34 #ifndef HPP_CORBASERVER_OBSTACLE_IMPL_HH 35 #define HPP_CORBASERVER_OBSTACLE_IMPL_HH 36 #include <hpp/fcl/data_types.h> 41 #include <hpp/core/problem-solver.hh> 47 namespace corbaServer {
49 class Obstacle :
public virtual POA_hpp::corbaserver::Obstacle {
60 virtual void loadPolyhedron(
const char* name,
const char* filename);
63 const char* jointName, Boolean collision,
70 virtual void addObstacle(
const char* polyhedronName, Boolean collision,
81 virtual void createBox(
const char* boxName, Double x, Double y, Double z);
83 virtual void createSphere(
const char* name, Double radius);
85 virtual void createCylinder(
const char* name, Double radius, Double length);
87 virtual ULong
addPoint(
const char* polyhedronName, Double x, Double y,
90 virtual ULong
addTriangle(
const char* polyhedronName, ULong pt1, ULong pt2,
103 core::ProblemSolverPtr_t problemSolver();
Definition: server-plugin.hh:50
virtual ULong addPoint(const char *polyhedronName, Double x, Double y, Double z)
virtual void getObstaclePosition(const char *objectName, Transform_ cfg)
Implement CORBA interface ``Obstacle''.
Definition: client.hh:46
virtual void removeObstacle(const char *objectName)
Definition: common-idl.hh:78
virtual void createPolyhedron(const char *polyhedronName)
virtual void loadObstacleModel(const char *filename, const char *prefix)
void setServer(ServerPlugin *server)
Definition: obstacle.impl.hh:53
virtual void createBox(const char *boxName, Double x, Double y, Double z)
virtual void removeObstacleFromJoint(const char *objectName, const char *jointName, Boolean collision, Boolean distance)
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:64
virtual void moveObstacle(const char *polyName, const Transform_ cfg)
virtual void cutObstacle(const char *objectName, const floatSeq &aabb)
virtual void createCylinder(const char *name, Double radius, Double length)
double Transform_[7]
Element of SE(3) represented by a vector and a unit quaternion.
Definition: common.idl:38
virtual void loadObstacleModelFromString(const char *urdfString, const char *prefix)
virtual void loadPolyhedron(const char *name, const char *filename)
virtual void createSphere(const char *name, Double radius)
virtual ULong addTriangle(const char *polyhedronName, ULong pt1, ULong pt2, ULong pt3)
Definition: object-map.hh:41
virtual void addObstacle(const char *polyhedronName, Boolean collision, Boolean distance)
Definition: common-idl.hh:689
virtual Names_t * getObstacleNames(bool collision, bool distance)
Definition: obstacle.impl.hh:49