import"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-manipulation-corba/work/hpp-manipulation-corba-5.0.0/idl/hpp/corbaserver/manipulation/robot.idl";
|
void | insertRobotModel (in string robotName, in string rootJointType, in string urdfname, in string srdfname) raises (Error) |
|
void | insertRobotModelOnFrame (in string robotName, in string frameName, in string rootJointType, in string urdfname, in string srdfname) raises (Error) |
|
void | insertRobotModelFromString (in string robotName, in string rootJointType, in string urdfString, in string srdfString) raises (Error) |
|
void | insertRobotModelOnFrameFromString (in string robotName, in string frameName, in string rootJointType, in string urdfString, in string srdfString) raises (Error) |
|
void | insertRobotSRDFModel (in string robotName, in string srdfPath) raises (Error) |
|
void | insertRobotSRDFModelFromString (in string robotName, in string srdfString) raises (Error) |
|
void | insertHumanoidModel (in string robotName, in string rootJointType, in string urdfname, in string srdfname) raises (Error) |
|
void | insertHumanoidModelFromString (in string robotName, in string rootJointType, in string urdfString, in string srdfString) raises (Error) |
|
void | loadEnvironmentModel (in string urdfName, in string srdfName, in string prefix) raises (Error) |
|
Transform_ | getRootJointPosition (in string robotName) raises (Error) |
|
void | setRootJointPosition (in string robotName, in Transform_ position) raises (Error) |
|
void | addGripper (in string linkName, in string gripperName, in Transform_ handlePositioninJoint, in double clearance) raises (Error) |
|
void | addHandle (in string linkName, in string handleName, in Transform_ localPosition, in double clearance, in boolSeq mask) raises (Error) |
|
string | getGripperPositionInJoint (in string gripperName, out Transform_ position) raises (hpp::Error) |
|
string | getHandlePositionInJoint (in string handleName, out Transform_ position) raises (hpp::Error) |
|
◆ addGripper()
void hpp::corbaserver::manipulation::Robot::addGripper |
( |
in string |
linkName, |
|
|
in string |
gripperName, |
|
|
in Transform_ |
handlePositioninJoint, |
|
|
in double |
clearance |
|
) |
| |
raises | ( | Error |
| ) | | |
Add Gripper to a robot
- Parameters
-
linkName | name of the link (hpp::model::Body) holding the gripper, |
gripperName | name of the gripper, |
handlePositioninJoint | position of the handle in the joint frame. |
clearance | clearance of the gripper |
◆ addHandle()
void hpp::corbaserver::manipulation::Robot::addHandle |
( |
in string |
linkName, |
|
|
in string |
handleName, |
|
|
in Transform_ |
localPosition, |
|
|
in double |
clearance, |
|
|
in boolSeq |
mask |
|
) |
| |
raises | ( | Error |
| ) | | |
Add Handle to an object
- Parameters
-
linkName | name of the link holding the handle, |
handleName | name of the handle, |
localPosition | position of the handle in the joint frame. |
clearance | clearance of the gripper |
mask | mask of the handle. |
◆ getGripperPositionInJoint()
string hpp::corbaserver::manipulation::Robot::getGripperPositionInJoint |
( |
in string |
gripperName, |
|
|
out Transform_ |
position |
|
) |
| |
raises | ( | hpp::Error |
| ) | | |
Return the joint name in which a gripper is and the position relatively to the joint
◆ getHandlePositionInJoint()
string hpp::corbaserver::manipulation::Robot::getHandlePositionInJoint |
( |
in string |
handleName, |
|
|
out Transform_ |
position |
|
) |
| |
raises | ( | hpp::Error |
| ) | | |
Return the joint name in which a handle is and the position relatively to the joint
◆ getRootJointPosition()
Transform_ hpp::corbaserver::manipulation::Robot::getRootJointPosition |
( |
in string |
robotName | ) |
|
raises | ( | Error |
| ) | | |
Get the position of root joint of a robot in world frame
- Parameters
-
robotName | key of the robot in ProblemSolver object map. |
◆ insertHumanoidModel()
void hpp::corbaserver::manipulation::Robot::insertHumanoidModel |
( |
in string |
robotName, |
|
|
in string |
rootJointType, |
|
|
in string |
urdfname, |
|
|
in string |
srdfname |
|
) |
| |
raises | ( | Error |
| ) | | |
Insert humanoid robot model as a child of the root joint of the Device
- Parameters
-
robotName | key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot) |
rootJointType | type of root joint among "anchor", "freeflyer", "planar", |
urdfName | name of the urdf file. It may contain "file://", or "package://" prefixes. |
srdfName | name of the srdf file. It may contain "file://", or "package://" prefixes. |
◆ insertHumanoidModelFromString()
