hpp-corbaserver: src/hpp/corbaserver/robot-idl.hh Source File

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

robot-idl.hh
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1 // This file is generated by omniidl (C++ backend)- omniORB_4_3. Do not edit.
2 #ifndef __robot_hh__
3 #define __robot_hh__
4
5 #ifndef __CORBA_H_EXTERNAL_GUARD__
6 #include <omniORB4/CORBA.h>
7 #endif
8
9 #ifndef USE_stub_in_nt_dll
10 # define USE_stub_in_nt_dll_NOT_DEFINED_robot
11 #endif
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_robot
14 #endif
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot
17 #endif
18
19
20
21 #ifndef __common_hh_EXTERNAL_GUARD__
22 #define __common_hh_EXTERNAL_GUARD__
23 #include <hpp/common-idl.hh>
24 #endif
25 #ifndef __robots_hh_EXTERNAL_GUARD__
26 #define __robots_hh_EXTERNAL_GUARD__
27 #include <hpp/pinocchio_idl/robots-idl.hh>
28 #endif
29
30
31
32 #ifdef USE_stub_in_nt_dll
33 # ifndef USE_core_stub_in_nt_dll
34 # define USE_core_stub_in_nt_dll
35 # endif
36 # ifndef USE_dyn_stub_in_nt_dll
37 # define USE_dyn_stub_in_nt_dll
38 # endif
39 #endif
40
41 #ifdef _core_attr
42 # error "A local CPP macro _core_attr has already been defined."
43 #else
44 # ifdef USE_core_stub_in_nt_dll
45 # define _core_attr _OMNIORB_NTDLL_IMPORT
46 # else
47 # define _core_attr
48 # endif
49 #endif
50
51 #ifdef _dyn_attr
52 # error "A local CPP macro _dyn_attr has already been defined."
53 #else
54 # ifdef USE_dyn_stub_in_nt_dll
55 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
56 # else
57 # define _dyn_attr
58 # endif
59 #endif
60
61
62
63 _CORBA_MODULE hpp
64
65 _CORBA_MODULE_BEG
66
67 _CORBA_MODULE corbaserver
68
69 _CORBA_MODULE_BEG
70
71 #ifndef __hpp_mcorbaserver_mRobot__
72 #define __hpp_mcorbaserver_mRobot__
73 class Robot;
74 class _objref_Robot;
75 class _impl_Robot;
76
77 typedef _objref_Robot* Robot_ptr;
78 typedef Robot_ptr RobotRef;
79
80 class Robot_Helper {
81 public:
82 typedef Robot_ptr _ptr_type;
83
84 static _ptr_type _nil();
85 static _CORBA_Boolean is_nil(_ptr_type);
86 static void release(_ptr_type);
87 static void duplicate(_ptr_type);
88 static void marshalObjRef(_ptr_type, cdrStream&);
89 static _ptr_type unmarshalObjRef(cdrStream&);
90 };
91
92 typedef _CORBA_ObjRef_Var<_objref_Robot, Robot_Helper> Robot_var;
93 typedef _CORBA_ObjRef_OUT_arg<_objref_Robot,Robot_Helper > Robot_out;
94
95 #endif
96
97 // interface Robot
98 class Robot {
99 public:
100 // Declarations for this interface type.
101 typedef Robot_ptr _ptr_type;
102 typedef Robot_var _var_type;
103
104 static _ptr_type _duplicate(_ptr_type);
105 static _ptr_type _narrow(::CORBA::Object_ptr);
106 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
107
108 static _ptr_type _nil();
109
110 static inline void _marshalObjRef(_ptr_type, cdrStream&);
111
112 static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
113 omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
114 if (o)
115 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
116 else
117 return _nil();
118 }
119
120 static inline _ptr_type _fromObjRef(omniObjRef* o) {
121 if (o)
122 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
123 else
124 return _nil();
125 }
126
127 static _core_attr const char* _PD_repoId;
128
129 // Other IDL defined within this scope.
