Obstacle management.
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import "/local/robotpkg/var/tmp/robotpkg/path/hpp-corbaserver/work/hpp-corbaserver-3.1.0/idl/hpp/corbaserver/obstacle.idl";
List of all members.
Public Member Functions |
void | loadObstacleModel (in string package, in string filename, in string prefix) raises (Error) |
| Load obstacle from urdf file.
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void | removeObstacleFromJoint (in string objectName, in string jointName, in boolean collision, in boolean distance) raises (Error) |
| Remove an obstacle from outer objects of a joint body.
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void | addObstacle (in string objectName, in boolean collision, in boolean distance) raises (Error) |
| Add an obstacle to the set of obstacles.
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void | moveObstacle (in string objectName, in Transform_ cfg) raises (Error) |
| Move an obstacle to a given configuration.
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void | getObstaclePosition (in string objectName, out Transform_ cfg) raises (Error) |
| Get the position of an obstacle.
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Names_t | getObstacleNames (in boolean collision, in boolean distance) raises (Error) |
| Get list of obstacles.
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void | createPolyhedron (in string polyName) raises (Error) |
| create an empty polyhedron.
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void | createBox (in string inBoxName, in double x, in double y, in double z) raises (Error) |
| Create a box.
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short | addPoint (in string polyName, in double x, in double y, in double z) raises (Error) |
| Add a point to a polyhedron.
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short | addTriangle (in string polyName, in unsigned long pt1, in unsigned long pt2, in unsigned long pt3) raises (Error) |
| Add a point to a polyhedron.
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Detailed Description
Member Function Documentation
void hpp::corbaserver::Obstacle::addObstacle |
( |
in string |
objectName, |
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in boolean |
collision, |
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in boolean |
distance |
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) |
| raises (Error) |
Add an obstacle to the set of obstacles.
- Parameters:
-
objectName | name of the object. |
collision | whether collision with object should be computed |
distance | whether distance to object should be computed |
- Exceptions:
-
- Note:
- The obstacle should have been built using one of methods
- hpp::Obstacle::createPolyhedron,
- hpp::Obstacle::createBox
- hpp::Obstacle::addPoint
- hpp::Obstacle::addTriangle.
-
Build the bounding volume hierarchy of the object if needed.
short hpp::corbaserver::Obstacle::addPoint |
( |
in string |
polyName, |
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|
in double |
x, |
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in double |
y, |
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in double |
z |
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) |
| raises (Error) |
Add a point to a polyhedron.
- Parameters:
-
polyName | the name of the polyhedron. |
x | coordinate of the point. |
y | coordinate of the point. |
z | coordinate of the point. |
- Returns:
- rank of point in polyhedron.
short hpp::corbaserver::Obstacle::addTriangle |
( |
in string |
polyName, |
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in unsigned long |
pt1, |
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in unsigned long |
pt2, |
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in unsigned long |
pt3 |
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) |
| raises (Error) |
Add a point to a polyhedron.
- Parameters:
-
polyName | the name of the polyhedron. |
pt1 | rank of first point in polyhedron. |
pt2 | rank of second point in polyhedron. |
pt3 | rank of third point in polyhedron. |
- Returns:
- rank of triangle in polyhedron.
void hpp::corbaserver::Obstacle::createBox |
( |
in string |
inBoxName, |
|
|
in double |
x, |
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in double |
y, |
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in double |
z |
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) |
| raises (Error) |
Create a box.
- Parameters:
-
inBoxName | name of the box |
x,y,z | Size of the box |
void hpp::corbaserver::Obstacle::createPolyhedron |
( |
in string |
polyName | ) |
raises (Error) |
create an empty polyhedron.
- Parameters:
-
polyName | name of the polyhedron. |
- Exceptions:
-
Names_t hpp::corbaserver::Obstacle::getObstacleNames |
( |
in boolean |
collision, |
|
|
in boolean |
distance |
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) |
| raises (Error) |
Get list of obstacles.
- Parameters:
-
collision | whether to return obstacle for collision, |
distance | whether to return obstacles for distance computation |
- Returns:
- list of obstacles
void hpp::corbaserver::Obstacle::getObstaclePosition |
( |
in string |
objectName, |
|
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out Transform_ |
cfg |
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) |
| raises (Error) |
Get the position of an obstacle.
- Parameters:
-
objectName | name of the polyhedron. |
- Return values:
-
cfg | Position of the obstacle. |
- Exceptions:
-
void hpp::corbaserver::Obstacle::loadObstacleModel |
( |
in string |
package, |
|
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in string |
filename, |
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|
in string |
prefix |
|
) |
| raises (Error) |
Load obstacle from urdf file.
- Parameters:
-
package | Name of the package containing the model |
filename | name of the urdf file in the package (without suffix .urdf) |
prefix | prefix added to object names in case the same file is loaded several times |
The ros url is built as follows: "package://${package}/urdf/${filename}.urdf"
The kinematic structure of the urdf file is ignored. Only the geometric objects are loaded as obstacles.
void hpp::corbaserver::Obstacle::moveObstacle |
( |
in string |
objectName, |
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in Transform_ |
cfg |
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) |
| raises (Error) |
Move an obstacle to a given configuration.
- Parameters:
-
objectName | name of the polyhedron. |
cfg | the configuration of the obstacle. |
- Exceptions:
-
- Note:
- The obstacle is not added to local map impl::Obstacle::collisionListMap.
-
Build the collision entity of polyhedron for KCD.
void hpp::corbaserver::Obstacle::removeObstacleFromJoint |
( |
in string |
objectName, |
|
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in string |
jointName, |
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in boolean |
collision, |
|
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in boolean |
distance |
|
) |
| raises (Error) |
Remove an obstacle from outer objects of a joint body.
- Parameters:
-
objectName | name of the object to remove, |
jointName | name of the joint owning the body, |
collision | whether collision with object should be computed, |
distance | whether distance to object should be computed. |
- Exceptions:
-