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)
142 void addGripper (in
string linkName, in
string gripperName,
143 in Transform_ handlePositioninJoint)
151 void addHandle (in
string linkName, in
string handleName,
152 in Transform_ localPosition)
161 void addAxialHandle (in
string linkName, in
string handleName,
162 in Transform_ localPosition)
167 string getGripperPositionInJoint (in
string gripperName,
168 out Transform_ position)
173 string getHandlePositionInJoint (in
string handleName,
174 out Transform_ position)
182 #endif // HPP_MANIPULATION_CORBA_ROBOT_IDL