130
131 };
132
133 class _objref_Robot :
134 public virtual ::CORBA::Object,
135 public virtual omniObjRef
136 {
137 public:
138 // IDL operations
139 void loadRobotModel(const char* robotName, const char* rootJointType, const char* urdfName, const char* srdfName);
140 void loadHumanoidModel(const char* robotName, const char* rootJointType, const char* urdfName, const char* srdfName);
141 void loadRobotModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString);
142 void loadHumanoidModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString);
143 ::CORBA::Long getConfigSize();
144 ::CORBA::Long getNumberDof();
145 Names_t* getJointNames();
146 Names_t* getJointTypes();
147 Names_t* getAllJointNames();
148 char* getParentJointName(const char* jointName);
149 floatSeq* getJointConfig(const char* jointName);
150 void setJointConfig(const char* jointName, const ::hpp::floatSeq& config);
151 char* getJointType(const char* jointName);
152 floatSeq* jointIntegrate(const ::hpp::floatSeq& jointCfg, const char* jointName, const ::hpp::floatSeq& speed, ::CORBA::Boolean saturate);
153 floatSeqSeq* getCurrentTransformation(const char* jointName);
154 Transform__slice* getJointPosition(const char* jointName);
155 TransformSeq* getJointsPosition(const ::hpp::floatSeq& q, const ::hpp::Names_t& jointNames);
156 floatSeq* getJointVelocity(const char* jointName);
157 floatSeq* getJointVelocityInLocalFrame(const char* jointName);
158 Transform__slice* getJointPositionInParentFrame(const char* jointName);
159 Transform__slice* getRootJointPosition();
160 void setRootJointPosition(const ::hpp::Transform_ position);
161 void setJointPositionInParentFrame(const char* jointName, const ::hpp::Transform_ position);
162 ::CORBA::Long getJointNumberDof(const char* jointName);
163 ::CORBA::Long getJointConfigSize(const char* jointName);
164 void setJointBounds(const char* jointName, const ::hpp::floatSeq& inJointBound);
165 floatSeq* getJointBounds(const char* jointName);
166 Transform__slice* getLinkPosition(const char* linkName);
167 TransformSeq* getLinksPosition(const ::hpp::floatSeq& q, const ::hpp::Names_t& linkName);
168 Names_t* getLinkNames(const char* jointName);
169 void setDimensionExtraConfigSpace(::CORBA::ULong dimension);
170 ::CORBA::ULong getDimensionExtraConfigSpace();
171 void setExtraConfigSpaceBounds(const ::hpp::floatSeq& bounds);
172 floatSeq* getCurrentConfig();
173 floatSeq* shootRandomConfig();
174 void setCurrentConfig(const ::hpp::floatSeq& dofArray);
175 floatSeq* getCurrentVelocity();
176 void setCurrentVelocity(const ::hpp::floatSeq& qDot);
177 Names_t* getJointInnerObjects(const char* jointName);
178 Names_t* getJointOuterObjects(const char* jointName);
179 void getObjectPosition(const char* objectName, ::hpp::Transform_ cfg);
180 void isConfigValid(const ::hpp::floatSeq& dofArray, ::CORBA::Boolean& validity, ::CORBA::String_out report);
181 void distancesToCollision(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints);
182 void autocollisionCheck(::hpp::boolSeq_out collide);
183 void autocollisionPairs(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active);
184 void setAutoCollision(const char* innerObject, const char* outerObject, ::CORBA::Boolean active);
185 floatSeq* getRobotAABB();
186 ::CORBA::Double getMass();
187 floatSeq* getCenterOfMass();
188 floatSeq* getCenterOfMassVelocity();
189 floatSeqSeq* getJacobianCenterOfMass();
190 void addPartialCom(const char* comName, const ::hpp::Names_t& jointNames);
191 floatSeq* getPartialCom(const char* comName);
192 floatSeqSeq* getJacobianPartialCom(const char* comName);
193 floatSeq* getVelocityPartialCom(const char* comName);
194 char* getRobotName();
195 pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation(const char* name);
196 void createRobot(const char* robotName);
197 void appendJoint(const char* parentJoint, const char* jointName, const char* jointType, const ::hpp::Transform_ pos);
198 void createPolyhedron(const char* inPolyName);
199 void createBox(const char* name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z);
