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)
144 in Transform_ handlePositioninJoint, in
double clearance)
154 void addHandle (in
string linkName, in
string handleName,
155 in Transform_ localPosition, in
double clearance, in boolSeq mask)
161 out Transform_ position)
167 out Transform_ position)
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)