Public Member Functions | List of all members
_impl_Robot Class Referenceabstract

#include <hpp/corbaserver/robot-idl.hh>

Inheritance diagram for _impl_Robot:
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Collaboration diagram for _impl_Robot:
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Public Member Functions

virtual ~_impl_Robot ()
 
virtual void loadRobotModel (const char *robotName, const char *rootJointType, const char *packageName, const char *modelName, const char *urdfSuffix, const char *srdfSuffix)=0
 
virtual void loadHumanoidModel (const char *robotName, const char *rootJointType, const char *packageName, const char *modelName, const char *urdfSuffix, const char *srdfSuffix)=0
 
virtual void loadRobotModelFromString (const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)=0
 
virtual void loadHumanoidModelFromString (const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)=0
 
virtual ::CORBA::Long getConfigSize ()=0
 
virtual ::CORBA::Long getNumberDof ()=0
 
virtual Names_t * getJointNames ()=0
 
virtual Names_t * getJointTypes ()=0
 
virtual Names_t * getAllJointNames ()=0
 
virtual char * getParentJointName (const char *jointName)=0
 
virtual floatSeq * getJointConfig (const char *jointName)=0
 
virtual void setJointConfig (const char *jointName, const ::hpp::floatSeq &config)=0
 
virtual char * getJointType (const char *jointName)=0
 
virtual floatSeq * jointIntegrate (const ::hpp::floatSeq &jointCfg, const char *jointName, const ::hpp::floatSeq &speed,::CORBA::Boolean saturate)=0
 
virtual floatSeqSeq * getCurrentTransformation (const char *jointName)=0
 
virtual Transform__slice * getJointPosition (const char *jointName)=0
 
virtual TransformSeq * getJointsPosition (const ::hpp::floatSeq &q, const ::hpp::Names_t &jointNames)=0
 
virtual floatSeq * getJointVelocity (const char *jointName)=0
 
virtual floatSeq * getJointVelocityInLocalFrame (const char *jointName)=0
 
virtual Transform__slice * getJointPositionInParentFrame (const char *jointName)=0
 
virtual Transform__slice * getRootJointPosition ()=0
 
virtual void setRootJointPosition (const ::hpp::Transform_ position)=0
 
virtual void setJointPositionInParentFrame (const char *jointName, const ::hpp::Transform_ position)=0
 
virtual ::CORBA::Long getJointNumberDof (const char *jointName)=0
 
virtual ::CORBA::Long getJointConfigSize (const char *jointName)=0
 
virtual void setJointBounds (const char *jointName, const ::hpp::floatSeq &inJointBound)=0
 
virtual floatSeq * getJointBounds (const char *jointName)=0
 
virtual Transform__slice * getLinkPosition (const char *linkName)=0
 
virtual TransformSeq * getLinksPosition (const ::hpp::floatSeq &q, const ::hpp::Names_t &linkName)=0
 
virtual Names_t * getLinkNames (const char *jointName)=0
 
virtual void setDimensionExtraConfigSpace (::CORBA::ULong dimension)=0
 
virtual ::CORBA::ULong getDimensionExtraConfigSpace ()=0
 
virtual void setExtraConfigSpaceBounds (const ::hpp::floatSeq &bounds)=0
 
virtual floatSeq * getCurrentConfig ()=0
 
virtual floatSeq * shootRandomConfig ()=0
 
virtual void setCurrentConfig (const ::hpp::floatSeq &dofArray)=0
 
virtual floatSeq * getCurrentVelocity ()=0
 
virtual void setCurrentVelocity (const ::hpp::floatSeq &qDot)=0
 
virtual Names_t * getJointInnerObjects (const char *jointName)=0
 
virtual Names_t * getJointOuterObjects (const char *jointName)=0
 
virtual void getObjectPosition (const char *objectName,::hpp::Transform_ cfg)=0
 
virtual void isConfigValid (const ::hpp::floatSeq &dofArray,::CORBA::Boolean &validity,::CORBA::String_out report)=0
 
virtual void distancesToCollision (::hpp::floatSeq_out distances,::hpp::Names_t_out innerObjects,::hpp::Names_t_out outerObjects,::hpp::floatSeqSeq_out innerPoints,::hpp::floatSeqSeq_out outerPoints)=0
 
virtual void autocollisionCheck (::hpp::boolSeq_out collide)=0
 
virtual void autocollisionPairs (::hpp::Names_t_out innerObjects,::hpp::Names_t_out outerObjects,::hpp::boolSeq_out active)=0
 
virtual void setAutoCollision (const char *innerObject, const char *outerObject,::CORBA::Boolean active)=0
 
virtual floatSeq * getRobotAABB ()=0
 
virtual ::CORBA::Double getMass ()=0
 
virtual floatSeq * getCenterOfMass ()=0
 
virtual floatSeq * getCenterOfMassVelocity ()=0
 
virtual floatSeqSeq * getJacobianCenterOfMass ()=0
 
virtual void addPartialCom (const char *comName, const ::hpp::Names_t &jointNames)=0
 
