hpp-manipulation-corba 5.2.0
Corba server for manipulation planning
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hpp::corbaserver::manipulation::Robot Interface Reference

import </local/robotpkg/var/tmp/robotpkg/path/py-hpp-manipulation-corba/work/hpp-manipulation-corba-5.2.0/idl/hpp/corbaserver/manipulation/robot.idl;

Public Member Functions

void insertRobotModel (in string robotName, in string rootJointType, in string urdfname, in string srdfname) raises (Error)
 
void insertRobotModelOnFrame (in string robotName, in string frameName, in string rootJointType, in string urdfname, in string srdfname) raises (Error)
 
void insertRobotModelFromString (in string robotName, in string rootJointType, in string urdfString, in string srdfString) raises (Error)
 
void insertRobotModelOnFrameFromString (in string robotName, in string frameName, in string rootJointType, in string urdfString, in string srdfString) raises (Error)
 
void insertRobotSRDFModel (in string robotName, in string srdfPath) raises (Error)
 
void insertRobotSRDFModelFromString (in string robotName, in string srdfString) raises (Error)
 
void insertHumanoidModel (in string robotName, in string rootJointType, in string urdfname, in string srdfname) raises (Error)
 
void insertHumanoidModelFromString (in string robotName, in string rootJointType, in string urdfString, in string srdfString) raises (Error)
 
void loadEnvironmentModel (in string urdfName, in string srdfName, in string prefix) raises (Error)
 
Transform_ getRootJointPosition (in string robotName) raises (Error)
 
void setRootJointPosition (in string robotName, in Transform_ position) raises (Error)
 
void addGripper (in string linkName, in string gripperName, in Transform_ handlePositioninJoint, in double clearance) raises (Error)
 
void addHandle (in string linkName, in string handleName, in Transform_ localPosition, in double clearance, in boolSeq mask) raises (Error)
 
string getGripperPositionInJoint (in string gripperName, out Transform_ position) raises (hpp::Error)
 
string getHandlePositionInJoint (in string handleName, out Transform_ position) raises (hpp::Error)
 
void setHandlePositionInJoint (in string handleName, in Transform_ position) raises (hpp::Error)
 Set handle position in joint frame.
 

Member Function Documentation

◆ addGripper()

void hpp::corbaserver::manipulation::Robot::addGripper ( in string linkName,
in string gripperName,
in Transform_ handlePositioninJoint,
in double clearance )
raises (Error )

Add Gripper to a robot

Parameters
linkNamename of the link (hpp::model::Body) holding the gripper,
gripperNamename of the gripper,
handlePositioninJointposition of the handle in the joint frame.
clearanceclearance of the gripper

◆ addHandle()

void hpp::corbaserver::manipulation::Robot::addHandle ( in string linkName,
in string handleName,
in Transform_ localPosition,
in double clearance,
in boolSeq mask )
raises (Error )

Add Handle to an object

Parameters
linkNamename of the link holding the handle,
handleNamename of the handle,
localPositionposition of the handle in the joint frame.
clearanceclearance of the gripper
maskmask of the handle.

◆ getGripperPositionInJoint()

string hpp::corbaserver::manipulation::Robot::getGripperPositionInJoint ( in string gripperName,
out Transform_ position )
raises (hpp::Error )

Return the joint name in which a gripper is and the position relatively to the joint

◆ getHandlePositionInJoint()

string hpp::corbaserver::manipulation::Robot::getHandlePositionInJoint ( in string handleName,
out Transform_ position )
raises (hpp::Error )

Return the joint name in which a handle is and the position relatively to the joint

◆ getRootJointPosition()

Transform_ hpp::corbaserver::manipulation::Robot::getRootJointPosition ( in string robotName)
raises (Error )

Get the position of root joint of a robot in world frame

Parameters
robotNamekey of the robot in ProblemSolver object map.

◆ insertHumanoidModel()

void hpp::corbaserver::manipulation::Robot::insertHumanoidModel ( in string robotName,
in string rootJointType,
in string urdfname,
in string srdfname )
raises (Error )

Insert humanoid robot model as a child of the root joint of the Device

Parameters
robotNamekey of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointTypetype of root joint among "anchor", "freeflyer", "planar",
urdfNamename of the urdf file. It may contain "file://", or "package://" prefixes.
srdfNamename of the srdf file. It may contain "file://", or "package://" prefixes.

