gepetto-viewer-corba 5.8.0
Corba server for gepetto-viewer
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graphical-interface.idl
Go to the documentation of this file.
1// file graphicalinterface.idl
2module gepetto {
4 exception Error
5 {
6 string msg;
7 };
8
9module corbaserver {
10
11// Comments :
12// 1) Node names are parsed, so if you call a node "node1/xxx", this node will
13// be automatically added as a child of node1
14// 2) Functions return False if an error occured (in that case, check the
15// SceneViewer-corbaserver window for more information)
16// 3) applyConfiguration doesn't move object straigh forward, you need to used
17// the "refresh" function each time you want actualize position of the Viewer.
18// This system is used to synchronize movement of all objects.
19
20typedef float Transform [7];
21typedef float Vector2 [2];
22typedef float Position [3];
23typedef float Color [4];
24typedef string WindowID;
25typedef sequence <string> Names_t;
26typedef sequence<float> floatSeq;
27typedef sequence<Position> PositionSeq;
28typedef sequence<Color> ColorSeq;
29typedef sequence<Transform> TransformSeq;
30
31 interface NodeCallback {
32 void selected (in string name, in Position positionInWorldFrame, in Position normalInLocalFrame) raises (Error);
33 };
34
45
49
53 WindowID createWindow(in string name) raises (Error);
54
57 WindowID getWindowID (in string name) raises (Error);
58
62 boolean setBackgroundColor1(in WindowID wid,in Color RGBAcolor);
63
67 boolean setBackgroundColor2(in WindowID wid,in Color RGBAcolor);
68
71 void createScene(in string sceneName) raises (Error);
72
75 void createSceneWithFloor(in string sceneName) raises (Error);
76
81 boolean addSceneToWindow(in string sceneName, in WindowID wid) raises (Error);
82
84
88
91 boolean addFloor(in string floorName) raises (Error);
92
99 boolean addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3, in Color RGBAcolor) raises (Error);
100
106 boolean addCapsule(in string name, in float radius, in float height, in Color RGBAcolor) raises (Error);
107
108
114 boolean addArrow(in string name, in float radius, in float length, in Color RGBAcolor) raises (Error);
115
116 boolean addRod(in string rodName, in Color RGBAcolor, in float radius, in float totalLength,in short maxCapsule) raises (Error);
117
121 boolean resizeCapsule(in string capsuleName,in float height) raises (Error);
122
123 boolean resizeArrow(in string capsuleName,in float radius, in float length) raises (Error);
124
128 boolean addMesh(in string meshName, in string meshPath) raises (Error);
129
132 void removeLightSources(in string meshName) raises (Error);
133
135 boolean addCone(in string name, in float radius, in float height, in Color RGBAcolor) raises (Error);
136
138 boolean addCylinder(in string cylinderName, in float radius, in float height, in Color RGBAcolor) raises (Error);
139
141 boolean addSphere(in string sphereName, in float radius, in Color RGBAcolor) raises (Error);
142
148 boolean addLight(in string lightName, in WindowID wid, in float radius, in Color RGBAcolor) raises (Error);
149
155 boolean addLine(in string lineName, in Position pos1, in Position pos2, in Color RGBAcolor) raises (Error);
156
160 boolean setLineStartPoint(in string lineName, in Position pos1) raises (Error);
161
165 boolean setLineEndPoint(in string lineName, in Position pos2) raises (Error);
166
171 boolean setLineExtremalPoints(in string lineName, in Position pos1, in Position pos2) raises (Error);
172
178 boolean addCurve(in string name, in PositionSeq pos, in Color RGBAcolor) raises (Error);
179
183 boolean setCurvePoints(in string name, in PositionSeq pos) raises (Error);
184
188 boolean setCurveColors(in string name, in ColorSeq pos) raises (Error);
189
193 boolean setCurveMode (in string name, in string mode) raises (Error);
194
195 boolean setCurvePointsSubset (in string curveName, in long first, in long count) raises (Error);
196
197 boolean setCurveLineWidth (in string curveName, in float width) raises (Error);
198
203 boolean addSquareFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Position pos4, in Color RGBAcolor) raises (Error);
204
209 boolean setTexture (in string nodeName, in string filename) raises (Error);
210
215 boolean addTriangleFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Color RGBAcolor) raises (Error);
216
217
218 // Add a sphere with xyz axis
219 // The colors are x=red, y=green, z=blue (xyz=RGB)
220 // \param nodeName : name of the node
221 // \param RGBAcolor : color of the sphere
222 // \param radius : radius of the sphere
223 // \param sizeAxis : size of the axis
224 boolean addXYZaxis(in string nodeName, in Color RGBAcolor,in float radius,in float sizeAxis) raises(Error);
225
226 // Add an empty roadmap to the scene
227 // \param nameCorba : name of the roadmap
228 // \param RGBAcolorNode : color of the sphere
229 // \param radius : radius of the sphere
230 // \param sizeAxis :size of the axis (proportionnaly to the sphere radius, size axis = 1 -> axis are radius*4 in length and radius/4 in radius)
231 // \param RGBAcolorEdge : color of the edges
232 boolean createRoadmap(in string nameCorba,in Color RGBAcolorNode, in float radius, in float sizeAxis, in Color RGBAcolorEdge) raises(Error);
233
234 // Add an edge to the roadmap
235 // \param nameRoadmap : name of the roadmap
236 // \param posFrom : position of the beginning of the edge
