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
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)
Definition: client.hh:25