hpp-corbaserver: idl/hpp/corbaserver/obstacle.idl Source File

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

obstacle.idl
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1 // Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL.
2 //
3 // This file is part of the hpp-corbaserver.
4 //
5 // This software is provided "as is" without warranty of any kind,
6 // either expressed or implied, including but not limited to the
7 // implied warranties of fitness for a particular purpose.
8 //
9 // See the COPYING file for more information.
10
11 #ifndef HPP_CORBASERVER_OBSTACLE_SERVER_IDL
12 #define HPP_CORBASERVER_OBSTACLE_SERVER_IDL
13 #include <hpp/common.idl>
14
15 module hpp
16 {
17 module corbaserver {
20 interface Obstacle
21 {
31 void loadObstacleModel (in string filename, in string prefix)
32 raises (Error);
33
38 void loadPolyhedron (in string obstacleName, in string filename)
39 raises (Error);
40
50 void loadObstacleModelFromString (in string urdfString, in string prefix)
51 raises (Error);
52
56 void loadPointCloudFromFilename (in string objectName, in string filename)
57 raises (Error);
58
71 void loadPointCloudFromPoints (in string objectName, in double resolution,
72 in floatSeqSeq points)
73 raises (Error);
74
78 void removeObstacle (in string objectName) raises (Error);
79
87 void removeObstacleFromJoint (in string objectName, in string jointName,
88 in boolean collision, in boolean distance)
89 raises (Error);
90
94 void cutObstacle (in string objectName, in floatSeq aabb) raises (Error);
95
110 void addObstacle (in string objectName, in boolean collision,
111 in boolean distance) raises (Error);
112
122 void moveObstacle (in string objectName, in Transform_ cfg)
123 raises (Error);
124
130 void getObstaclePosition (in string objectName, out Transform_ cfg)
131 raises (Error);
132
138 Names_t getObstacleNames (in boolean collision, in boolean distance)
139 raises (Error);
140
142
145
149 void createPolyhedron (in string polyName)
150 raises (Error);
151
155 void createBox (in string inBoxName, in double x, in double y, in double z)
156 raises (Error);
157
161 void createSphere (in string name, in double radius) raises (Error);
162
167 void createCylinder (in string name, in double radius, in double length) raises (Error);
168
175 unsigned long addPoint (in string polyName, in double x, in double y, in double z)
176 raises (Error);
177
184 unsigned long addTriangle
185 (in string polyName, in unsigned long pt1,
186 in unsigned long pt2, in unsigned long pt3) raises (Error);
187
189 };
190 };
191 };
192
193 #endif
Names_t
Definition: common-idl.hh:78
floatSeqSeq
Definition: common-idl.hh:803
floatSeq
Definition: common-idl.hh:689
Transform_
::CORBA::Double Transform_[7]
Definition: common-idl.hh:915
common.idl
hpp::Error
Corba exception travelling through the Corba channel.
Definition: common.idl:27
hpp::corbaserver::Obstacle
Obstacle management.
Definition: obstacle.idl:21
hpp::corbaserver::Obstacle::loadPointCloudFromFilename
void loadPointCloudFromFilename(in string objectName, in string filename)
hpp::corbaserver::Obstacle::cutObstacle
void cutObstacle(in string objectName, in floatSeq aabb)
hpp::corbaserver::Obstacle::loadPolyhedron
void loadPolyhedron(in string obstacleName, in string filename)
Load a polyhedron as an obstacle from a file.
hpp::corbaserver::Obstacle::createPolyhedron
void createPolyhedron(in string polyName)
create an empty polyhedron.
hpp::corbaserver::Obstacle::loadObstacleModelFromString
void loadObstacleModelFromString(in string urdfString, in string prefix)
hpp::corbaserver::Obstacle::createSphere
void createSphere(in string name, in double radius)
hpp::corbaserver::Obstacle::moveObstacle
void moveObstacle(in string objectName, in Transform_ cfg)
Move an obstacle to a given configuration.
hpp::corbaserver::Obstacle::loadObstacleModel
void loadObstacleModel(in string filename, in string prefix)
hpp::corbaserver::Obstacle::removeObstacleFromJoint
void removeObstacleFromJoint(in string objectName, in string jointName, in boolean collision, in boolean distance)
Remove an obstacle from outer objects of a joint body.
hpp::corbaserver::Obstacle::loadPointCloudFromPoints
void loadPointCloudFromPoints(in string objectName, in double resolution, in floatSeqSeq points)
hpp::corbaserver::Obstacle::createCylinder
void createCylinder(in string name, in double radius, in double length)
hpp::corbaserver::Obstacle::getObstacleNames
Names_t getObstacleNames(in boolean collision, in boolean distance)
hpp::corbaserver::Obstacle::removeObstacle
void removeObstacle(in string objectName)
Remove an obstacle.
hpp::corbaserver::Obstacle::addTriangle
unsigned long addTriangle(in string polyName, in unsigned long pt1, in unsigned long pt2, in unsigned long pt3)
Add a point to a polyhedron.
hpp::corbaserver::Obstacle::getObstaclePosition
void getObstaclePosition(in string objectName, out Transform_ cfg)
hpp::corbaserver::Obstacle::createBox
void createBox(in string inBoxName, in double x, in double y, in double z)
Create a box.
hpp::corbaserver::Obstacle::addObstacle
void addObstacle(in string objectName, in boolean collision, in boolean distance)
Add an obstacle to the set of obstacles.
hpp::corbaserver::Obstacle::addPoint
unsigned long addPoint(in string polyName, in double x, in double y, in double z)
Add a point to a polyhedron.
hpp
Implement CORBA interface `‘Obstacle’'.