237 // \param posTo : position of the end of the edge (not oriented edge, order doesn't matter)
238 boolean addEdgeToRoadmap(in string nameRoadmap, in Position posFrom, in Position posTo)raises(Error);
239
240 // Add a node to the roadmap
241 // \param nameRoadmap : name of the roadmap
242 // \param configuration : configuration of the node
243 boolean addNodeToRoadmap(in string nameRoadmap, in Transform configuration)raises(Error);
244
253 boolean addURDF (in string robotName, in string urdfFilePath)
254 raises (Error);
255
267 boolean addUrdfCollision (in string robotName, in string urdfFilePath)
268 raises (Error);
269
281 void addUrdfObjects (in string nodeName, in string urdfFilePath,
282 in boolean visual)
283 raises (Error);
284
287 boolean createGroup(in string groupName) raises (Error);
288
290
294
297 boolean nodeExists(in string nodeName) raises (Error);
298
302 boolean deleteNode (in string nodeName, in boolean all) raises (Error);
303
306
309 Names_t getGroupNodeList(in string group) raises (Error);
310
312 Names_t getSceneList() raises (Error);
313
315 Names_t getWindowList() raises (Error);
316
320 boolean addToGroup(in string nodeName, in string groupName) raises (Error);
321
325 boolean removeFromGroup(in string nodeName, in string groupName) raises (Error);
329 boolean removeObjectFromCache(in string nodeName) raises (Error);
331
335
339 boolean applyConfiguration(in string nodeName, in Transform configuration) raises (Error);
340
343 boolean applyConfigurations(in Names_t nodeName, in TransformSeq configuration) raises (Error);
344
346 void refresh() raises (Error);
347
351 void setRefreshIsSynchronous (in boolean synchonous) raises (Error);
352
356 Transform getNodeGlobalTransform(in string nodeName) raises (Error);
357
359
363
368 boolean addLandmark(in string nodeName, in float size) raises (Error);
369
372 boolean deleteLandmark(in string nodeName) raises (Error);
373
376 Transform getStaticTransform(in string nodeName) raises (Error);
377
381 boolean setStaticTransform(in string nodeName, in Transform configuration) raises (Error);
382
386 boolean setVisibility(in string nodeName, in string visibilityMode) raises (Error);
387
391 boolean setScale(in string nodeName, in Position scale) raises (Error);
392
396 boolean setColor(in string nodeName, in Color scale) raises (Error);
397
401 boolean setWireFrameMode(in string nodeName, in string wireFrameMode) raises (Error);
402
406 boolean setLightingMode(in string nodeName, in string lightingMode) raises (Error);
407
411 boolean setHighlight (in string nodeName, in long state) raises (Error);
412
413 Names_t getPropertyNames(in string nodeName) raises (Error);
414 Names_t getPropertyTypes(in string nodeName) raises (Error);
415
416 void setStringProperty(in string nodeName, in string propName, in string value) raises (Error);
417 string getStringProperty(in string nodeName, in string propName) raises (Error);
418
419 void setColorProperty(in string nodeName, in string propName, in Color value) raises (Error);
420 Color getColorProperty(in string nodeName, in string propName) raises (Error);
421
422 void setVector3Property(in string nodeName, in string propName, in Position value) raises (Error);
423 Position getVector3Property(in string nodeName, in string propName) raises (Error);
424
425 void setVector2Property(in string nodeName, in string propName, in Vector2 value) raises (Error);
426 Position getVector2Property(in string nodeName, in string propName) raises (Error);
427
428 void setFloatProperty(in string nodeName, in string propName, in float value) raises (Error);
429 float getFloatProperty(in string nodeName, in string propName) raises (Error);
430
431 void setBoolProperty(in string nodeName, in string propName, in boolean value) raises (Error);
432 boolean getBoolProperty(in string nodeName, in string propName) raises (Error);
433
434 void setIntProperty(in string nodeName, in string propName, in long value) raises (Error);
435 long getIntProperty(in string nodeName, in string propName) raises (Error);
436
437 void callVoidProperty(in string nodeName, in string propName) raises (Error);
439
444
445 void captureFrame (in WindowID wid, in string imageFilename) raises (Error);
446
460 boolean startCapture (in WindowID wid, in string filename,
461 in string extension) raises (Error);
462
464 boolean stopCapture (in WindowID wid) raises (Error);
465
470 boolean setCaptureTransform (in string filename, in Names_t nodeNames)
471 raises (Error);
472
474 void captureTransformOnRefresh (in boolean autoCapture) raises (Error);
475
477 void captureTransform () raises (Error);
478
483 boolean writeBlenderScript (in string filename, in Names_t nodeNames) raises (Error);
484
486 boolean writeNodeFile (in string nodeName, in string filename) raises (Error);
487
489 boolean writeWindowFile (in WindowID wid, in string filename) raises (Error);
490
492
496
502 boolean attachCameraToNode(in string nodeName, in WindowID wid) raises (Error);
503
507 boolean detachCamera(in WindowID wid) raises (Error);
508
514 Transform getCameraTransform(in WindowID wid) raises (Error);
515
522 boolean setCameraTransform(in WindowID wid, in Transform configuration) raises (Error);
523
525 boolean setCameraToBestFit(in WindowID wid) raises (Error);
526
527 // register a Node callback
528 boolean registerNodeCallback (in NodeCallback cb) raises (Error);
529
531 };
532};
533};
Definition __init__.py:17
Corba exception travelling through the Corba channel.
