hpp-manipulation-corba  5.0.0
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 
143  void addGripper (in string linkName, in string gripperName,
144  in Transform_ handlePositioninJoint, in double clearance)
145  raises (Error);
146 
154  void addHandle (in string linkName, in string handleName,
155  in Transform_ localPosition, in double clearance, in boolSeq mask)
156  raises (Error);
157 
160  string getGripperPositionInJoint (in string gripperName,
161  out Transform_ position)
162  raises (hpp::Error);
163 
166  string getHandlePositionInJoint (in string handleName,
167  out Transform_ position)
168  raises (hpp::Error);
169 
170  }; // interface Robot
171  }; // module manipulation
172  }; // module corbaserver
173 }; // module hpp
174 
175 #endif // HPP_MANIPULATION_CORBA_ROBOT_IDL
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 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)
Transform_ getRootJointPosition(in string robotName)
string getHandlePositionInJoint(in string handleName, out Transform_ position)
void insertRobotSRDFModelFromString(in string robotName, in string srdfString)
void addHandle(in string linkName, in string handleName, in Transform_ localPosition, in double clearance, in boolSeq mask)
void insertRobotModelFromString(in string robotName, in string rootJointType, in string urdfString, in string srdfString)
void addGripper(in string linkName, in string gripperName, in Transform_ handlePositioninJoint, in double clearance)
string getGripperPositionInJoint(in string gripperName, out Transform_ position)
Definition: client.hh:46