hpp-manipulation-corba  5.0.0
Corba server for manipulation planning
robot.idl
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1 // Copyright (c) 2014 CNRS
2 // Author: Florent Lamiraux
3 //
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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 
56  void insertRobotModelOnFrame (in string robotName, in string frameName,
57  in string rootJointType, in string urdfname, in string srdfname)
58  raises (Error);
59 
68  void insertRobotModelFromString (in string robotName, in string rootJointType,
69  in string urdfString, in string srdfString)
70  raises (Error);
71 
74  void insertRobotModelOnFrameFromString (in string robotName, in string frameName,
75  in string rootJointType, in string urdfString, in string srdfString)
76  raises (Error);
77 
80  void insertRobotSRDFModel (in string robotName, in string srdfPath)
81  raises (Error);
82 
85  void insertRobotSRDFModelFromString (in string robotName,
86  in string srdfString) raises (Error);
87 
99  void insertHumanoidModel (in string robotName, in string rootJointType,
100  in string urdfname, in string srdfname)
101  raises (Error);
102 
112  void insertHumanoidModelFromString (in string robotName, in string rootJointType,
113  in string urdfString, in string srdfString)
114  raises (Error);
115 
121  void loadEnvironmentModel (in string urdfName, in string srdfName,
122  in string prefix)
123  raises (Error);
124 
127  Transform_ getRootJointPosition (in string robotName)
128  raises (Error);
129 
134  void setRootJointPosition (in string robotName, in Transform_ position)
135  raises (Error);
136 
143  void addGripper (in string linkName, in string gripperName,
144  in Transform_ handlePositioninJoint, in double clearance)
145  raises (Error);
146 
154  void addHandle (in string linkName, in string handleName,
155  in Transform_ localPosition, in double clearance, in boolSeq mask)
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