virtual floatSeq * getPartialCom (const char *comName)=0
 
virtual floatSeqSeq * getJacobianPartialCom (const char *comName)=0
 
virtual floatSeq * getVelocityPartialCom (const char *comName)=0
 
virtual char * getRobotName ()=0
 
virtual void createRobot (const char *robotName)=0
 
virtual void appendJoint (const char *parentJoint, const char *jointName, const char *jointType, const ::hpp::Transform_ pos)=0
 
virtual void createPolyhedron (const char *inPolyName)=0
 
virtual void createBox (const char *name,::CORBA::Double x,::CORBA::Double y,::CORBA::Double z)=0
 
virtual void createSphere (const char *name,::CORBA::Double radius)=0
 
virtual void createCylinder (const char *name,::CORBA::Double radius,::CORBA::Double length)=0
 
virtual ::CORBA::ULong addPoint (const char *inPolyName,::CORBA::Double x,::CORBA::Double y,::CORBA::Double z)=0
 
virtual ::CORBA::ULong addTriangle (const char *inPolyName,::CORBA::ULong pt1,::CORBA::ULong pt2,::CORBA::ULong pt3)=0
 
virtual void addObjectToJoint (const char *jointName, const char *objectName, const ::hpp::Transform_ pos)=0
 
virtual _CORBA_Boolean _dispatch (omniCallHandle &)
 

Constructor & Destructor Documentation

virtual _impl_Robot::~_impl_Robot ( )
virtual

Member Function Documentation

virtual _CORBA_Boolean _impl_Robot::_dispatch ( omniCallHandle &  )
virtual
virtual void _impl_Robot::addObjectToJoint ( const char *  jointName,
const char *  objectName,
const ::hpp::Transform_  pos 
)
pure virtual
virtual void _impl_Robot::addPartialCom ( const char *  comName,
const ::hpp::Names_t &  jointNames 
)
pure virtual
virtual ::CORBA::ULong _impl_Robot::addPoint ( const char *  inPolyName,
::CORBA::Double  x,
::CORBA::Double  y,
::CORBA::Double  z 
)
pure virtual
virtual ::CORBA::ULong _impl_Robot::addTriangle ( const char *  inPolyName,
::CORBA::ULong  pt1,
::CORBA::ULong  pt2,
::CORBA::ULong  pt3 
)
pure virtual
virtual void _impl_Robot::appendJoint ( const char *  parentJoint,
const char *  jointName,
const char *  jointType,
const ::hpp::Transform_  pos 
)
pure virtual
virtual void _impl_Robot::autocollisionCheck ( ::hpp::boolSeq_out  collide)
pure virtual
virtual void _impl_Robot::autocollisionPairs ( ::hpp::Names_t_out  innerObjects,
::hpp::Names_t_out  outerObjects,
::hpp::boolSeq_out  active 
)
pure virtual
virtual void _impl_Robot::createBox ( const char *  name,
::CORBA::Double  x,
::CORBA::Double  y,
::CORBA::Double  z 
)
pure virtual
virtual void _impl_Robot::createCylinder ( const char *  name,
::CORBA::Double  radius,
::CORBA::Double  length 
)
pure virtual
virtual void _impl_Robot::createPolyhedron ( const char *  inPolyName)
pure virtual
virtual void _impl_Robot::createRobot ( const char *  robotName)
pure virtual
virtual void _impl_Robot::createSphere ( const char *  name,
::CORBA::Double  radius 
)
pure virtual
virtual void _impl_Robot::distancesToCollision ( ::hpp::floatSeq_out  distances,
::hpp::Names_t_out  innerObjects,
::hpp::Names_t_out  outerObjects,
::hpp::floatSeqSeq_out  innerPoints,
::hpp::floatSeqSeq_out  outerPoints 
)
pure virtual
virtual Names_t* _impl_Robot::getAllJointNames ( )
pure virtual
virtual floatSeq* _impl_Robot::getCenterOfMass ( )
pure virtual
virtual floatSeq* _impl_Robot::getCenterOfMassVelocity ( )
pure virtual
virtual ::CORBA::Long _impl_Robot::getConfigSize ( )
pure virtual
virtual floatSeq* _impl_Robot::getCurrentConfig ( )
pure virtual
virtual floatSeqSeq* _impl_Robot::getCurrentTransformation ( const char *  jointName)
pure virtual
virtual floatSeq* _impl_Robot::getCurrentVelocity ( )
pure virtual
virtual ::CORBA::ULong _impl_Robot::getDimensionExtraConfigSpace ( )
pure virtual
virtual floatSeqSeq* _impl_Robot::getJacobianCenterOfMass ( )
pure virtual
virtual floatSeqSeq* _impl_Robot::getJacobianPartialCom ( const char *  comName)
pure virtual
virtual floatSeq* _impl_Robot::getJointBounds ( const char *  jointName)
pure virtual

Referenced by hpp.corbaserver.robot.Robot::getSaturated().

