hpp-corbaserver: idl/hpp/corbaserver/robot.idl Source File

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

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robot.idl
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1// Copyright (C) 2009, 2010, 2011, 2012, 1013, 2014 CNRS
2// Authors: Florent Lamiraux, Thomas Moulard.
3//
4// This file is part of the hpp-corbaserver.
5//
6// This software is provided "as is" without warranty of any kind,
7// either expressed or implied, including but not limited to the
8// implied warranties of fitness for a particular purpose.
9//
10// See the COPYING file for more information.
11
12#ifndef HPP_CORBASERVER_ROBOT_SERVER_IDL
13#define HPP_CORBASERVER_ROBOT_SERVER_IDL
14#include <hpp/common.idl>
15#include <hpp/pinocchio_idl/robots.idl>
16
17module hpp
18{
19 module corbaserver {
21 interface Robot {
24
35 void loadRobotModel (in string robotName, in string rootJointType,
36 in string urdfName, in string srdfName)
37 raises (Error);
38
49 void loadHumanoidModel (in string robotName, in string rootJointType,
50 in string urdfName, in string srdfName)
51 raises (Error);
52
61 void loadRobotModelFromString (in string robotName, in string rootJointType,
62 in string urdfString, in string srdfString)
63 raises (Error);
64
73 void loadHumanoidModelFromString (in string robotName, in string rootJointType,
74 in string urdfString, in string srdfString)
75 raises (Error);
76
78
81
84 long getConfigSize () raises (Error);
85
88 long getNumberDof () raises (Error);
89
91
94
97 Names_t getJointNames () raises (Error);
98
100 Names_t getJointTypes () raises (Error);
101
103 Names_t getAllJointNames () raises (Error);
104
108 string getParentJointName (in string jointName) raises (Error);
109
115 floatSeq getJointConfig(in string jointName) raises (Error);
116
126 void setJointConfig(in string jointName, in floatSeq config) raises (Error);
127
131 string getJointType(in string jointName) raises (Error);
132
142 floatSeq jointIntegrate(in floatSeq jointCfg, in string jointName, in floatSeq speed, in boolean saturate) raises (Error);
143
147 floatSeqSeq getCurrentTransformation(in string jointName) raises (Error);
148
152 Transform_ getJointPosition (in string jointName) raises (Error);
153
156 TransformSeq getJointsPosition (in floatSeq q, in Names_t jointNames) raises (Error);
157
162 floatSeq getJointVelocity (in string jointName) raises (Error);
163
168 floatSeq getJointVelocityInLocalFrame (in string jointName) raises (Error);
169
173 Transform_ getJointPositionInParentFrame (in string jointName) raises (Error);
174
178 Transform_ getRootJointPosition () raises (Error);
179
183 void setRootJointPosition (in Transform_ position) raises (Error);
184
187 void setJointPositionInParentFrame (in string jointName, in Transform_ position)
188 raises (Error);
189
193 long getJointNumberDof (in string jointName) raises (Error);
194
198 long getJointConfigSize (in string jointName) raises (Error);
199
201
210 void setJointBounds(in string jointName,
211 in floatSeq inJointBound)
212 raises (Error);
213
221 floatSeq getJointBounds(in string jointName) raises (Error);
222
232 Transform_ getLinkPosition (in string linkName) raises (Error);
233
236 TransformSeq getLinksPosition (in floatSeq q, in Names_t linkName) raises (Error);
237
242 Names_t getLinkNames (in string jointName) raises (Error);
243
245
248
253 void setDimensionExtraConfigSpace (in unsigned long dimension)
254 raises (Error);
255
259 unsigned long getDimensionExtraConfigSpace ()
260 raises (Error);
261
268 void setExtraConfigSpaceBounds (in floatSeq bounds) raises (Error);
269
271
274
277 floatSeq getCurrentConfig() raises (Error);
278
281 floatSeq shootRandomConfig() raises (Error);
282
285 void setCurrentConfig(in floatSeq dofArray) raises (Error);
286
289 floatSeq getCurrentVelocity() raises (Error);
290
293 void setCurrentVelocity(in floatSeq qDot) raises (Error);
294
296
299
303 Names_t getJointInnerObjects (in string jointName) raises (Error);
304
305
309 Names_t getJointOuterObjects (in string jointName) raises (Error);
310
316 void getObjectPosition (in string objectName, out Transform_ cfg)
317 raises (Error);