Definition graphical-interface.idl:5
string msg
Definition graphical-interface.idl:6
Definition graphical-interface.idl:44
boolean setCurveColors(in string name, in ColorSeq pos)
boolean setBackgroundColor1(in WindowID wid, in Color RGBAcolor)
boolean addSceneToWindow(in string sceneName, in WindowID wid)
boolean addMesh(in string meshName, in string meshPath)
boolean addRod(in string rodName, in Color RGBAcolor, in float radius, in float totalLength, in short maxCapsule)
boolean createRoadmap(in string nameCorba, in Color RGBAcolorNode, in float radius, in float sizeAxis, in Color RGBAcolorEdge)
void removeLightSources(in string meshName)
boolean resizeCapsule(in string capsuleName, in float height)
boolean setCurvePointsSubset(in string curveName, in long first, in long count)
boolean addUrdfCollision(in string robotName, in string urdfFilePath)
boolean addCylinder(in string cylinderName, in float radius, in float height, in Color RGBAcolor)
create a Cylinder
boolean setTexture(in string nodeName, in string filename)
boolean setLineStartPoint(in string lineName, in Position pos1)
boolean addArrow(in string name, in float radius, in float length, in Color RGBAcolor)
WindowID createWindow(in string name)
boolean setCurvePoints(in string name, in PositionSeq pos)
boolean resizeArrow(in string capsuleName, in float radius, in float length)
void addUrdfObjects(in string nodeName, in string urdfFilePath, in boolean visual)
boolean addCapsule(in string name, in float radius, in float height, in Color RGBAcolor)
WindowID getWindowID(in string name)
boolean deleteNode(in string nodeName, in boolean all)
boolean addCone(in string name, in float radius, in float height, in Color RGBAcolor)
create a Cone
boolean nodeExists(in string nodeName)
boolean setCurveMode(in string name, in string mode)
Names_t getNodeList()
Returns the name of all the nodes.
boolean setLineEndPoint(in string lineName, in Position pos2)
boolean setCurveLineWidth(in string curveName, in float width)
boolean addLine(in string lineName, in Position pos1, in Position pos2, in Color RGBAcolor)
boolean addLight(in string lightName, in WindowID wid, in float radius, in Color RGBAcolor)
void createScene(in string sceneName)
boolean addEdgeToRoadmap(in string nameRoadmap, in Position posFrom, in Position posTo)
boolean addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3, in Color RGBAcolor)
boolean addCurve(in string name, in PositionSeq pos, in Color RGBAcolor)
boolean addXYZaxis(in string nodeName, in Color RGBAcolor, in float radius, in float sizeAxis)
boolean addSquareFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Position pos4, in Color RGBAcolor)
boolean addFloor(in string floorName)
boolean setBackgroundColor2(in WindowID wid, in Color RGBAcolor)
boolean addTriangleFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Color RGBAcolor)
boolean addURDF(in string robotName, in string urdfFilePath)
boolean addSphere(in string sphereName, in float radius, in Color RGBAcolor)
create a Sphere
void createSceneWithFloor(in string sceneName)
boolean addNodeToRoadmap(in string nameRoadmap, in Transform configuration)
boolean createGroup(in string groupName)
boolean setLineExtremalPoints(in string lineName, in Position pos1, in Position pos2)
Definition graphical-interface.idl:31
void selected(in string name, in Position positionInWorldFrame, in Position normalInLocalFrame)
float Transform[7]
Definition graphical-interface.idl:20
float Position[3]
Definition graphical-interface.idl:22
sequence< float > floatSeq
Sequence of names.
Definition graphical-interface.idl:26
sequence< string > Names_t
Definition graphical-interface.idl:25
sequence< Color > ColorSeq
Definition graphical-interface.idl:28
string WindowID
Definition graphical-interface.idl:24
sequence< Transform > TransformSeq
Definition graphical-interface.idl:29
float Vector2[2]
Definition graphical-interface.idl:21
sequence< Position > PositionSeq
Definition graphical-interface.idl:27
Definition url.hh:24