200 void createSphere(const char* name, ::CORBA::Double radius);
201 void createCylinder(const char* name, ::CORBA::Double radius, ::CORBA::Double length);
202 ::CORBA::ULong addPoint(const char* inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z);
203 ::CORBA::ULong addTriangle(const char* inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3);
204 void addObjectToJoint(const char* jointName, const char* objectName, const ::hpp::Transform_ pos);
205
206 // Constructors
207 inline _objref_Robot() { _PR_setobj(0); } // nil
208 _objref_Robot(omniIOR*, omniIdentity*);
209
210 protected:
211 virtual ~_objref_Robot();
212
213
214 private:
215 virtual void* _ptrToObjRef(const char*);
216
217 _objref_Robot(const _objref_Robot&);
218 _objref_Robot& operator = (const _objref_Robot&);
219 // not implemented
220
221 friend class Robot;
222 };
223
224 class _pof_Robot : public _OMNI_NS(proxyObjectFactory) {
225 public:
226 inline _pof_Robot() : _OMNI_NS(proxyObjectFactory)(Robot::_PD_repoId) {}
227 virtual ~_pof_Robot();
228
229 virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
230 virtual _CORBA_Boolean is_a(const char*) const;
231 };
232
233 class _impl_Robot :
234 public virtual omniServant
235 {
236 public:
237 virtual ~_impl_Robot();
238
239 virtual void loadRobotModel(const char* robotName, const char* rootJointType, const char* urdfName, const char* srdfName) = 0;
240 virtual void loadHumanoidModel(const char* robotName, const char* rootJointType, const char* urdfName, const char* srdfName) = 0;
241 virtual void loadRobotModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString) = 0;
242 virtual void loadHumanoidModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString) = 0;
243 virtual ::CORBA::Long getConfigSize() = 0;
244 virtual ::CORBA::Long getNumberDof() = 0;
245 virtual Names_t* getJointNames() = 0;
246 virtual Names_t* getJointTypes() = 0;
247 virtual Names_t* getAllJointNames() = 0;
248 virtual char* getParentJointName(const char* jointName) = 0;
249 virtual floatSeq* getJointConfig(const char* jointName) = 0;
250 virtual void setJointConfig(const char* jointName, const ::hpp::floatSeq& config) = 0;
251 virtual char* getJointType(const char* jointName) = 0;
252 virtual floatSeq* jointIntegrate(const ::hpp::floatSeq& jointCfg, const char* jointName, const ::hpp::floatSeq& speed, ::CORBA::Boolean saturate) = 0;
253 virtual floatSeqSeq* getCurrentTransformation(const char* jointName) = 0;
254 virtual Transform__slice* getJointPosition(const char* jointName) = 0;
255 virtual TransformSeq* getJointsPosition(const ::hpp::floatSeq& q, const ::hpp::Names_t& jointNames) = 0;
256 virtual floatSeq* getJointVelocity(const char* jointName) = 0;
257 virtual floatSeq* getJointVelocityInLocalFrame(const char* jointName) = 0;
258 virtual Transform__slice* getJointPositionInParentFrame(const char* jointName) = 0;
259 virtual Transform__slice* getRootJointPosition() = 0;
260 virtual void setRootJointPosition(const ::hpp::Transform_ position) = 0;
261 virtual void setJointPositionInParentFrame(const char* jointName, const ::hpp::Transform_ position) = 0;
262 virtual ::CORBA::Long getJointNumberDof(const char* jointName) = 0;
263 virtual ::CORBA::Long getJointConfigSize(const char* jointName) = 0;
264 virtual void setJointBounds(const char* jointName, const ::hpp::floatSeq& inJointBound) = 0;
265 virtual floatSeq* getJointBounds(const char* jointName) = 0;
266 virtual Transform__slice* getLinkPosition(const char* linkName) = 0;
267 virtual TransformSeq* getLinksPosition(const ::hpp::floatSeq& q, const ::hpp::Names_t& linkName) = 0;
268 virtual Names_t* getLinkNames(const char* jointName) = 0;
269 virtual void setDimensionExtraConfigSpace(::CORBA::ULong dimension) = 0;
270 virtual ::CORBA::ULong getDimensionExtraConfigSpace() = 0;
271 virtual void setExtraConfigSpaceBounds(const ::hpp::floatSeq& bounds) = 0;
272 virtual floatSeq* getCurrentConfig() = 0;
273 virtual floatSeq* shootRandomConfig() = 0;
274 virtual void setCurrentConfig(const ::hpp::floatSeq& dofArray) = 0;
