hpp-corbaserver
5.0.0
Corba server for Humanoid Path Planner applications
obstacle.idl
Go to the documentation of this file.
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// Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL.
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//
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// This file is part of the hpp-corbaserver.
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//
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// This software is provided "as is" without warranty of any kind,
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// either expressed or implied, including but not limited to the
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// implied warranties of fitness for a particular purpose.
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//
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// See the COPYING file for more information.
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#ifndef HPP_CORBASERVER_OBSTACLE_SERVER_IDL
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#define HPP_CORBASERVER_OBSTACLE_SERVER_IDL
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#include <
hpp/common.idl
>
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module
hpp
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{
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module corbaserver {
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interface
Obstacle
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{
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void
loadObstacleModel (in
string
filename, in
string
prefix)
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raises (
Error
);
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void
loadPolyhedron (in
string
obstacleName, in
string
filename)
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raises (
Error
);
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void
loadObstacleModelFromString (in
string
urdfString, in
string
prefix)
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raises (
Error
);
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void
removeObstacle (in
string
objectName) raises (
Error
);
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void
removeObstacleFromJoint (in
string
objectName, in
string
jointName,
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in
boolean
collision, in
boolean
distance)
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raises (
Error
);
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void
cutObstacle (in
string
objectName, in
floatSeq
aabb) raises (
Error
);
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void
addObstacle (in
string
objectName, in
boolean
collision,
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in
boolean
distance) raises (
Error
);
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void
moveObstacle (in
string
objectName, in
Transform_
cfg)
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raises (
Error
);
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void
getObstaclePosition (in
string
objectName, out
Transform_
cfg)
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raises (
Error
);
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Names_t
getObstacleNames (in
boolean
collision, in
boolean
distance)
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raises (
Error
);
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void
createPolyhedron (in
string
polyName)
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raises (
Error
);
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void
createBox (in
string
inBoxName, in
double
x, in
double
y, in
double
z)
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raises (
Error
);
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void
createSphere (in
string
name, in
double
radius) raises (
Error
);
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void
createCylinder (in
string
name, in
double
radius, in
double
length) raises (
Error
);
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unsigned
long
addPoint (in
string
polyName, in
double
x, in
double
y, in
double
z)
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raises (
Error
);
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unsigned
long
addTriangle
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(in
string
polyName, in
unsigned
long
pt1,
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in
unsigned
long
pt2, in
unsigned
long
pt3) raises (
Error
);
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};
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};
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};
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#endif
floatSeq
Definition:
common-idl.hh:689
hpp::Error
Corba exception travelling through the Corba channel.
Definition:
common.idl:26
hpp
Implement CORBA interface `‘Obstacle’'.
Definition:
client.hh:46
Transform_
::CORBA::Double Transform_[7]
Definition:
common-idl.hh:915
common.idl
hpp::corbaserver::Obstacle
Obstacle management.
Definition:
obstacle.idl:20
Names_t
Definition:
common-idl.hh:78
idl
hpp
corbaserver
obstacle.idl
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