12 #ifndef HPP_CORBASERVER_ROBOT_SERVER_IDL 13 #define HPP_CORBASERVER_ROBOT_SERVER_IDL 35 void loadRobotModel (in
string robotName, in
string rootJointType,
36 in
string urdfName, in
string srdfName)
49 void loadHumanoidModel (in
string robotName, in
string rootJointType,
50 in
string urdfName, in
string srdfName)
61 void loadRobotModelFromString (in
string robotName, in
string rootJointType,
62 in
string urdfString, in
string srdfString)
73 void loadHumanoidModelFromString (in
string robotName, in
string rootJointType,
74 in
string urdfString, in
string srdfString)
84 long getConfigSize () raises (
Error);
88 long getNumberDof () raises (
Error);
108 string getParentJointName (in
string jointName) raises (
Error);
126 void setJointConfig(in
string jointName, in
floatSeq config) raises (
Error);
131 string getJointType(in
string jointName) raises (
Error);
162 floatSeq getJointVelocity (in
string jointName) raises (
Error);
168 floatSeq getJointVelocityInLocalFrame (in
string jointName) raises (
Error);
173 Transform_ getJointPositionInParentFrame (in
string jointName) raises (
Error);
187 void setJointPositionInParentFrame (in
string jointName, in
Transform_ position)
193 long getJointNumberDof (in
string jointName) raises (
Error);
198 long getJointConfigSize (in
string jointName) raises (
Error);
210 void setJointBounds(in
string jointName,
242 Names_t getLinkNames (in
string jointName) raises (
Error);
253 void setDimensionExtraConfigSpace (in
unsigned long dimension)
259 unsigned long getDimensionExtraConfigSpace ()
268 void setExtraConfigSpaceBounds (in
floatSeq bounds) raises (
Error);
303 Names_t getJointInnerObjects (in
string jointName) raises (
Error);
309 Names_t getJointOuterObjects (in
string jointName) raises (
Error);
316 void getObjectPosition (in
string objectName, out
Transform_ cfg)
330 void isConfigValid (in
floatSeq dofArray, out
boolean validity,
331 out
string report) raises (
Error);
343 void distancesToCollision (out
floatSeq distances,
353 void autocollisionCheck (out
boolSeq collide) raises (
Error);
362 void setAutoCollision (in
string innerObject, in
string outerObject, in
boolean active) raises (
Error);
373 double getMass () raises (
Error);
389 void addPartialCom (in
string comName, in
Names_t jointNames)
399 floatSeq getVelocityPartialCom (in
string comName)
403 string getRobotName () raises (
Error);
414 void createRobot(in
string robotName) raises (
Error);
429 void appendJoint(in
string parentJoint,
430 in
string jointName, in
string jointType,
437 void createPolyhedron(in
string inPolyName) raises (
Error);
442 void createBox (in
string name, in
double x, in
double y, in
double z)
448 void createSphere (in
string name, in
double radius) raises (
Error);
454 void createCylinder (in
string name, in
double radius, in
double length) raises (
Error);
462 unsigned long addPoint(in
string inPolyName, in
double x, in
double y, in
double z)
471 unsigned long addTriangle(in
string inPolyName, in
unsigned long pt1,
472 in
unsigned long pt2, in
unsigned long pt3)
479 void addObjectToJoint(in
string jointName,
480 in
string objectName,
489 #endif // HPP_CORBASERVER_ROBOT_SERVER_IDL
Definition: robots.idl:18
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:35
Corba exception travelling through the Corba channel.
Definition: common.idl:26
::CORBA::Double Transform_[7]
Definition: common-idl.hh:915
Definition: common-idl.hh:78
Definition: common-idl.hh:803
Definition: common-idl.hh:347
Creation of a device, joints and bodies.
Definition: robot.idl:21
Definition: common-idl.hh:689