hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
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_objref_Robot Class Reference

#include <hpp/corbaserver/robot-idl.hh>

Inheritance diagram for _objref_Robot:
Collaboration diagram for _objref_Robot:

Public Member Functions

void loadRobotModel (const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)
 
void loadHumanoidModel (const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)
 
void loadRobotModelFromString (const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)
 
void loadHumanoidModelFromString (const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)
 
::CORBA::Long getConfigSize ()
 
::CORBA::Long getNumberDof ()
 
Names_tgetJointNames ()
 
Names_tgetJointTypes ()
 
Names_tgetAllJointNames ()
 
char * getParentJointName (const char *jointName)
 
floatSeqgetJointConfig (const char *jointName)
 
void setJointConfig (const char *jointName, const ::hpp::floatSeq &config)
 
char * getJointType (const char *jointName)
 
floatSeqjointIntegrate (const ::hpp::floatSeq &jointCfg, const char *jointName, const ::hpp::floatSeq &speed, ::CORBA::Boolean saturate)
 
floatSeqSeqgetCurrentTransformation (const char *jointName)
 
Transform__slicegetJointPosition (const char *jointName)
 
TransformSeqgetJointsPosition (const ::hpp::floatSeq &q, const ::hpp::Names_t &jointNames)
 
floatSeqgetJointVelocity (const char *jointName)
 
floatSeqgetJointVelocityInLocalFrame (const char *jointName)
 
Transform__slicegetJointPositionInParentFrame (const char *jointName)
 
Transform__slicegetRootJointPosition ()
 
void setRootJointPosition (const ::hpp::Transform_ position)
 
void setJointPositionInParentFrame (const char *jointName, const ::hpp::Transform_ position)
 
::CORBA::Long getJointNumberDof (const char *jointName)
 
::CORBA::Long getJointConfigSize (const char *jointName)
 
void setJointBounds (const char *jointName, const ::hpp::floatSeq &inJointBound)
 
floatSeqgetJointBounds (const char *jointName)
 
Transform__slicegetLinkPosition (const char *linkName)
 
TransformSeqgetLinksPosition (const ::hpp::floatSeq &q, const ::hpp::Names_t &linkName)
 
Names_tgetLinkNames (const char *jointName)
 
void setDimensionExtraConfigSpace (::CORBA::ULong dimension)
 
::CORBA::ULong getDimensionExtraConfigSpace ()
 
void setExtraConfigSpaceBounds (const ::hpp::floatSeq &bounds)
 
floatSeqgetCurrentConfig ()
 
floatSeqshootRandomConfig ()
 
void setCurrentConfig (const ::hpp::floatSeq &dofArray)
 
floatSeqgetCurrentVelocity ()
 
void setCurrentVelocity (const ::hpp::floatSeq &qDot)
 
Names_tgetJointInnerObjects (const char *jointName)
 
Names_tgetJointOuterObjects (const char *jointName)
 
void getObjectPosition (const char *objectName, ::hpp::Transform_ cfg)
 
void isConfigValid (const ::hpp::floatSeq &dofArray, ::CORBA::Boolean &validity, ::CORBA::String_out report)
 
void distancesToCollision (::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints)
 
void autocollisionCheck (::hpp::boolSeq_out collide)
 
void autocollisionPairs (::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active)
 
void setAutoCollision (const char *innerObject, const char *outerObject, ::CORBA::Boolean active)
 
floatSeqgetRobotAABB ()
 
::CORBA::Double getMass ()
 
floatSeqgetCenterOfMass ()
 
floatSeqgetCenterOfMassVelocity ()
 
floatSeqSeqgetJacobianCenterOfMass ()
 
void addPartialCom (const char *comName, const ::hpp::Names_t &jointNames)
 
floatSeqgetPartialCom (const char *comName)
 
floatSeqSeqgetJacobianPartialCom (const char *comName)
 
floatSeqgetVelocityPartialCom (const char *comName)
 
char * getRobotName ()
 
pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation (const char *name)
 
void createRobot (const char *robotName)
 
void appendJoint (const char *parentJoint, const char *jointName, const char *jointType, const ::hpp::Transform_ pos)
 
void createPolyhedron (const char *inPolyName)
 
void createBox (const char *name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)
 
void createSphere (const char *name, ::CORBA::Double radius)
 
void createCylinder (const char *name, ::CORBA::Double radius, ::CORBA::Double length)
 
::CORBA::ULong addPoint (const char *inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)
 
::CORBA::ULong addTriangle (const char *inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3)
 
void addObjectToJoint (const char *jointName, const char *objectName, const ::hpp::Transform_ pos)
 
 _objref_Robot ()
 
 _objref_Robot (omniIOR *, omniIdentity *)
 

