_objref_Robot Class Reference

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

Inheritance diagram for _objref_Robot:

Collaboration diagram for _objref_Robot:

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

Protected Member Functions
virtual	~_objref_Robot ()

Friends
class	Robot

Constructor & Destructor Documentation

_objref_Robot::_objref_Robot ( )

inline

_objref_Robot::_objref_Robot	(	omniIOR *	,
		omniIdentity *
	)

virtual _objref_Robot::~_objref_Robot ( )

protectedvirtual

Member Function Documentation

void _objref_Robot::addObjectToJoint	(	const char *	jointName,
		const char *	objectName,
		const ::hpp::Transform_	pos
	)

void _objref_Robot::addPartialCom	(	const char *	comName,
		const ::hpp::Names_t &	jointNames
	)

::CORBA::ULong _objref_Robot::addPoint	(	const char *	inPolyName,
		::CORBA::Double	x,
		::CORBA::Double	y,
		::CORBA::Double	z
	)

::CORBA::ULong _objref_Robot::addTriangle	(	const char *	inPolyName,
		::CORBA::ULong	pt1,
		::CORBA::ULong	pt2,
		::CORBA::ULong	pt3
	)

void _objref_Robot::appendJoint	(	const char *	parentJoint,
		const char *	jointName,
		const char *	jointType,
		const ::hpp::Transform_	pos
	)

void _objref_Robot::autocollisionCheck

(

::hpp::boolSeq_out

collide

)

void _objref_Robot::autocollisionPairs	(	::hpp::Names_t_out	innerObjects,
		::hpp::Names_t_out	outerObjects,
		::hpp::boolSeq_out	active
	)

void _objref_Robot::createBox	(	const char *	name,
		::CORBA::Double	x,
		::CORBA::Double	y,
		::CORBA::Double	z
	)

void _objref_Robot::createCylinder	(	const char *	name,
		::CORBA::Double	radius,
		::CORBA::Double	length
	)

void _objref_Robot::createPolyhedron

(

const char *

inPolyName

)

void _objref_Robot::createRobot

(

const char *

robotName

)

void _objref_Robot::createSphere	(	const char *	name,
		::CORBA::Double	radius
	)

void _objref_Robot::distancesToCollision	(	::hpp::floatSeq_out	distances,
		::hpp::Names_t_out	innerObjects,
		::hpp::Names_t_out	outerObjects,
		::hpp::floatSeqSeq_out	innerPoints,
		::hpp::floatSeqSeq_out	outerPoints
	)

Names_t* _objref_Robot::getAllJointNames

(

)

floatSeq* _objref_Robot::getCenterOfMass

(

)

floatSeq* _objref_Robot::getCenterOfMassVelocity

(

)

::CORBA::Long _objref_Robot::getConfigSize

(

)

floatSeq* _objref_Robot::getCurrentConfig

(

)

floatSeqSeq* _objref_Robot::getCurrentTransformation

(

const char *

jointName

)

floatSeq* _objref_Robot::getCurrentVelocity

(

)

::CORBA::ULong _objref_Robot::getDimensionExtraConfigSpace

(

)

floatSeqSeq* _objref_Robot::getJacobianCenterOfMass

(

)

floatSeqSeq* _objref_Robot::getJacobianPartialCom

(

const char *

comName

)

floatSeq* _objref_Robot::getJointBounds

(

const char *

jointName

)

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

floatSeq* _objref_Robot::getJointConfig

(

const char *

jointName

)

::CORBA::Long _objref_Robot::getJointConfigSize

(

const char *

jointName

)

Names_t* _objref_Robot::getJointInnerObjects

(

const char *

jointName

)

Names_t* _objref_Robot::getJointNames

(

)

::CORBA::Long _objref_Robot::getJointNumberDof

(

const char *

jointName

)

Names_t* _objref_Robot::getJointOuterObjects

(

const char *

jointName

)

Transform__slice* _objref_Robot::getJointPosition

(

const char *

jointName

)

