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)
56 void insertRobotModelOnFrame (in
string robotName, in
string frameName,
57 in
string rootJointType, in
string urdfname, in
string srdfname)
68 void insertRobotModelFromString (in
string robotName, in
string rootJointType,
69 in
string urdfString, in
string srdfString)
74 void insertRobotModelOnFrameFromString (in
string robotName, in
string frameName,
75 in
string rootJointType, in
string urdfString, in
string srdfString)
80 void insertRobotSRDFModel (in
string robotName, in
string srdfPath)
85 void insertRobotSRDFModelFromString (in
string robotName,
86 in
string srdfString) raises (Error);
99 void insertHumanoidModel (in
string robotName, in
string rootJointType,
100 in
string urdfname, in
string srdfname)
112 void insertHumanoidModelFromString (in
string robotName, in
string rootJointType,
113 in
string urdfString, in
string srdfString)
121 void loadEnvironmentModel (in
string urdfName, in
string srdfName,
127 Transform_ getRootJointPosition (in
string robotName)
134 void setRootJointPosition (in
string robotName, in Transform_ position)
143 void addGripper (in
string linkName, in
string gripperName,
144 in Transform_ handlePositioninJoint, in
double clearance)
154 void addHandle (in
string linkName, in
string handleName,
155 in Transform_ localPosition, in
double clearance, in boolSeq mask)
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