Protected Member Functions

virtual ~_objref_Robot ()
 

Friends

class Robot
 

Constructor & Destructor Documentation

◆ _objref_Robot() [1/2]

_objref_Robot::_objref_Robot ( )
inline

◆ _objref_Robot() [2/2]

_objref_Robot::_objref_Robot ( omniIOR * ,
omniIdentity *  )

◆ ~_objref_Robot()

virtual _objref_Robot::~_objref_Robot ( )
protectedvirtual

Member Function Documentation

◆ addObjectToJoint()

void _objref_Robot::addObjectToJoint ( const char * jointName,
const char * objectName,
const ::hpp::Transform_ pos )

◆ addPartialCom()

void _objref_Robot::addPartialCom ( const char * comName,
const ::hpp::Names_t & jointNames )

◆ addPoint()

::CORBA::ULong _objref_Robot::addPoint ( const char * inPolyName,
::CORBA::Double x,
::CORBA::Double y,
::CORBA::Double z )

◆ addTriangle()

::CORBA::ULong _objref_Robot::addTriangle ( const char * inPolyName,
::CORBA::ULong pt1,
::CORBA::ULong pt2,
::CORBA::ULong pt3 )

◆ appendJoint()

void _objref_Robot::appendJoint ( const char * parentJoint,
const char * jointName,
const char * jointType,
const ::hpp::Transform_ pos )

◆ autocollisionCheck()

void _objref_Robot::autocollisionCheck ( ::hpp::boolSeq_out collide)

◆ autocollisionPairs()

void _objref_Robot::autocollisionPairs ( ::hpp::Names_t_out innerObjects,
::hpp::Names_t_out outerObjects,
::hpp::boolSeq_out active )

◆ createBox()

void _objref_Robot::createBox ( const char * name,
::CORBA::Double x,
::CORBA::Double y,
::CORBA::Double z )

◆ createCylinder()

void _objref_Robot::createCylinder ( const char * name,
::CORBA::Double radius,
::CORBA::Double length )

◆ createPolyhedron()

void _objref_Robot::createPolyhedron ( const char * inPolyName)

◆ createRobot()

void _objref_Robot::createRobot ( const char * robotName)

◆ createSphere()

void _objref_Robot::createSphere ( const char * name,
::CORBA::Double radius )

◆ distancesToCollision()

void _objref_Robot::distancesToCollision ( ::hpp::floatSeq_out distances,
::hpp::Names_t_out innerObjects,
::hpp::Names_t_out outerObjects,
::hpp::floatSeqSeq_out innerPoints,
::hpp::floatSeqSeq_out outerPoints )

◆ getAllJointNames()

Names_t * _objref_Robot::getAllJointNames ( )

◆ getCenterOfMass()

floatSeq * _objref_Robot::getCenterOfMass ( )

◆ getCenterOfMassComputation()

pinocchio_idl::CenterOfMassComputation_ptr _objref_Robot::getCenterOfMassComputation ( const char * name)

◆ getCenterOfMassVelocity()

floatSeq * _objref_Robot::getCenterOfMassVelocity ( )

◆ getConfigSize()

::CORBA::Long _objref_Robot::getConfigSize ( )

◆ getCurrentConfig()

floatSeq * _objref_Robot::getCurrentConfig ( )

◆ getCurrentTransformation()

floatSeqSeq * _objref_Robot::getCurrentTransformation ( const char * jointName)

◆ getCurrentVelocity()

floatSeq * _objref_Robot::getCurrentVelocity ( )

◆ getDimensionExtraConfigSpace()

::CORBA::ULong _objref_Robot::getDimensionExtraConfigSpace ( )

◆ getJacobianCenterOfMass()

floatSeqSeq * _objref_Robot::getJacobianCenterOfMass ( )

◆ getJacobianPartialCom()

floatSeqSeq * _objref_Robot::getJacobianPartialCom ( const char * comName)

◆ getJointBounds()

floatSeq * _objref_Robot::getJointBounds ( const char * jointName)

◆ getJointConfig()

floatSeq * _objref_Robot::getJointConfig ( const char * jointName)

◆ getJointConfigSize()

::CORBA::Long _objref_Robot::getJointConfigSize ( const char * jointName)

◆ getJointInnerObjects()

Names_t * _objref_Robot::getJointInnerObjects ( const char * jointName)

◆ getJointNames()

Names_t * _objref_Robot::getJointNames ( )

◆ getJointNumberDof()

::CORBA::Long _objref_Robot::getJointNumberDof ( const char * jointName)

◆ getJointOuterObjects()

Names_t * _objref_Robot::getJointOuterObjects ( const char * jointName)

◆ getJointPosition()

