28 #ifndef HPP_MANIPULATION_CORBA_ROBOT_IDL 29 #define HPP_MANIPULATION_CORBA_ROBOT_IDL 31 #include <hpp/common.idl> 50 void insertRobotModel (in
string robotName, in
string rootJointType,
51 in
string urdfname, in
string srdfname)
55 void insertRobotModelOnFrame (in
string robotName, in
string frameName,
56 in
string rootJointType, in
string urdfname, in
string srdfname)
67 void insertRobotModelFromString (in
string robotName, in
string rootJointType,
68 in
string urdfString, in
string srdfString)
73 void insertRobotSRDFModel (in
string robotName, in
string srdfPath)
78 void insertRobotSRDFModelFromString (in
string robotName,
79 in
string srdfString) raises (Error);
92 void insertHumanoidModel (in
string robotName, in
string rootJointType,
93 in
string urdfname, in
string srdfname)
105 void insertHumanoidModelFromString (in
string robotName, in
string rootJointType,
106 in
string urdfString, in
string srdfString)
114 void loadEnvironmentModel (in
string urdfName, in
string srdfName,
120 Transform_ getRootJointPosition (in
string robotName)
127 void setRootJointPosition (in
string robotName, in Transform_ position)
135 void addGripper (in
string linkName, in
string gripperName,
136 in Transform_ handlePositioninJoint)
144 void addHandle (in
string linkName, in
string handleName,
145 in Transform_ localPosition)
154 void addAxialHandle (in
string linkName, in
string handleName,
155 in Transform_ localPosition)
160 string getGripperPositionInJoint (in
string gripperName,
161 out Transform_ position)
166 string getHandlePositionInJoint (in
string handleName,
167 out Transform_ position)
175 #endif // HPP_MANIPULATION_CORBA_ROBOT_IDL