virtual floatSeq* _impl_Robot::getJointConfig ( const char *  jointName)
pure virtual
virtual ::CORBA::Long _impl_Robot::getJointConfigSize ( const char *  jointName)
pure virtual
virtual Names_t* _impl_Robot::getJointInnerObjects ( const char *  jointName)
pure virtual
virtual Names_t* _impl_Robot::getJointNames ( )
pure virtual
virtual ::CORBA::Long _impl_Robot::getJointNumberDof ( const char *  jointName)
pure virtual
virtual Names_t* _impl_Robot::getJointOuterObjects ( const char *  jointName)
pure virtual
virtual Transform__slice* _impl_Robot::getJointPosition ( const char *  jointName)
pure virtual
virtual Transform__slice* _impl_Robot::getJointPositionInParentFrame ( const char *  jointName)
pure virtual
virtual TransformSeq* _impl_Robot::getJointsPosition ( const ::hpp::floatSeq &  q,
const ::hpp::Names_t &  jointNames 
)
pure virtual
virtual char* _impl_Robot::getJointType ( const char *  jointName)
pure virtual
virtual Names_t* _impl_Robot::getJointTypes ( )
pure virtual
virtual floatSeq* _impl_Robot::getJointVelocity ( const char *  jointName)
pure virtual
virtual floatSeq* _impl_Robot::getJointVelocityInLocalFrame ( const char *  jointName)
pure virtual
virtual Names_t* _impl_Robot::getLinkNames ( const char *  jointName)
pure virtual
virtual Transform__slice* _impl_Robot::getLinkPosition ( const char *  linkName)
pure virtual
virtual TransformSeq* _impl_Robot::getLinksPosition ( const ::hpp::floatSeq &  q,
const ::hpp::Names_t &  linkName 
)
pure virtual
virtual ::CORBA::Double _impl_Robot::getMass ( )
pure virtual
virtual ::CORBA::Long _impl_Robot::getNumberDof ( )
pure virtual
virtual void _impl_Robot::getObjectPosition ( const char *  objectName,
::hpp::Transform_  cfg 
)
pure virtual
virtual char* _impl_Robot::getParentJointName ( const char *  jointName)
pure virtual
virtual floatSeq* _impl_Robot::getPartialCom ( const char *  comName)
pure virtual
virtual floatSeq* _impl_Robot::getRobotAABB ( )
pure virtual
virtual char* _impl_Robot::getRobotName ( )
pure virtual
virtual Transform__slice* _impl_Robot::getRootJointPosition ( )
pure virtual
virtual floatSeq* _impl_Robot::getVelocityPartialCom ( const char *  comName)
pure virtual
virtual void _impl_Robot::isConfigValid ( const ::hpp::floatSeq &  dofArray,
::CORBA::Boolean &  validity,
::CORBA::String_out  report 
)
pure virtual
virtual floatSeq* _impl_Robot::jointIntegrate ( const ::hpp::floatSeq &  jointCfg,
const char *  jointName,
const ::hpp::floatSeq &  speed,
::CORBA::Boolean  saturate 
)
pure virtual
virtual void _impl_Robot::loadHumanoidModel ( const char *  robotName,
const char *  rootJointType,
const char *  packageName,
const char *  modelName,
const char *  urdfSuffix,
const char *  srdfSuffix 
)
pure virtual
virtual void _impl_Robot::loadHumanoidModelFromString ( const char *  robotName,
const char *  rootJointType,
const char *  urdfString,
const char *  srdfString 
)
pure virtual
virtual void _impl_Robot::loadRobotModel ( const char *  robotName,
const char *  rootJointType,
const char *  packageName,
const char *  modelName,
const char *  urdfSuffix,
const char *  srdfSuffix 
)
pure virtual
virtual void _impl_Robot::loadRobotModelFromString ( const char *  robotName,
const char *  rootJointType,
const char *  urdfString,
const char *  srdfString 
)
pure virtual
virtual void _impl_Robot::setAutoCollision ( const char *  innerObject,
const char *  outerObject,
::CORBA::Boolean  active 
)
pure virtual
virtual void _impl_Robot::setCurrentConfig ( const ::hpp::floatSeq &  dofArray)
pure virtual

Referenced by hpp.corbaserver.robot.StaticStabilityConstraintsFactory::createSlidingStabilityConstraint(), and hpp.corbaserver.robot.StaticStabilityConstraintsFactory::createStaticStabilityConstraint().

virtual void _impl_Robot::setCurrentVelocity ( const ::hpp::floatSeq &  qDot)
pure virtual
virtual void _impl_Robot::setDimensionExtraConfigSpace ( ::CORBA::ULong  dimension)
pure virtual
virtual void _impl_Robot::setExtraConfigSpaceBounds ( const ::hpp::floatSeq &  bounds)
pure virtual
virtual void _impl_Robot::setJointBounds ( const char *  jointName,
const ::hpp::floatSeq &  inJointBound 
)
pure virtual
virtual void _impl_Robot::setJointConfig ( const char *  jointName,
const ::hpp::floatSeq &  config 
)
pure virtual
virtual void _impl_Robot::setJointPositionInParentFrame ( const char *  jointName,
const ::hpp::Transform_  position 
)
pure virtual
virtual void _impl_Robot::setRootJointPosition ( const ::hpp::Transform_  position)
pure virtual
virtual floatSeq* _impl_Robot::shootRandomConfig ( )
pure virtual