hpp-manipulation-corba  4.13.0
Corba server for manipulation planning
robot.idl
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1 // Copyright (c) 2014 CNRS
2 // Author: Florent Lamiraux
3 //
4 // Redistribution and use in source and binary forms, with or without
5 // modification, are permitted provided that the following conditions are
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27 
28 #ifndef HPP_MANIPULATION_CORBA_ROBOT_IDL
29 #define HPP_MANIPULATION_CORBA_ROBOT_IDL
30 
31 #include <hpp/common.idl>
32 
33 module hpp
34 {
35  module corbaserver {
36  module manipulation {
37  interface Robot
38  {
50  void insertRobotModel (in string robotName, in string rootJointType,
51  in string urdfname, in string srdfname)
52  raises (Error);
53 
55  void insertRobotModelOnFrame (in string robotName, in string frameName,
56  in string rootJointType, in string urdfname, in string srdfname)
57  raises (Error);
58 
67  void insertRobotModelFromString (in string robotName, in string rootJointType,
68  in string urdfString, in string srdfString)
69  raises (Error);
70 
73  void insertRobotSRDFModel (in string robotName, in string srdfPath)
74  raises (Error);
75 
78  void insertRobotSRDFModelFromString (in string robotName,
79  in string srdfString) raises (Error);
80 
92  void insertHumanoidModel (in string robotName, in string rootJointType,
93  in string urdfname, in string srdfname)
94  raises (Error);
95 
105  void insertHumanoidModelFromString (in string robotName, in string rootJointType,
106  in string urdfString, in string srdfString)
107  raises (Error);
108 
114  void loadEnvironmentModel (in string urdfName, in string srdfName,
115  in string prefix)
116  raises (Error);
117 
120  Transform_ getRootJointPosition (in string robotName)
121  raises (Error);
122 
127  void setRootJointPosition (in string robotName, in Transform_ position)
128  raises (Error);
129 
135  void addGripper (in string linkName, in string gripperName,
136  in Transform_ handlePositioninJoint)
137  raises (Error);
138 
144  void addHandle (in string linkName, in string handleName,
145  in Transform_ localPosition)
146  raises (Error);
147 
154  void addAxialHandle (in string linkName, in string handleName,
155  in Transform_ localPosition)
156  raises (Error);
157 
160  string getGripperPositionInJoint (in string gripperName,
161  out Transform_ position)
162  raises (hpp::Error);
163 
166  string getHandlePositionInJoint (in string handleName,
167  out Transform_ position)
168  raises (hpp::Error);
169 
170  }; // interface Robot
171  }; // module manipulation
172  }; // module corbaserver
173 }; // module hpp
174 
175 #endif // HPP_MANIPULATION_CORBA_ROBOT_IDL
Definition: client.hh:46