hpp-manipulation-corba  4.14.0
Corba server for manipulation planning
robot.idl
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1 // Copyright (c) 2014 CNRS
2 // Author: Florent Lamiraux
3 //
4 // Redistribution and use in source and binary forms, with or without
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 
142  void addGripper (in string linkName, in string gripperName,
143  in Transform_ handlePositioninJoint)
144  raises (Error);
145 
151  void addHandle (in string linkName, in string handleName,
152  in Transform_ localPosition)
153  raises (Error);
154 
161  void addAxialHandle (in string linkName, in string handleName,
162  in Transform_ localPosition)
163  raises (Error);
164 
167  string getGripperPositionInJoint (in string gripperName,
168  out Transform_ position)
169  raises (hpp::Error);
170 
173  string getHandlePositionInJoint (in string handleName,
174  out Transform_ position)
175  raises (hpp::Error);
176 
177  }; // interface Robot
178  }; // module manipulation
179  }; // module corbaserver
180 }; // module hpp
181 
182 #endif // HPP_MANIPULATION_CORBA_ROBOT_IDL
Definition: client.hh:46