◆ insertHumanoidModelFromString()

void hpp::corbaserver::manipulation::Robot::insertHumanoidModelFromString ( in string robotName,
in string rootJointType,
in string urdfString,
in string srdfString )
raises (Error )

Insert humanoid robot model as a child of the root joint of the Device

Parameters
robotNamekey of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointTypetype of root joint among "anchor", "freeflyer", "planar",
urdfStringurdf file,
srdfStringsrdf file. Can be empty.

◆ insertRobotModel()

void hpp::corbaserver::manipulation::Robot::insertRobotModel ( in string robotName,
in string rootJointType,
in string urdfname,
in string srdfname )
raises (Error )

Insert robot model as a child of the root joint of the Device

Parameters
robotNamekey of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointTypetype of root joint among "anchor", "freeflyer", "planar",
urdfNamename of the urdf file. It may contain "file://", or "package://" prefixes.
srdfNamename of the srdf file. It may contain "file://", or "package://" prefixes.

◆ insertRobotModelFromString()

void hpp::corbaserver::manipulation::Robot::insertRobotModelFromString ( in string robotName,
in string rootJointType,
in string urdfString,
in string srdfString )
raises (Error )

Insert robot model as a child of the root joint of the Device

Parameters
robotNamekey of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointTypetype of root joint among "anchor", "freeflyer", "planar",
urdfStringurdf file,
srdfStringsrdf file. Can be empty.

◆ insertRobotModelOnFrame()

void hpp::corbaserver::manipulation::Robot::insertRobotModelOnFrame ( in string robotName,
in string frameName,
in string rootJointType,
in string urdfname,
in string srdfname )
raises (Error )

Insert robot model as a child of the root joint of the Device

Parameters
robotNamekey of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointTypetype of root joint among "anchor", "freeflyer", "planar",
urdfNamename of the urdf file. It may contain "file://", or "package://" prefixes.
srdfNamename of the srdf file. It may contain "file://", or "package://" prefixes.
frameNameexisting frame onto which the robot should be loaded.

◆ insertRobotModelOnFrameFromString()

void hpp::corbaserver::manipulation::Robot::insertRobotModelOnFrameFromString ( in string robotName,
in string frameName,
in string rootJointType,
in string urdfString,
in string srdfString )
raises (Error )

Insert robot model as a child of the root joint of the Device

Parameters
robotNamekey of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointTypetype of root joint among "anchor", "freeflyer", "planar",
urdfStringurdf file,
srdfStringsrdf file. Can be empty.
frameNameexisting frame onto which the robot should be loaded.

◆ insertRobotSRDFModel()

void hpp::corbaserver::manipulation::Robot::insertRobotSRDFModel ( in string robotName,
in string srdfPath )
raises (Error )

Load a SRDF for the robot. Several SRDF can thus be loaded for the same robot

◆ insertRobotSRDFModelFromString()

void hpp::corbaserver::manipulation::Robot::insertRobotSRDFModelFromString ( in string robotName,
in string srdfString )
raises (Error )

Load a SRDF for the robot. Several SRDF can thus be loaded for the same robot

◆ loadEnvironmentModel()

void hpp::corbaserver::manipulation::Robot::loadEnvironmentModel ( in string urdfName,
in string srdfName,
in string prefix )
raises (Error )

Load model of the environment

urdfName name of the urdf file describing the environment srdfName name of the srdf file describing the environment, prefix string added in front of object names.

◆ setHandlePositionInJoint()

void hpp::corbaserver::manipulation::Robot::setHandlePositionInJoint ( in string handleName,
in Transform_ position )
raises (hpp::Error )

Set handle position in joint frame.

◆ setRootJointPosition()

void hpp::corbaserver::manipulation::Robot::setRootJointPosition ( in string robotName,
in Transform_ position )
raises (Error )

Set the position of root joint of a robot in world frame

Parameters
robotNamekey of the robot in ProblemSolver object map.
positionconstant position of the root joint in world frame in initial configuration.

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