hpp-corbaserver 4.14.0
Corba server for Humanoid Path Planner applications
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obstacle.impl.hh
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1// Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL.
2//
3
4// Redistribution and use in source and binary forms, with or without
5// modification, are permitted provided that the following conditions are
6// met:
7//
8// 1. Redistributions of source code must retain the above copyright
9// notice, this list of conditions and the following disclaimer.
10//
11// 2. Redistributions in binary form must reproduce the above copyright
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14//
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32// See the COPYING file for more information.
33
34#ifndef HPP_CORBASERVER_OBSTACLE_IMPL_HH
35#define HPP_CORBASERVER_OBSTACLE_IMPL_HH
36#include <hpp/fcl/data_types.h>
37
41#include <hpp/core/problem-solver.hh>
42#include <map>
43#include <string>
44
46namespace hpp {
47namespace corbaServer {
48namespace impl {
49class Obstacle : public virtual POA_hpp::corbaserver::Obstacle {
50 public:
52
53 void setServer(ServerPlugin* server) { server_ = server; }
54
55 virtual void loadObstacleModel(const char* filename, const char* prefix);
56
57 virtual void loadObstacleModelFromString(const char* urdfString,
58 const char* prefix);
59
60 virtual void loadPolyhedron(const char* name, const char* filename);
61
62 virtual void removeObstacleFromJoint(const char* objectName,
63 const char* jointName, Boolean collision,
64 Boolean distance);
65
66 virtual void removeObstacle(const char* objectName);
67
68 virtual void cutObstacle(const char* objectName, const floatSeq& aabb);
69
70 virtual void addObstacle(const char* polyhedronName, Boolean collision,
71 Boolean distance);
72
73 virtual void moveObstacle(const char* polyName, const Transform_ cfg);
74
75 virtual void getObstaclePosition(const char* objectName, Transform_ cfg);
76
77 virtual Names_t* getObstacleNames(bool collision, bool distance);
78
79 virtual void createPolyhedron(const char* polyhedronName);
80
81 virtual void createBox(const char* boxName, Double x, Double y, Double z);
82
83 virtual void createSphere(const char* name, Double radius);
84
85 virtual void createCylinder(const char* name, Double radius, Double length);
86
87 virtual ULong addPoint(const char* polyhedronName, Double x, Double y,
88 Double z);
89
90 virtual ULong addTriangle(const char* polyhedronName, ULong pt1, ULong pt2,
91 ULong pt3);
92
93 private:
94 CollisionObjectPtr_t getObstacleByName(const char* name);
95
97 ObjectMap objectMap_;
98
100 ServerPlugin* server_;
101
103 core::ProblemSolverPtr_t problemSolver();
104};
105
106} // namespace impl
107} // end of namespace corbaServer.
108} // end of namespace hpp.
109
110#endif
Definition: common-idl.hh:78
Definition: common-idl.hh:689
Definition: object-map.hh:41
Definition: server-plugin.hh:50
Definition: obstacle.impl.hh:49
virtual void createCylinder(const char *name, Double radius, Double length)
virtual void createSphere(const char *name, Double radius)
virtual void removeObstacle(const char *objectName)
virtual void loadObstacleModelFromString(const char *urdfString, const char *prefix)
virtual void removeObstacleFromJoint(const char *objectName, const char *jointName, Boolean collision, Boolean distance)
virtual void moveObstacle(const char *polyName, const Transform_ cfg)
virtual void loadPolyhedron(const char *name, const char *filename)
virtual void getObstaclePosition(const char *objectName, Transform_ cfg)
virtual ULong addTriangle(const char *polyhedronName, ULong pt1, ULong pt2, ULong pt3)
virtual void createBox(const char *boxName, Double x, Double y, Double z)
virtual void cutObstacle(const char *objectName, const floatSeq &aabb)
virtual ULong addPoint(const char *polyhedronName, Double x, Double y, Double z)
virtual void addObstacle(const char *polyhedronName, Boolean collision, Boolean distance)
void setServer(ServerPlugin *server)
Definition: obstacle.impl.hh:53
virtual void loadObstacleModel(const char *filename, const char *prefix)
virtual Names_t * getObstacleNames(bool collision, bool distance)
virtual void createPolyhedron(const char *polyhedronName)
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:64
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:35
double Transform_[7]
Element of SE(3) represented by a vector and a unit quaternion.
Definition: common.idl:38