318
320
323
330 void isConfigValid (in floatSeq dofArray, out boolean validity,
331 out string report) raises (Error);
332
333
343 void distancesToCollision (out floatSeq distances,
344 out Names_t innerObjects,
345 out Names_t outerObjects,
346 out floatSeqSeq innerPoints,
347 out floatSeqSeq outerPoints) raises (Error);
348
353 void autocollisionCheck (out boolSeq collide) raises (Error);
354
360 void autocollisionPairs (out Names_t innerObjects, out Names_t outerObjects, out boolSeq active) raises (Error);
361
362 void setAutoCollision (in string innerObject, in string outerObject, in boolean active) raises (Error);
363
365 floatSeq getRobotAABB () raises (Error);
366
368
371
373 double getMass () raises (Error);
374
376 floatSeq getCenterOfMass () raises (Error);
377
379 floatSeq getCenterOfMassVelocity () raises (Error);
380
382 floatSeqSeq getJacobianCenterOfMass () raises (Error);
383
389 void addPartialCom (in string comName, in Names_t jointNames)
390 raises (Error);
391
393 floatSeq getPartialCom (in string comName) raises (Error);
394
396 floatSeqSeq getJacobianPartialCom (in string comName) raises (Error);
397
399 floatSeq getVelocityPartialCom (in string comName)
400 raises (Error);
401
403 string getRobotName () raises (Error);
404
405 pinocchio_idl::CenterOfMassComputation getCenterOfMassComputation (in string name) raises (Error);
406
408
411
414 void createRobot(in string robotName) raises (Error);
415
416 // Create a new joint
417 // \param parentJoint name of the parent joint,
418 // \param jointName name of the joint,
419 // \param jointType among ["FreeFlyer", "Planar",
420 // "RX", "RY", "RZ",
421 // "RUBX", "RUBY",
422 // "RUBZ",
423 // "PX", "PY", "PZ",
424 // "Translation"]
425 // \param pos initial position of the joint
426 // \param joinBounds bounds of the joint. See setJointBounds for details.
427 // \note In the joint types, R stands for Rotation, RUB stands for
428 // Rotation UnBounded, P stands for Prismatic. Translation is 3D.
429 void appendJoint(in string parentJoint,
430 in string jointName, in string jointType,
431 in Transform_ pos)
432 raises (Error);
433
437 void createPolyhedron(in string inPolyName) raises (Error);
438
442 void createBox (in string name, in double x, in double y, in double z)
443 raises (Error);
444
448 void createSphere (in string name, in double radius) raises (Error);
449
454 void createCylinder (in string name, in double radius, in double length) raises (Error);
455
462 unsigned long addPoint(in string inPolyName, in double x, in double y, in double z)
463 raises (Error);
464
471 unsigned long addTriangle(in string inPolyName, in unsigned long pt1,
472 in unsigned long pt2, in unsigned long pt3)
473 raises (Error);
474
479 void addObjectToJoint(in string jointName,
480 in string objectName,
481 in Transform_ pos)
482 raises (Error);
483
485 };
486 };
487};
488
489#endif // HPP_CORBASERVER_ROBOT_SERVER_IDL
CenterOfMassComputation
Definition robots-idl.hh:94
Names_t
Definition common-idl.hh:78
TransformSeq
Definition common-idl.hh:965
boolSeq
Definition common-idl.hh:347
floatSeqSeq
Definition common-idl.hh:803
floatSeq
Definition common-idl.hh:689
Transform_
::CORBA::Double Transform_[7]
Definition common-idl.hh:915
common.idl
hpp::Error
Corba exception travelling through the Corba channel.
Definition common.idl:27
hpp::corbaserver::Robot
Creation of a device, joints and bodies.
Definition robot.idl:21
hpp::corbaserver::Robot::getConfigSize
long getConfigSize()
hpp::corbaserver::Robot::loadHumanoidModelFromString
void loadHumanoidModelFromString(in string robotName, in string rootJointType, in string urdfString, in string srdfString)
hpp::corbaserver::Robot::loadHumanoidModel
void loadHumanoidModel(in string robotName, in string rootJointType, in string urdfName, in string srdfName)
hpp::corbaserver::Robot::loadRobotModel
void loadRobotModel(in string robotName, in string rootJointType, in string urdfName, in string srdfName)
hpp::corbaserver::Robot::loadRobotModelFromString
void loadRobotModelFromString(in string robotName, in string rootJointType, in string urdfString, in string srdfString)
hpp
Implement CORBA interface `‘Obstacle’'.
robots.idl