275 virtual floatSeq* getCurrentVelocity() = 0;
276 virtual void setCurrentVelocity(const ::hpp::floatSeq& qDot) = 0;
277 virtual Names_t* getJointInnerObjects(const char* jointName) = 0;
278 virtual Names_t* getJointOuterObjects(const char* jointName) = 0;
279 virtual void getObjectPosition(const char* objectName, ::hpp::Transform_ cfg) = 0;
280 virtual void isConfigValid(const ::hpp::floatSeq& dofArray, ::CORBA::Boolean& validity, ::CORBA::String_out report) = 0;
281 virtual void distancesToCollision(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints) = 0;
282 virtual void autocollisionCheck(::hpp::boolSeq_out collide) = 0;
283 virtual void autocollisionPairs(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active) = 0;
284 virtual void setAutoCollision(const char* innerObject, const char* outerObject, ::CORBA::Boolean active) = 0;
285 virtual floatSeq* getRobotAABB() = 0;
286 virtual ::CORBA::Double getMass() = 0;
287 virtual floatSeq* getCenterOfMass() = 0;
288 virtual floatSeq* getCenterOfMassVelocity() = 0;
289 virtual floatSeqSeq* getJacobianCenterOfMass() = 0;
290 virtual void addPartialCom(const char* comName, const ::hpp::Names_t& jointNames) = 0;
291 virtual floatSeq* getPartialCom(const char* comName) = 0;
292 virtual floatSeqSeq* getJacobianPartialCom(const char* comName) = 0;
293 virtual floatSeq* getVelocityPartialCom(const char* comName) = 0;
294 virtual char* getRobotName() = 0;
295 virtual pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation(const char* name) = 0;
296 virtual void createRobot(const char* robotName) = 0;
297 virtual void appendJoint(const char* parentJoint, const char* jointName, const char* jointType, const ::hpp::Transform_ pos) = 0;
298 virtual void createPolyhedron(const char* inPolyName) = 0;
299 virtual void createBox(const char* name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0;
300 virtual void createSphere(const char* name, ::CORBA::Double radius) = 0;
301 virtual void createCylinder(const char* name, ::CORBA::Double radius, ::CORBA::Double length) = 0;
302 virtual ::CORBA::ULong addPoint(const char* inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0;
303 virtual ::CORBA::ULong addTriangle(const char* inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3) = 0;
304 virtual void addObjectToJoint(const char* jointName, const char* objectName, const ::hpp::Transform_ pos) = 0;
305
306 public: // Really protected, workaround for xlC
307 virtual _CORBA_Boolean _dispatch(omniCallHandle&);
308
309 private:
310 virtual void* _ptrToInterface(const char*);
311 virtual const char* _mostDerivedRepoId();
312
313 };
314
315
316 _CORBA_MODULE_END
317
318 _CORBA_MODULE_END
319
320
321
322 _CORBA_MODULE POA_hpp
323 _CORBA_MODULE_BEG
324
325 _CORBA_MODULE corbaserver
326 _CORBA_MODULE_BEG
327
328 class Robot :
329 public virtual hpp::corbaserver::_impl_Robot,
330 public virtual ::PortableServer::ServantBase
331 {
332 public:
333 virtual ~Robot();
334
335 inline ::hpp::corbaserver::Robot_ptr _this() {
336 return (::hpp::corbaserver::Robot_ptr) _do_this(::hpp::corbaserver::Robot::_PD_repoId);
337 }
338 };
339
340 _CORBA_MODULE_END
341
342 _CORBA_MODULE_END
343
344
345
346 _CORBA_MODULE OBV_hpp
347 _CORBA_MODULE_BEG
348
349 _CORBA_MODULE corbaserver
350 _CORBA_MODULE_BEG
351
352 _CORBA_MODULE_END
353
354 _CORBA_MODULE_END
355
356
357
358
359
360 #undef _core_attr
361 #undef _dyn_attr
362
363
364
365 inline void
366 hpp::corbaserver::Robot::_marshalObjRef(::hpp::corbaserver::Robot_ptr obj, cdrStream& s) {
367 omniObjRef::_marshal(obj->_PR_getobj(),s);
368 }
369
370
371
372 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_robot
373 # undef USE_stub_in_nt_dll
374 # undef USE_stub_in_nt_dll_NOT_DEFINED_robot
375 #endif
376 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_robot
377 # undef USE_core_stub_in_nt_dll
378 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_robot
379 #endif
380 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot
381 # undef USE_dyn_stub_in_nt_dll
382 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot
383 #endif
384
385 #endif // __robot_hh__
386
Names_t
Definition: common-idl.hh:78
Robot_Helper
Definition: robot-idl.hh:80
Robot_Helper::duplicate
static void duplicate(_ptr_type)
Robot_Helper::is_nil
static _CORBA_Boolean is_nil(_ptr_type)
Robot_Helper::marshalObjRef
static void marshalObjRef(_ptr_type, cdrStream &)
Robot_Helper::unmarshalObjRef
static _ptr_type unmarshalObjRef(cdrStream &)
Robot_Helper::_ptr_type
Robot_ptr _ptr_type
Definition: robot-idl.hh:82
Robot_Helper::release
static void release(_ptr_type)
Robot_Helper::_nil
static _ptr_type _nil()
Robot
Definition: robot-idl.hh:98
Robot::_nil
static _ptr_type _nil()
Robot::_marshalObjRef
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: robot-idl.hh:366
Robot::_unchecked_narrow
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
Robot::_unmarshalObjRef
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: robot-idl.hh:112
Robot::_var_type
Robot_var _var_type
Definition: robot-idl.hh:102
Robot::_PD_repoId
static _core_attr const char * _PD_repoId
Definition: robot-idl.hh:127
Robot::_fromObjRef
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: robot-idl.hh:120
Robot::_narrow
static _ptr_type _narrow(::CORBA::Object_ptr)
Robot::_duplicate
static _ptr_type _duplicate(_ptr_type)
Robot::~Robot
virtual ~Robot()
Robot::_this
inline ::hpp::corbaserver::Robot_ptr _this()
Definition: robot-idl.hh:335
Robot::_ptr_type
Robot_ptr _ptr_type
Definition: robot-idl.hh:101
TransformSeq
Definition: common-idl.hh:965
_impl_Robot
Definition: robot-idl.hh:235
_impl_Robot::getJacobianCenterOfMass
virtual floatSeqSeq * getJacobianCenterOfMass()=0
_impl_Robot::~_impl_Robot
virtual ~_impl_Robot()
_impl_Robot::isConfigValid
virtual void isConfigValid(const ::hpp::floatSeq &dofArray, ::CORBA::Boolean &validity, ::CORBA::String_out report)=0
_impl_Robot::getJointPositionInParentFrame
virtual Transform__slice * getJointPositionInParentFrame(const char *jointName)=0
_impl_Robot::getCenterOfMassVelocity
virtual floatSeq * getCenterOfMassVelocity()=0
_impl_Robot::jointIntegrate
virtual floatSeq * jointIntegrate(const ::hpp::floatSeq &jointCfg, const char *jointName, const ::hpp::floatSeq &speed, ::CORBA::Boolean saturate)=0
_impl_Robot::getLinkNames
virtual Names_t * getLinkNames(const char *jointName)=0
_impl_Robot::getMass
virtual ::CORBA::Double getMass()=0
_impl_Robot::loadHumanoidModel
virtual void loadHumanoidModel(const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)=0
_impl_Robot::getJointType
virtual char * getJointType(const char *jointName)=0
_impl_Robot::distancesToCollision
virtual void distancesToCollision(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints)=0
_impl_Robot::getCurrentTransformation
virtual floatSeqSeq * getCurrentTransformation(const char *jointName)=0
_impl_Robot::getJointVelocityInLocalFrame
virtual floatSeq * getJointVelocityInLocalFrame(const char *jointName)=0
_impl_Robot::getCenterOfMassComputation
virtual pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation(const char *name)=0
_impl_Robot::createPolyhedron
virtual void createPolyhedron(const char *inPolyName)=0
_impl_Robot::getConfigSize
virtual ::CORBA::Long getConfigSize()=0
_impl_Robot::loadRobotModel
virtual void loadRobotModel(const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)=0
_impl_Robot::getRootJointPosition
virtual Transform__slice * getRootJointPosition()=0
_impl_Robot::loadHumanoidModelFromString
virtual void loadHumanoidModelFromString(const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)=0
_impl_Robot::setRootJointPosition
virtual void setRootJointPosition(const ::hpp::Transform_ position)=0
_impl_Robot::getCenterOfMass
virtual floatSeq * getCenterOfMass()=0
_impl_Robot::getJointOuterObjects
virtual Names_t * getJointOuterObjects(const char *jointName)=0
_impl_Robot::loadRobotModelFromString
virtual void loadRobotModelFromString(const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)=0
_impl_Robot::getLinkPosition
virtual Transform__slice * getLinkPosition(const char *linkName)=0
_impl_Robot::createRobot
virtual void createRobot(const char *robotName)=0
_impl_Robot::autocollisionCheck
virtual void autocollisionCheck(::hpp::boolSeq_out collide)=0
_impl_Robot::createCylinder
virtual void createCylinder(const char *name, ::CORBA::Double radius, ::CORBA::Double length)=0
_impl_Robot::setDimensionExtraConfigSpace
virtual void setDimensionExtraConfigSpace(::CORBA::ULong dimension)=0
_impl_Robot::addObjectToJoint
virtual void addObjectToJoint(const char *jointName, const char *objectName, const ::hpp::Transform_ pos)=0
_impl_Robot::setExtraConfigSpaceBounds
virtual void setExtraConfigSpaceBounds(const ::hpp::floatSeq &bounds)=0
_impl_Robot::createSphere
virtual void createSphere(const char *name, ::CORBA::Double radius)=0
_impl_Robot::getJointConfigSize
virtual ::CORBA::Long getJointConfigSize(const char *jointName)=0
_impl_Robot::getRobotName
virtual char * getRobotName()=0
_impl_Robot::getPartialCom
virtual floatSeq * getPartialCom(const char *comName)=0
_impl_Robot::addPartialCom
virtual void addPartialCom(const char *comName, const ::hpp::Names_t &jointNames)=0
_impl_Robot::addPoint
virtual ::CORBA::ULong addPoint(const char *inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)=0
_impl_Robot::getJointPosition
virtual Transform__slice * getJointPosition(const char *jointName)=0
_impl_Robot::getDimensionExtraConfigSpace
virtual ::CORBA::ULong getDimensionExtraConfigSpace()=0
_impl_Robot::getObjectPosition
virtual void getObjectPosition(const char *objectName, ::hpp::Transform_ cfg)=0
_impl_Robot::getRobotAABB
virtual floatSeq * getRobotAABB()=0
_impl_Robot::getCurrentConfig
virtual floatSeq * getCurrentConfig()=0
_impl_Robot::getCurrentVelocity
virtual floatSeq * getCurrentVelocity()=0
_impl_Robot::getLinksPosition
virtual TransformSeq * getLinksPosition(const ::hpp::floatSeq &q, const ::hpp::Names_t &linkName)=0
_impl_Robot::getJointVelocity
virtual floatSeq * getJointVelocity(const char *jointName)=0
_impl_Robot::getJointNumberDof
virtual ::CORBA::Long getJointNumberDof(const char *jointName)=0
_impl_Robot::getParentJointName
virtual char * getParentJointName(const char *jointName)=0
_impl_Robot::getNumberDof
virtual ::CORBA::Long getNumberDof()=0
_impl_Robot::setJointBounds
virtual void setJointBounds(const char *jointName, const ::hpp::floatSeq &inJointBound)=0
_impl_Robot::getJointConfig
virtual floatSeq * getJointConfig(const char *jointName)=0
_impl_Robot::getJointsPosition
virtual TransformSeq * getJointsPosition(const ::hpp::floatSeq &q, const ::hpp::Names_t &jointNames)=0
_impl_Robot::setAutoCollision
virtual void setAutoCollision(const char *innerObject, const char *outerObject, ::CORBA::Boolean active)=0
_impl_Robot::autocollisionPairs
virtual void autocollisionPairs(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active)=0
_impl_Robot::getJacobianPartialCom
virtual floatSeqSeq * getJacobianPartialCom(const char *comName)=0
_impl_Robot::createBox
virtual void createBox(const char *name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)=0
_impl_Robot::getJointInnerObjects
virtual Names_t * getJointInnerObjects(const char *jointName)=0
_impl_Robot::addTriangle
virtual ::CORBA::ULong addTriangle(const char *inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3)=0
_impl_Robot::getJointBounds
virtual floatSeq * getJointBounds(const char *jointName)=0
_impl_Robot::_dispatch
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
_impl_Robot::getJointTypes
virtual Names_t * getJointTypes()=0
_impl_Robot::setJointPositionInParentFrame
virtual void setJointPositionInParentFrame(const char *jointName, const ::hpp::Transform_ position)=0
_impl_Robot::getVelocityPartialCom
virtual floatSeq * getVelocityPartialCom(const char *comName)=0
_impl_Robot::setCurrentConfig
virtual void setCurrentConfig(const ::hpp::floatSeq &dofArray)=0
_impl_Robot::getAllJointNames
virtual Names_t * getAllJointNames()=0
_impl_Robot::appendJoint
virtual void appendJoint(const char *parentJoint, const char *jointName, const char *jointType, const ::hpp::Transform_ pos)=0
_impl_Robot::setCurrentVelocity