void hpp::corbaserver::manipulation::Robot::insertHumanoidModelFromString |
( |
in string |
robotName, |
|
|
in string |
rootJointType, |
|
|
in string |
urdfString, |
|
|
in string |
srdfString |
|
) |
| |
raises | ( | Error |
| ) | | |
Insert humanoid robot model as a child of the root joint of the Device
- Parameters
-
robotName | key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot) |
rootJointType | type of root joint among "anchor", "freeflyer", "planar", |
urdfString | urdf file, |
srdfString | srdf file. Can be empty. |
◆ insertRobotModel()
void hpp::corbaserver::manipulation::Robot::insertRobotModel |
( |
in string |
robotName, |
|
|
in string |
rootJointType, |
|
|
in string |
urdfname, |
|
|
in string |
srdfname |
|
) |
| |
raises | ( | Error |
| ) | | |
Insert robot model as a child of the root joint of the Device
- Parameters
-
robotName | key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot) |
rootJointType | type of root joint among "anchor", "freeflyer", "planar", |
urdfName | name of the urdf file. It may contain "file://", or "package://" prefixes. |
srdfName | name of the srdf file. It may contain "file://", or "package://" prefixes. |
◆ insertRobotModelFromString()
void hpp::corbaserver::manipulation::Robot::insertRobotModelFromString |
( |
in string |
robotName, |
|
|
in string |
rootJointType, |
|
|
in string |
urdfString, |
|
|
in string |
srdfString |
|
) |
| |
raises | ( | Error |
| ) | | |
Insert robot model as a child of the root joint of the Device
- Parameters
-
robotName | key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot) |
rootJointType | type of root joint among "anchor", "freeflyer", "planar", |
urdfString | urdf file, |
srdfString | srdf file. Can be empty. |
◆ insertRobotModelOnFrame()
void hpp::corbaserver::manipulation::Robot::insertRobotModelOnFrame |
( |
in string |
robotName, |
|
|
in string |
frameName, |
|
|
in string |
rootJointType, |
|
|
in string |
urdfname, |
|
|
in string |
srdfname |
|
) |
| |
raises | ( | Error |
| ) | | |
Insert robot model as a child of the root joint of the Device
- Parameters
-
robotName | key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot) |
rootJointType | type of root joint among "anchor", "freeflyer", "planar", |
urdfName | name of the urdf file. It may contain "file://", or "package://" prefixes. |
srdfName | name of the srdf file. It may contain "file://", or "package://" prefixes. |
frameName | existing frame onto which the robot should be loaded. |
◆ insertRobotModelOnFrameFromString()
void hpp::corbaserver::manipulation::Robot::insertRobotModelOnFrameFromString |
( |
in string |
robotName, |
|
|
in string |
frameName, |
|
|
in string |
rootJointType, |
|
|
in string |
urdfString, |
|
|
in string |
srdfString |
|
) |
| |
raises | ( | Error |
| ) | | |
Insert robot model as a child of the root joint of the Device
- Parameters
-
robotName | key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot) |
rootJointType | type of root joint among "anchor", "freeflyer", "planar", |
urdfString | urdf file, |
srdfString | srdf file. Can be empty. |
frameName | existing frame onto which the robot should be loaded. |
◆ insertRobotSRDFModel()
void hpp::corbaserver::manipulation::Robot::insertRobotSRDFModel |
( |
in string |
robotName, |
|
|
in string |
srdfPath |
|
) |
| |
raises | ( | Error |
| ) | | |
Load a SRDF for the robot. Several SRDF can thus be loaded for the same robot
◆ insertRobotSRDFModelFromString()
void hpp::corbaserver::manipulation::Robot::insertRobotSRDFModelFromString |
( |
in string |
robotName, |
|
|
in string |
srdfString |
|
) |
| |
raises | ( | Error |
| ) | | |
Load a SRDF for the robot. Several SRDF can thus be loaded for the same robot
◆ loadEnvironmentModel()
void hpp::corbaserver::manipulation::Robot::loadEnvironmentModel |
( |
in string |
urdfName, |
|
|
in string |
srdfName, |
|
|
in string |
prefix |
|
) |
| |
raises | ( | Error |
| ) | | |
Load model of the environment
urdfName name of the urdf file describing the environment srdfName name of the srdf file describing the environment, prefix string added in front of object names.
◆ setRootJointPosition()
void hpp::corbaserver::manipulation::Robot::setRootJointPosition |
( |
in string |
robotName, |
|
|
in Transform_ |
position |
|
) |
| |
raises | ( | Error |
| ) | | |
Set the position of root joint of a robot in world frame
- Parameters
-
robotName | key of the robot in ProblemSolver object map. |
position | constant position of the root joint in world frame in initial configuration. |
The documentation for this interface was generated from the following file: