18 #ifndef HPP_MANIPULATION_CORBA_ROBOT_IDL 19 #define HPP_MANIPULATION_CORBA_ROBOT_IDL 21 #include <hpp/common.idl> 40 void insertRobotModel (in
string robotName, in
string rootJointType,
41 in
string urdfname, in
string srdfname)
45 void insertRobotModelOnFrame (in
string robotName, in
string frameName,
46 in
string rootJointType, in
string urdfname, in
string srdfname)
57 void insertRobotModelFromString (in
string robotName, in
string rootJointType,
58 in
string urdfString, in
string srdfString)
63 void insertRobotSRDFModel (in
string robotName, in
string srdfPath)
68 void insertRobotSRDFModelFromString (in
string robotName,
69 in
string srdfString) raises (Error);
82 void insertHumanoidModel (in
string robotName, in
string rootJointType,
83 in
string urdfname, in
string srdfname)
95 void insertHumanoidModelFromString (in
string robotName, in
string rootJointType,
96 in
string urdfString, in
string srdfString)
104 void loadEnvironmentModel (in
string urdfName, in
string srdfName,
110 Transform_ getRootJointPosition (in
string robotName)
117 void setRootJointPosition (in
string robotName, in Transform_ position)
125 void addGripper (in
string linkName, in
string gripperName,
126 in Transform_ handlePositioninJoint)
134 void addHandle (in
string linkName, in
string handleName,
135 in Transform_ localPosition)
144 void addAxialHandle (in
string linkName, in
string handleName,
145 in Transform_ localPosition)
150 string getGripperPositionInJoint (in
string gripperName,
151 out Transform_ position)
156 string getHandlePositionInJoint (in
string handleName,
157 out Transform_ position)
165 #endif // HPP_MANIPULATION_CORBA_ROBOT_IDL