virtual void setCurrentVelocity(const ::hpp::floatSeq &qDot)=0
_impl_Robot::getJointNames
virtual Names_t * getJointNames()=0
_impl_Robot::shootRandomConfig
virtual floatSeq * shootRandomConfig()=0
_impl_Robot::setJointConfig
virtual void setJointConfig(const char *jointName, const ::hpp::floatSeq &config)=0
_objref_Robot
Definition: robot-idl.hh:136
_objref_Robot::loadRobotModelFromString
void loadRobotModelFromString(const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)
_objref_Robot::createCylinder
void createCylinder(const char *name, ::CORBA::Double radius, ::CORBA::Double length)
_objref_Robot::getAllJointNames
Names_t * getAllJointNames()
_objref_Robot::_objref_Robot
_objref_Robot()
Definition: robot-idl.hh:207
_objref_Robot::getJointTypes
Names_t * getJointTypes()
_objref_Robot::setRootJointPosition
void setRootJointPosition(const ::hpp::Transform_ position)
_objref_Robot::getCurrentConfig
floatSeq * getCurrentConfig()
_objref_Robot::getCurrentVelocity
floatSeq * getCurrentVelocity()
_objref_Robot::loadRobotModel
void loadRobotModel(const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)
_objref_Robot::setJointBounds
void setJointBounds(const char *jointName, const ::hpp::floatSeq &inJointBound)
_objref_Robot::getJointVelocityInLocalFrame
floatSeq * getJointVelocityInLocalFrame(const char *jointName)
_objref_Robot::getJointNumberDof
::CORBA::Long getJointNumberDof(const char *jointName)
_objref_Robot::getMass
::CORBA::Double getMass()
_objref_Robot::getJointBounds
floatSeq * getJointBounds(const char *jointName)
_objref_Robot::shootRandomConfig
floatSeq * shootRandomConfig()
_objref_Robot::getJointPositionInParentFrame
Transform__slice * getJointPositionInParentFrame(const char *jointName)
_objref_Robot::appendJoint
void appendJoint(const char *parentJoint, const char *jointName, const char *jointType, const ::hpp::Transform_ pos)
_objref_Robot::getPartialCom
floatSeq * getPartialCom(const char *comName)
_objref_Robot::loadHumanoidModel
void loadHumanoidModel(const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)
_objref_Robot::autocollisionPairs
void autocollisionPairs(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active)
_objref_Robot::createPolyhedron
void createPolyhedron(const char *inPolyName)
_objref_Robot::getDimensionExtraConfigSpace
::CORBA::ULong getDimensionExtraConfigSpace()
_objref_Robot::getJointNames
Names_t * getJointNames()
_objref_Robot::getRobotAABB
floatSeq * getRobotAABB()
_objref_Robot::getVelocityPartialCom
floatSeq * getVelocityPartialCom(const char *comName)
_objref_Robot::_objref_Robot
_objref_Robot(omniIOR *, omniIdentity *)
_objref_Robot::getCenterOfMass
floatSeq * getCenterOfMass()
_objref_Robot::getConfigSize
::CORBA::Long getConfigSize()
_objref_Robot::createSphere
void createSphere(const char *name, ::CORBA::Double radius)
_objref_Robot::getNumberDof
::CORBA::Long getNumberDof()
_objref_Robot::getJointType
char * getJointType(const char *jointName)
_objref_Robot::addTriangle
::CORBA::ULong addTriangle(const char *inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3)
_objref_Robot::getJointPosition
Transform__slice * getJointPosition(const char *jointName)
_objref_Robot::getJointsPosition
TransformSeq * getJointsPosition(const ::hpp::floatSeq &q, const ::hpp::Names_t &jointNames)
_objref_Robot::createBox
void createBox(const char *name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)
_objref_Robot::setCurrentConfig
void setCurrentConfig(const ::hpp::floatSeq &dofArray)
_objref_Robot::getParentJointName
char * getParentJointName(const char *jointName)
_objref_Robot::setDimensionExtraConfigSpace
void setDimensionExtraConfigSpace(::CORBA::ULong dimension)
_objref_Robot::getLinkPosition
Transform__slice * getLinkPosition(const char *linkName)
_objref_Robot::jointIntegrate
floatSeq * jointIntegrate(const ::hpp::floatSeq &jointCfg, const char *jointName, const ::hpp::floatSeq &speed, ::CORBA::Boolean saturate)
_objref_Robot::getJointInnerObjects
Names_t * getJointInnerObjects(const char *jointName)
_objref_Robot::getJointOuterObjects
Names_t * getJointOuterObjects(const char *jointName)
_objref_Robot::isConfigValid
void isConfigValid(const ::hpp::floatSeq &dofArray, ::CORBA::Boolean &validity, ::CORBA::String_out report)
_objref_Robot::setJointConfig
void setJointConfig(const char *jointName, const ::hpp::floatSeq &config)
_objref_Robot::getLinksPosition
TransformSeq * getLinksPosition(const ::hpp::floatSeq &q, const ::hpp::Names_t &linkName)
_objref_Robot::getRootJointPosition
Transform__slice * getRootJointPosition()
_objref_Robot::getJointVelocity
floatSeq * getJointVelocity(const char *jointName)
_objref_Robot::addPartialCom
void addPartialCom(const char *comName, const ::hpp::Names_t &jointNames)
_objref_Robot::getCenterOfMassVelocity
floatSeq * getCenterOfMassVelocity()
_objref_Robot::setExtraConfigSpaceBounds
void setExtraConfigSpaceBounds(const ::hpp::floatSeq &bounds)
_objref_Robot::getObjectPosition
void getObjectPosition(const char *objectName, ::hpp::Transform_ cfg)
_objref_Robot::getRobotName
char * getRobotName()
_objref_Robot::addPoint
::CORBA::ULong addPoint(const char *inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)
_objref_Robot::setAutoCollision
void setAutoCollision(const char *innerObject, const char *outerObject, ::CORBA::Boolean active)
_objref_Robot::createRobot
void createRobot(const char *robotName)
_objref_Robot::loadHumanoidModelFromString
void loadHumanoidModelFromString(const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)
_objref_Robot::getCurrentTransformation
floatSeqSeq * getCurrentTransformation(const char *jointName)
_objref_Robot::getJointConfig
floatSeq * getJointConfig(const char *jointName)
_objref_Robot::getJacobianPartialCom
floatSeqSeq * getJacobianPartialCom(const char *comName)
_objref_Robot::autocollisionCheck
void autocollisionCheck(::hpp::boolSeq_out collide)
_objref_Robot::getLinkNames
Names_t * getLinkNames(const char *jointName)
_objref_Robot::~_objref_Robot
virtual ~_objref_Robot()
_objref_Robot::getJacobianCenterOfMass
floatSeqSeq * getJacobianCenterOfMass()
_objref_Robot::setJointPositionInParentFrame
void setJointPositionInParentFrame(const char *jointName, const ::hpp::Transform_ position)
_objref_Robot::getCenterOfMassComputation
pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation(const char *name)
_objref_Robot::getJointConfigSize
::CORBA::Long getJointConfigSize(const char *jointName)
_objref_Robot::setCurrentVelocity
void setCurrentVelocity(const ::hpp::floatSeq &qDot)
_objref_Robot::distancesToCollision
void distancesToCollision(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints)
_objref_Robot::addObjectToJoint
void addObjectToJoint(const char *jointName, const char *objectName, const ::hpp::Transform_ pos)
_pof_Robot
Definition: robot-idl.hh:224
_pof_Robot::_pof_Robot
_pof_Robot()
Definition: robot-idl.hh:226
_pof_Robot::newObjRef
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
_pof_Robot::is_a
virtual _CORBA_Boolean is_a(const char *) const
_pof_Robot::~_pof_Robot
virtual ~_pof_Robot()
floatSeqSeq
Definition: common-idl.hh:803
floatSeq
Definition: common-idl.hh:689
common-idl.hh
Transform_
::CORBA::Double Transform_[7]
Definition: common-idl.hh:915
Transform__slice
::CORBA::Double Transform__slice
Definition: common-idl.hh:916
hpp
Implement CORBA interface `‘Obstacle’'.
hpp::floatSeq
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
hpp::Transform_
double Transform_[7]
Element of SE(3) represented by a vector and a unit quaternion.
Definition: common.idl:38
hpp::Names_t
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
Robot_out
_CORBA_ObjRef_OUT_arg< _objref_Robot, Robot_Helper > Robot_out
Definition: robot-idl.hh:93
Robot_ptr
_objref_Robot * Robot_ptr
Definition: robot-idl.hh:75
_core_attr
#define _core_attr
Definition: robot-idl.hh:47
RobotRef
Robot_ptr RobotRef
Definition: robot-idl.hh:78
Robot_var
_CORBA_ObjRef_Var< _objref_Robot, Robot_Helper > Robot_var
Definition: robot-idl.hh:92
robots-idl.hh
CenterOfMassComputation_ptr
_objref_CenterOfMassComputation * CenterOfMassComputation_ptr
Definition: robots-idl.hh:71