Transform__slice* _objref_Robot::getJointPositionInParentFrame

(

const char *

jointName

)

TransformSeq* _objref_Robot::getJointsPosition	(	const ::hpp::floatSeq &	q,
		const ::hpp::Names_t &	jointNames
	)

char* _objref_Robot::getJointType

(

const char *

jointName

)

Names_t* _objref_Robot::getJointTypes

(

)

floatSeq* _objref_Robot::getJointVelocity

(

const char *

jointName

)

floatSeq* _objref_Robot::getJointVelocityInLocalFrame

(

const char *

jointName

)

Names_t* _objref_Robot::getLinkNames

(

const char *

jointName

)

Transform__slice* _objref_Robot::getLinkPosition

(

const char *

linkName

)

TransformSeq* _objref_Robot::getLinksPosition	(	const ::hpp::floatSeq &	q,
		const ::hpp::Names_t &	linkName
	)

::CORBA::Double _objref_Robot::getMass

(

)

::CORBA::Long _objref_Robot::getNumberDof

(

)

void _objref_Robot::getObjectPosition	(	const char *	objectName,
		::hpp::Transform_	cfg
	)

char* _objref_Robot::getParentJointName

(

const char *

jointName

)

floatSeq* _objref_Robot::getPartialCom

(

const char *

comName

)

floatSeq* _objref_Robot::getRobotAABB

(

)

char* _objref_Robot::getRobotName

(

)

Transform__slice* _objref_Robot::getRootJointPosition

(

)

floatSeq* _objref_Robot::getVelocityPartialCom

(

const char *

comName

)

void _objref_Robot::isConfigValid	(	const ::hpp::floatSeq &	dofArray,
		::CORBA::Boolean &	validity,
		::CORBA::String_out	report
	)

floatSeq* _objref_Robot::jointIntegrate	(	const ::hpp::floatSeq &	jointCfg,
		const char *	jointName,
		const ::hpp::floatSeq &	speed,
		::CORBA::Boolean	saturate
	)

void _objref_Robot::loadHumanoidModel	(	const char *	robotName,
		const char *	rootJointType,
		const char *	packageName,
		const char *	modelName,
		const char *	urdfSuffix,
		const char *	srdfSuffix
	)

void _objref_Robot::loadHumanoidModelFromString	(	const char *	robotName,
		const char *	rootJointType,
		const char *	urdfString,
		const char *	srdfString
	)

void _objref_Robot::loadRobotModel	(	const char *	robotName,
		const char *	rootJointType,
		const char *	packageName,
		const char *	modelName,
		const char *	urdfSuffix,
		const char *	srdfSuffix
	)

void _objref_Robot::loadRobotModelFromString	(	const char *	robotName,
		const char *	rootJointType,
		const char *	urdfString,
		const char *	srdfString
	)

void _objref_Robot::setAutoCollision	(	const char *	innerObject,
		const char *	outerObject,
		::CORBA::Boolean	active
	)

void _objref_Robot::setCurrentConfig

(

const ::hpp::floatSeq &

dofArray

)

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

void _objref_Robot::setCurrentVelocity

(

const ::hpp::floatSeq &

qDot

)

void _objref_Robot::setDimensionExtraConfigSpace

(

::CORBA::ULong

dimension

)

void _objref_Robot::setExtraConfigSpaceBounds

(

const ::hpp::floatSeq &

bounds

)

void _objref_Robot::setJointBounds	(	const char *	jointName,
		const ::hpp::floatSeq &	inJointBound
	)

void _objref_Robot::setJointConfig	(	const char *	jointName,
		const ::hpp::floatSeq &	config
	)

void _objref_Robot::setJointPositionInParentFrame	(	const char *	jointName,
		const ::hpp::Transform_	position
	)

void _objref_Robot::setRootJointPosition

(

const ::hpp::Transform_

position

)

floatSeq* _objref_Robot::shootRandomConfig

(

)

Friends And Related Function Documentation

friend class Robot

friend