directPath (startConfig, endConfig)
+
+ ## Get Number of paths
+ def numberPaths (self):
+ return self.client.problem.numberPaths ()
+
+ ## Optimize a given path
+ # \param inPathId Id of the path in this problem.
+ # \throw Error.
+ def optimizePath(self, inPathId):
+ return self.client.problem.optimizePath (inPathId)
+
+ ## Get length of path
+ # \param inPathId rank of the path in the problem
+ # \return length of path if path exists.
+ def pathLength(self, inPathId):
+ return self.client.problem.pathLength(inPathId)
+
+ ## Get the robot's config at param on the a path
+ # \param inPathId rank of the path in the problem
+ # \param atDistance : the user parameter choice
+ # \return dofseq : the config at param
+ def configAtParam (self, inPathId, atDistance):
+ return self.client.problem.configAtParam (inPathId, atDistance)
+
+ ## Get way points of a path
+ # \param pathId rank of the path in the problem
+ def getWaypoints (self, pathId):
+ return self.client.problem.getWaypoints (pathId)
+
+ ## \name Interruption of a path planning request
+ # \{
+
+ ## \brief Interrupt path planning activity
+ # \note this method is effective only when multi-thread policy is used
+ # by CORBA server.
+ # See constructor of class Server for details.
+ def interruptPathPlanning (self):
+ return self.client.problem.interruptPathPlanning ()
+ # \}
+
+ ## \name exploring the roadmap
+ # \{
+
+ ## Get nodes of the roadmap.
+ def nodes(self):
+ return self.client.problem.nodes ()
+
+ # the configuration of the node nodeId
+ def node(self,nodeId):
+ return self.client.problem.node(nodeId)
+
+ # the number of nodes in the roadmap
+ def numberNodes(self):
+ return self.client.problem.numberNodes ()
+
+ ## Number of edges
+ def numberEdges (self):
+ return self.client.problem.numberEdges ()
+
+ ## Edge at given rank
+ def edge (self, edgeId):
+ return self.client.problem.edge (edgeId)
+
+ ## Number of connected components
+ def numberConnectedComponents (self):
+ return self.client.problem.numberConnectedComponents ()
+
+ ## Nodes of a connected component
+ # \param connectedComponentId index of connected component in roadmap
+ # \return list of nodes of the connected component.
+ def nodesConnectedComponent (self, ccId):
+ return self.client.problem.nodesConnectedComponent (ccId)
+
+ ## Clear the roadmap
+ def clearRoadmap (self):
+ return self.client.problem.clearRoadmap ()
+ ## \}
diff --git a/src/hpp/corbaserver/rbprm/rbprmbuilder.py b/src/hpp/corbaserver/rbprm/rbprmbuilder.py
index 713cc3c3..141c6eb3 100644
--- a/src/hpp/corbaserver/rbprm/rbprmbuilder.py
+++ b/src/hpp/corbaserver/rbprm/rbprmbuilder.py
@@ -42,18 +42,36 @@ class Builder (object):
# \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, trunkName, romName, rootJointType, load = True):
+ def __init__ (self, load = True):
self.tf_root = "base_link"
self.rootJointType = dict()
- self.name = trunkName
- self.displayName = trunkName
self.client = CorbaClient ()
self.load = load
- self.loadModel (trunkName, romName, rootJointType)
-
+
## Virtual function to load the robot model
- def loadModel (self, trunkName, romName, rootJointType):
- self.client.rbprm.robot.create (trunkName, romName)
+ def loadModel (self, urdfName, rootJointType, packageName, meshPackageName, urdfSuffix, srdfSuffix):
+ self.client.rbprm.rbprm.loadRobotRomModel(urdfName, rootJointType, packageName, urdfName, urdfSuffix, srdfSuffix)
+ self.client.rbprm.rbprm.loadRobotCompleteModel(urdfName, rootJointType, packageName, urdfName, urdfSuffix, srdfSuffix)
+ self.name = urdfName
+ self.displayName = urdfName
+ self.tf_root = "base_link"
+ self.rootJointType = rootJointType
+ self.jointNames = self.client.basic.robot.getJointNames ()
+ self.allJointNames = self.client.basic.robot.getAllJointNames ()
+ self.client.basic.robot.meshPackageName = meshPackageName
+ self.meshPackageName = meshPackageName
+ self.rankInConfiguration = dict ()
+ self.rankInVelocity = dict ()
+ self.packageName = packageName
+ self.urdfName = urdfName
+ self.urdfSuffix = urdfSuffix
+ self.srdfSuffix = srdfSuffix
+ rankInConfiguration = rankInVelocity = 0
+ for j in self.jointNames:
+ self.rankInConfiguration [j] = rankInConfiguration
+ rankInConfiguration += self.client.basic.robot.getJointConfigSize (j)
+ self.rankInVelocity [j] = rankInVelocity
+ rankInVelocity += self.client.basic.robot.getJointNumberDof (j)
## \name Degrees of freedom
# \{
--
GitLab