hpp::corbaserver::manipulation::Robot Interface Reference

import "/local/robotpkg/var/tmp/robotpkg/path/hpp-manipulation-corba/work/hpp-manipulation-corba-1.1.0/idl/hpp/corbaserver/manipulation/robot.idl";

List of all members.

Public Member Functions

void create (in string robotName) raises (Error)
 Create a manipulation::Device The device automatically has an anchor joint called "base_joint" as root joint.
void insertRobotModel (in string robotName, in string rootJointType, in string packageName, in string modelName, in string urdfSuffix, in string srdfSuffix) raises (Error)
 Insert robot model as a child of the root joint of the Device.
void insertHumanoidModel (in string robotName, in string rootJointType, in string packageName, in string modelName, in string urdfSuffix, in string srdfSuffix) raises (Error)
 Insert humanoid robot model as a child of the root joint of the Device.
void insertObjectModel (in string objectName, in string rootJointType, in string packageName, in string modelName, in string urdfSuffix, in string srdfSuffix) raises (Error)
 Load object model and store in local map.
void loadEnvironmentModel (in string packageName, in string envModelName, in string urdfSuffix, in string srdfSuffix, in string prefix) raises (Error)
Transform_ getRootJointPosition (in string robotName) raises (Error)
 Get the position of root joint of a robot in world frame.
void setRootJointPosition (in string robotName, in Transform_ position) raises (Error)
 Set the position of root joint of a robot in world frame.
void addGripper (in string linkName, in string gripperName, in Transform_ handlePositioninJoint, in Names_t bodyInCollisionNames) raises (Error)
 Add Gripper to a robot.
void addHandle (in string linkName, in string handleName, in Transform_ localPosition) raises (Error)
 Add Handle to an object.
void addAxialHandle (in string linkName, in string handleName, in Transform_ localPosition) raises (Error)
 Add axial handle to an object.

Member Function Documentation

void hpp::corbaserver::manipulation::Robot::addAxialHandle ( in string  linkName,
in string  handleName,
in Transform_  localPosition 
) raises (Error)

Add axial handle to an object.

Parameters:
linkNamename of the link (hpp::model::Body) holding the handle,
handleNamename of the handle,
localPositionposition of the handle in the joint frame, rotation around x-axis is not constrained.
void hpp::corbaserver::manipulation::Robot::addGripper ( in string  linkName,
in string  gripperName,
in Transform_  handlePositioninJoint,
in Names_t  bodyInCollisionNames 
) 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.
void hpp::corbaserver::manipulation::Robot::addHandle ( in string  linkName,
in string  handleName,
in Transform_  localPosition 
) raises (Error)

Add Handle to an object.

Parameters:
linkNamename of the link (hpp::model::Body) holding the handle,
handleNamename of the handle,
localPositionposition of the handle in the joint frame.
void hpp::corbaserver::manipulation::Robot::create ( in string  robotName) raises (Error)

Create a manipulation::Device The device automatically has an anchor joint called "base_joint" as root joint.

Parameters:
robotNamethe name of the robot.
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.
void hpp::corbaserver::manipulation::Robot::insertHumanoidModel ( in string  robotName,
in string  rootJointType,
in string  packageName,
in string  modelName,
in string  urdfSuffix,
in string  srdfSuffix 
) 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",
packageNameName of the ROS package containing the model,
modelNameName of the package containing the model
urdfSuffixsuffix for urdf file,

The ros url are built as follows: "package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf" "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"

void hpp::corbaserver::manipulation::Robot::insertObjectModel ( in string  objectName,
in string  rootJointType,
in string  packageName,
in string  modelName,
in string  urdfSuffix,
in string  srdfSuffix 
) raises (Error)

Load object model and store in local map.

Parameters:
robotNamekey of the object in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointTypetype of root joint among "anchor", "freeflyer", "planar",
packageNameName of the ROS package containing the model,
modelNameName of the package containing the model
urdfSuffixsuffix for urdf file,

The ros url are built as follows: "package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf" "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"

void hpp::corbaserver::manipulation::Robot::insertRobotModel ( in string  robotName,
in string  rootJointType,
in string  packageName,
in string  modelName,
in string  urdfSuffix,
in string  srdfSuffix 
) 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",
packageNameName of the ROS package containing the model,
modelNameName of the package containing the model
urdfSuffixsuffix for urdf file,

The ros url are built as follows: "package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf" "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"

Referenced by manipulation::robot::Robot::loadModel().

void hpp::corbaserver::manipulation::Robot::loadEnvironmentModel ( in string  packageName,
in string  envModelName,
in string  urdfSuffix,
in string  srdfSuffix,
in string  prefix 
) raises (Error)
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.