hpp-manipulation-corba  4.15.1
Corba server for manipulation planning
robot.idl
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1 // Copyright (c) 2014 CNRS
2 // Author: Florent Lamiraux
3 //
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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
void addAxialHandle(in string linkName, in string handleName, in Transform_ localPosition)
void insertRobotModel(in string robotName, in string rootJointType, in string urdfname, in string srdfname)
void insertRobotSRDFModel(in string robotName, in string srdfPath)
void insertRobotModelOnFrameFromString(in string robotName, in string frameName, in string rootJointType, in string urdfString, in string srdfString)
void insertHumanoidModel(in string robotName, in string rootJointType, in string urdfname, in string srdfname)
void addHandle(in string linkName, in string handleName, in Transform_ localPosition)
void insertHumanoidModelFromString(in string robotName, in string rootJointType, in string urdfString, in string srdfString)
void setRootJointPosition(in string robotName, in Transform_ position)
void loadEnvironmentModel(in string urdfName, in string srdfName, in string prefix)
void insertRobotModelOnFrame(in string robotName, in string frameName, in string rootJointType, in string urdfname, in string srdfname)
void addGripper(in string linkName, in string gripperName, in Transform_ handlePositioninJoint)
Transform_ getRootJointPosition(in string robotName)
string getHandlePositionInJoint(in string handleName, out Transform_ position)
void insertRobotSRDFModelFromString(in string robotName, in string srdfString)
void insertRobotModelFromString(in string robotName, in string rootJointType, in string urdfString, in string srdfString)
string getGripperPositionInJoint(in string gripperName, out Transform_ position)
Definition: client.hh:46