Transform__slice * _objref_Robot::getJointPosition ( const char * jointName)

◆ getJointPositionInParentFrame()

Transform__slice * _objref_Robot::getJointPositionInParentFrame ( const char * jointName)

◆ getJointsPosition()

TransformSeq * _objref_Robot::getJointsPosition ( const ::hpp::floatSeq & q,
const ::hpp::Names_t & jointNames )

◆ getJointType()

char * _objref_Robot::getJointType ( const char * jointName)

◆ getJointTypes()

Names_t * _objref_Robot::getJointTypes ( )

◆ getJointVelocity()

floatSeq * _objref_Robot::getJointVelocity ( const char * jointName)

◆ getJointVelocityInLocalFrame()

floatSeq * _objref_Robot::getJointVelocityInLocalFrame ( const char * jointName)

◆ getLinkNames()

Names_t * _objref_Robot::getLinkNames ( const char * jointName)

◆ getLinkPosition()

Transform__slice * _objref_Robot::getLinkPosition ( const char * linkName)

◆ getLinksPosition()

TransformSeq * _objref_Robot::getLinksPosition ( const ::hpp::floatSeq & q,
const ::hpp::Names_t & linkName )

◆ getMass()

::CORBA::Double _objref_Robot::getMass ( )

◆ getNumberDof()

::CORBA::Long _objref_Robot::getNumberDof ( )

◆ getObjectPosition()

void _objref_Robot::getObjectPosition ( const char * objectName,
::hpp::Transform_ cfg )

◆ getParentJointName()

char * _objref_Robot::getParentJointName ( const char * jointName)

◆ getPartialCom()

floatSeq * _objref_Robot::getPartialCom ( const char * comName)

◆ getRobotAABB()

floatSeq * _objref_Robot::getRobotAABB ( )

◆ getRobotName()

char * _objref_Robot::getRobotName ( )

◆ getRootJointPosition()

Transform__slice * _objref_Robot::getRootJointPosition ( )

◆ getVelocityPartialCom()

floatSeq * _objref_Robot::getVelocityPartialCom ( const char * comName)

◆ isConfigValid()

void _objref_Robot::isConfigValid ( const ::hpp::floatSeq & dofArray,
::CORBA::Boolean & validity,
::CORBA::String_out report )

◆ jointIntegrate()

floatSeq * _objref_Robot::jointIntegrate ( const ::hpp::floatSeq & jointCfg,
const char * jointName,
const ::hpp::floatSeq & speed,
::CORBA::Boolean saturate )

◆ loadHumanoidModel()

void _objref_Robot::loadHumanoidModel ( const char * robotName,
const char * rootJointType,
const char * urdfName,
const char * srdfName )

◆ loadHumanoidModelFromString()

void _objref_Robot::loadHumanoidModelFromString ( const char * robotName,
const char * rootJointType,
const char * urdfString,
const char * srdfString )

◆ loadRobotModel()

void _objref_Robot::loadRobotModel ( const char * robotName,
const char * rootJointType,
const char * urdfName,
const char * srdfName )

◆ loadRobotModelFromString()

void _objref_Robot::loadRobotModelFromString ( const char * robotName,
const char * rootJointType,
const char * urdfString,
const char * srdfString )

◆ setAutoCollision()

void _objref_Robot::setAutoCollision ( const char * innerObject,
const char * outerObject,
::CORBA::Boolean active )

◆ setCurrentConfig()

void _objref_Robot::setCurrentConfig ( const ::hpp::floatSeq & dofArray)

◆ setCurrentVelocity()

void _objref_Robot::setCurrentVelocity ( const ::hpp::floatSeq & qDot)

◆ setDimensionExtraConfigSpace()

void _objref_Robot::setDimensionExtraConfigSpace ( ::CORBA::ULong dimension)

◆ setExtraConfigSpaceBounds()

void _objref_Robot::setExtraConfigSpaceBounds ( const ::hpp::floatSeq & bounds)

◆ setJointBounds()

void _objref_Robot::setJointBounds ( const char * jointName,
const ::hpp::floatSeq & inJointBound )

◆ setJointConfig()

void _objref_Robot::setJointConfig ( const char * jointName,
const ::hpp::floatSeq & config )

◆ setJointPositionInParentFrame()

void _objref_Robot::setJointPositionInParentFrame ( const char * jointName,
const ::hpp::Transform_ position )

◆ setRootJointPosition()

void _objref_Robot::setRootJointPosition ( const ::hpp::Transform_ position)

◆ shootRandomConfig()

floatSeq * _objref_Robot::shootRandomConfig ( )

Friends And Related Symbol Documentation

◆ Robot

friend class Robot
friend

The documentation for this class was generated from the following file: