hpp-manipulation-corba  4.12.0
Corba server for manipulation planning
robot.idl
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1 // Copyright (c) 2014 CNRS
2 // Author: Florent Lamiraux
3 //
4 // This file is part of hpp-manipulation-corba.
5 // hpp-manipulation-corba is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
9 //
10 // hpp-manipulation-corba is distributed in the hope that it will be
11 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
12 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 // General Lesser Public License for more details. You should have
14 // received a copy of the GNU Lesser General Public License along with
15 // hpp-manipulation-corba. If not, see
16 // <http://www.gnu.org/licenses/>.
17 
18 #ifndef HPP_MANIPULATION_CORBA_ROBOT_IDL
19 #define HPP_MANIPULATION_CORBA_ROBOT_IDL
20 
21 #include <hpp/common.idl>
22 
23 module hpp
24 {
25  module corbaserver {
26  module manipulation {
27  interface Robot
28  {
40  void insertRobotModel (in string robotName, in string rootJointType,
41  in string urdfname, in string srdfname)
42  raises (Error);
43 
45  void insertRobotModelOnFrame (in string robotName, in string frameName,
46  in string rootJointType, in string urdfname, in string srdfname)
47  raises (Error);
48 
57  void insertRobotModelFromString (in string robotName, in string rootJointType,
58  in string urdfString, in string srdfString)
59  raises (Error);
60 
63  void insertRobotSRDFModel (in string robotName, in string srdfPath)
64  raises (Error);
65 
68  void insertRobotSRDFModelFromString (in string robotName,
69  in string srdfString) raises (Error);
70 
82  void insertHumanoidModel (in string robotName, in string rootJointType,
83  in string urdfname, in string srdfname)
84  raises (Error);
85 
95  void insertHumanoidModelFromString (in string robotName, in string rootJointType,
96  in string urdfString, in string srdfString)
97  raises (Error);
98 
104  void loadEnvironmentModel (in string urdfName, in string srdfName,
105  in string prefix)
106  raises (Error);
107 
110  Transform_ getRootJointPosition (in string robotName)
111  raises (Error);
112 
117  void setRootJointPosition (in string robotName, in Transform_ position)
118  raises (Error);
119 
125  void addGripper (in string linkName, in string gripperName,
126  in Transform_ handlePositioninJoint)
127  raises (Error);
128 
134  void addHandle (in string linkName, in string handleName,
135  in Transform_ localPosition)
136  raises (Error);
137 
144  void addAxialHandle (in string linkName, in string handleName,
145  in Transform_ localPosition)
146  raises (Error);
147 
150  string getGripperPositionInJoint (in string gripperName,
151  out Transform_ position)
152  raises (hpp::Error);
153 
156  string getHandlePositionInJoint (in string handleName,
157  out Transform_ position)
158  raises (hpp::Error);
159 
160  }; // interface Robot
161  }; // module manipulation
162  }; // module corbaserver
163 }; // module hpp
164 
165 #endif // HPP_MANIPULATION_CORBA_ROBOT_IDL
Definition: client.hh:24