Obstacle management.
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import </local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-6.0.0/idl/hpp/corbaserver/obstacle.idl;
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| void | loadObstacleModel (in string filename, in string prefix) raises (Error) |
| |
| void | loadPolyhedron (in string obstacleName, in string filename) raises (Error) |
| | Load a polyhedron as an obstacle from a file.
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| |
| void | loadObstacleModelFromString (in string urdfString, in string prefix) raises (Error) |
| |
| void | removeObstacle (in string objectName) raises (Error) |
| | Remove an obstacle.
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| |
| void | removeObstacleFromJoint (in string objectName, in string jointName, in boolean collision, in boolean distance) raises (Error) |
| | Remove an obstacle from outer objects of a joint body.
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| |
| void | cutObstacle (in string objectName, in floatSeq aabb) raises (Error) |
| |
| void | addObstacle (in string objectName, in boolean collision, in boolean distance) raises (Error) |
| | Add an obstacle to the set of obstacles.
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| |
| void | moveObstacle (in string objectName, in Transform_ cfg) raises (Error) |
| | Move an obstacle to a given configuration.
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| |
| void | getObstaclePosition (in string objectName, out Transform_ cfg) raises (Error) |
| |
| Names_t | getObstacleNames (in boolean collision, in boolean distance) raises (Error) |
| |
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| void | createPolyhedron (in string polyName) raises (Error) |
| | create an empty polyhedron.
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| |
| void | createBox (in string inBoxName, in double x, in double y, in double z) raises (Error) |
| | Create a box.
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| |
| void | createSphere (in string name, in double radius) raises (Error) |
| |
| void | createCylinder (in string name, in double radius, in double length) raises (Error) |
| |
| unsigned long | addPoint (in string polyName, in double x, in double y, in double z) raises (Error) |
| | Add a point to a polyhedron.
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| |
| unsigned long | addTriangle (in string polyName, in unsigned long pt1, in unsigned long pt2, in unsigned long pt3) raises (Error) |
| | Add a point to a polyhedron.
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| |
◆ addObstacle()
| void hpp::corbaserver::Obstacle::addObstacle |
( |
in string |
objectName, |
|
|
in boolean |
collision, |
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in boolean |
distance |
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) |
| |
| raises | ( | Error |
| ) | | |
Add an obstacle to the set of obstacles.
- Parameters
-
| objectName | name of the object. |
| collision | whether collision with object should be computed |
| distance | whether distance to object should be computed |
- Exceptions
-
- Note
- The obstacle should have been built using one of methods
- hpp::Obstacle::createPolyhedron,
- hpp::Obstacle::createBox
- hpp::Obstacle::addPoint
- hpp::Obstacle::addTriangle.
-
Build the bounding volume hierarchy of the object if needed.
◆ addPoint()
| unsigned long hpp::corbaserver::Obstacle::addPoint |
( |
in string |
polyName, |
|
|
in double |
x, |
|
|
in double |
y, |
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|
in double |
z |
|
) |
| |
| raises | ( | Error |
| ) | | |
Add a point to a polyhedron.
- Parameters
-
| polyName | the name of the polyhedron. |
| x | coordinate of the point. |
| y | coordinate of the point. |
| z | coordinate of the point. |
- Returns
- rank of point in polyhedron.
◆ addTriangle()
| unsigned long hpp::corbaserver::Obstacle::addTriangle |
( |
in string |
polyName, |
|
|
in unsigned long |
pt1, |
|
|
in unsigned long |
pt2, |
|
|
in unsigned long |
pt3 |
|
) |
| |
| raises | ( | Error |
| ) | | |
Add a point to a polyhedron.
- Parameters
-
| polyName | the name of the polyhedron. |
| pt1 | rank of first point in polyhedron. |
| pt2 | rank of second point in polyhedron. |
| pt3 | rank of third point in polyhedron. |
- Returns
- rank of triangle in polyhedron.
◆ createBox()
| void hpp::corbaserver::Obstacle::createBox |
( |
in string |
inBoxName, |
|
|
in double |
x, |
|
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in double |
y, |
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in double |
z |
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) |
| |
| raises | ( | Error |
| ) | | |
Create a box.
- Parameters
-
| inBoxName | name of the box |
| x,y,z | Size of the box |
◆ createCylinder()
| void hpp::corbaserver::Obstacle::createCylinder |
( |
in string |
name, |
|
|
in double |
radius, |
|
|
in double |
length |
|
) |
| |
| raises | ( | Error |
| ) | | |
Create a cylinder
- Parameters
-
| name | name of the cylinder |
| radius | radius of the cylinder |
| length | length of the cylinder |
◆ createPolyhedron()
| void hpp::corbaserver::Obstacle::createPolyhedron |
( |
in string |
polyName | ) |
|
| raises | ( | Error |
| ) | | |
create an empty polyhedron.
- Parameters
-
| polyName | name of the polyhedron. |
- Exceptions
-
◆ createSphere()
| void hpp::corbaserver::Obstacle::createSphere |
( |
in string |
name, |
|
|
in double |
radius |
|
) |
| |
| raises | ( | Error |
| ) | | |
Create a sphere
- Parameters
-
| name | name of the sphere |
| radius | radius of the sphere |
◆ cutObstacle()
| void hpp::corbaserver::Obstacle::cutObstacle |
( |
in string |
objectName, |
|
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in floatSeq |
aabb |
|
) |
| |
| raises | ( | Error |
| ) | | |
Cut the obstacle with the given AABB
- Parameters
-
| aabb | a vector of 6 floats. The 3 first represent one corner and the 3 last represent the opposite corner. |
◆ getObstacleNames()
| Names_t hpp::corbaserver::Obstacle::getObstacleNames |
( |
in boolean |
collision, |
|
|
in boolean |
distance |
|
) |
| |
| raises | ( | Error |
| ) | | |
Get list of obstacles
- Parameters
-
| collision | whether to return obstacle for collision, |
| distance | whether to return obstacles for distance computation |
- Returns
- list of obstacles
◆ getObstaclePosition()
| void hpp::corbaserver::Obstacle::getObstaclePosition |
( |
in string |
objectName, |
|
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out Transform_ |
cfg |
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) |
| |
| raises | ( | Error |
| ) | | |
Get the position of an obstacle
- Parameters
-
| objectName | name of the polyhedron. |
- Return values
-
| cfg | Position of the obstacle. |
- Exceptions
-
◆ loadObstacleModel()
| void hpp::corbaserver::Obstacle::loadObstacleModel |
( |
in string |
filename, |
|
|
in string |
prefix |
|
) |
| |
| raises | ( | Error |
| ) | | |
Load obstacle from urdf file
- Parameters
-
| package | Name of the package containing the model. |
| filename | name of the urdf file, it may contain "package://" |
| prefix | prefix added to object names in case the same file is loaded several times |
The kinematic structure of the urdf file is ignored. Only the geometric objects are loaded as obstacles.
◆ loadObstacleModelFromString()
| void hpp::corbaserver::Obstacle::loadObstacleModelFromString |
( |
in string |
urdfString, |
|
|
in string |
prefix |
|
) |
| |
| raises | ( | Error |
| ) | | |
Load obstacle from urdf file
- Parameters
-
| package | Name of the package containing the model. |
| urdfString | XML string to parse |
| prefix | prefix added to object names in case the same file is loaded several times |
The kinematic structure of the urdf file is ignored. Only the geometric objects are loaded as obstacles.
◆ loadPolyhedron()
| void hpp::corbaserver::Obstacle::loadPolyhedron |
( |
in string |
obstacleName, |
|
|
in string |
filename |
|
) |
| |
| raises | ( | Error |
| ) | | |
Load a polyhedron as an obstacle from a file.
- Parameters
-
| obstacleName | name of the polyhedron. |
| filename | name of the file. |
- Exceptions
-
◆ moveObstacle()
| void hpp::corbaserver::Obstacle::moveObstacle |
( |
in string |
objectName, |
|
|
in Transform_ |
cfg |
|
) |
| |
| raises | ( | Error |
| ) | | |
Move an obstacle to a given configuration.
- Parameters
-
| objectName | name of the polyhedron. |
| cfg | the configuration of the obstacle. |
- Exceptions
-
- Note
- The obstacle is not added to local map impl::Obstacle::collisionListMap.
-
Build the collision entity of polyhedron for KCD.
◆ removeObstacle()
| void hpp::corbaserver::Obstacle::removeObstacle |
( |
in string |
objectName | ) |
|
| raises | ( | Error |
| ) | | |
Remove an obstacle.
- Parameters
-
| objectName | name of the object to remove |
◆ removeObstacleFromJoint()
| void hpp::corbaserver::Obstacle::removeObstacleFromJoint |
( |
in string |
objectName, |
|
|
in string |
jointName, |
|
|
in boolean |
collision, |
|
|
in boolean |
distance |
|
) |
| |
| raises | ( | Error |
| ) | | |
Remove an obstacle from outer objects of a joint body.
- Parameters
-
| objectName | name of the object to remove, |
| jointName | name of the joint owning the body, |
| collision | whether collision with object should be ignored, |
| distance | whether distance to object should be ignored. |
- Exceptions
-
The documentation for this interface was generated from the following file: