28 #ifndef HPP_MANIPULATION_CORBA_ROBOT_IDL
29 #define HPP_MANIPULATION_CORBA_ROBOT_IDL
31 #include <hpp/common.idl>
51 in
string urdfname, in
string srdfname)
57 in
string rootJointType, in
string urdfname, in
string srdfname)
69 in
string urdfString, in
string srdfString)
75 in
string rootJointType, in
string urdfString, in
string srdfString)
86 in
string srdfString) raises (Error);
100 in
string urdfname, in
string srdfname)
113 in
string urdfString, in
string srdfString)
143 in Transform_ handlePositioninJoint)
151 void addHandle (in
string linkName, in
string handleName,
152 in Transform_ localPosition)
162 in Transform_ localPosition)
168 out Transform_ position)
174 out Transform_ position)
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)