18 #ifndef HPP_MANIPULATION_CORBA_ROBOT_IDL
19 #define HPP_MANIPULATION_CORBA_ROBOT_IDL
21 #include <hpp/common.idl>
41 in
string urdfname, in
string srdfname)
46 in
string rootJointType, in
string urdfname, in
string srdfname)
58 in
string urdfString, in
string srdfString)
69 in
string srdfString) raises (Error);
83 in
string urdfname, in
string srdfname)
96 in
string urdfString, in
string srdfString)
126 in Transform_ handlePositioninJoint)
134 void addHandle (in
string linkName, in
string handleName,
135 in Transform_ localPosition)
145 in Transform_ localPosition)
151 out Transform_ position)
157 out Transform_ position)
void addAxialHandle(in string linkName, in string handleName, in Transform_ localPosition)
void insertRobotModel(in string robotName, in string rootJointType, in string urdfname, in string srdfname)
void insertRobotSRDFModel(in string robotName, in string srdfPath)
void insertHumanoidModel(in string robotName, in string rootJointType, in string urdfname, in string srdfname)
void addHandle(in string linkName, in string handleName, in Transform_ localPosition)
void insertHumanoidModelFromString(in string robotName, in string rootJointType, in string urdfString, in string srdfString)
void setRootJointPosition(in string robotName, in Transform_ position)
void loadEnvironmentModel(in string urdfName, in string srdfName, in string prefix)
void insertRobotModelOnFrame(in string robotName, in string frameName, in string rootJointType, in string urdfname, in string srdfname)
void addGripper(in string linkName, in string gripperName, in Transform_ handlePositioninJoint)
Transform_ getRootJointPosition(in string robotName)
string getHandlePositionInJoint(in string handleName, out Transform_ position)
void insertRobotSRDFModelFromString(in string robotName, in string srdfString)
void insertRobotModelFromString(in string robotName, in string rootJointType, in string urdfString, in string srdfString)
string getGripperPositionInJoint(in string gripperName, out Transform_ position)