hpp-manipulation-corba 5.2.0
Corba server for manipulation planning
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robot.idl
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1// Copyright (c) 2014 CNRS
2// Author: Florent Lamiraux
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
12// notice, this list of conditions and the following disclaimer in the
13// documentation and/or other materials provided with the distribution.
14//
15// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
16// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
17// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
18// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
19// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
20// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
21// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
22// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
23// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
25// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
26// DAMAGE.
27
28#ifndef HPP_MANIPULATION_CORBA_ROBOT_IDL
29#define HPP_MANIPULATION_CORBA_ROBOT_IDL
30
31#include <hpp/common.idl>
32
33module hpp
34{
35 module corbaserver {
36 module manipulation {
37 interface Robot
38 {
50 void insertRobotModel (in string robotName, in string rootJointType,
51 in string urdfname, in string srdfname)
52 raises (Error);
53
56 void insertRobotModelOnFrame (in string robotName, in string frameName,
57 in string rootJointType, in string urdfname, in string srdfname)
58 raises (Error);
59
68 void insertRobotModelFromString (in string robotName, in string rootJointType,
69 in string urdfString, in string srdfString)
70 raises (Error);
71
74 void insertRobotModelOnFrameFromString (in string robotName, in string frameName,
75 in string rootJointType, in string urdfString, in string srdfString)
76 raises (Error);
77
80 void insertRobotSRDFModel (in string robotName, in string srdfPath)
81 raises (Error);
82
85 void insertRobotSRDFModelFromString (in string robotName,
86 in string srdfString) raises (Error);
87
99 void insertHumanoidModel (in string robotName, in string rootJointType,
100 in string urdfname, in string srdfname)
101 raises (Error);
102
112 void insertHumanoidModelFromString (in string robotName, in string rootJointType,
113 in string urdfString, in string srdfString)
114 raises (Error);
115
121 void loadEnvironmentModel (in string urdfName, in string srdfName,
122 in string prefix)
123 raises (Error);
124
127 Transform_ getRootJointPosition (in string robotName)
128 raises (Error);
129
134 void setRootJointPosition (in string robotName, in Transform_ position)
135 raises (Error);
136
143 void addGripper (in string linkName, in string gripperName,
144 in Transform_ handlePositioninJoint, in double clearance)
145 raises (Error);
146
154 void addHandle (in string linkName, in string handleName,
155 in Transform_ localPosition, in double clearance, in boolSeq mask)
156 raises (Error);
157
160 string getGripperPositionInJoint (in string gripperName,
161 out Transform_ position)
162 raises (hpp::Error);
163
166 string getHandlePositionInJoint (in string handleName,
167 out Transform_ position)
168 raises (hpp::Error);
169
171 void setHandlePositionInJoint (in string handleName,
172 in Transform_ position)
173 raises (hpp::Error);
174
175 }; // interface Robot
176 }; // module manipulation
177 }; // module corbaserver
178}; // module hpp
179
180#endif // HPP_MANIPULATION_CORBA_ROBOT_IDL
void insertRobotModel(in string robotName, in string rootJointType, in string urdfname, in string srdfname)
void insertRobotSRDFModel(in string robotName, in string srdfPath)
void insertRobotModelOnFrameFromString(in string robotName, in string frameName, in string rootJointType, in string urdfString, in string srdfString)
void insertHumanoidModel(in string robotName, in string rootJointType, in string urdfname, in string srdfname)
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)
Transform_ getRootJointPosition(in string robotName)
string getHandlePositionInJoint(in string handleName, out Transform_ position)
void insertRobotSRDFModelFromString(in string robotName, in string srdfString)
void addHandle(in string linkName, in string handleName, in Transform_ localPosition, in double clearance, in boolSeq mask)
void insertRobotModelFromString(in string robotName, in string rootJointType, in string urdfString, in string srdfString)
void setHandlePositionInJoint(in string handleName, in Transform_ position)
Set handle position in joint frame.
void addGripper(in string linkName, in string gripperName, in Transform_ handlePositioninJoint, in double clearance)
string getGripperPositionInJoint(in string gripperName, out Transform_ position)
Definition client.hh:46
Definition problem_solver.py:1