Creation of a device, joints and bodies. More...

import"/root/robotpkg/path/hpp-corbaserver/work.runner-991216bb-project-83-concurrent-1/hpp-corbaserver-4.7.0/idl/hpp/corbaserver/robot.idl";

Public Member Functions
Loading URDF files
void	loadRobotModel (in string robotName, in string rootJointType, in string packageName, in string modelName, in string urdfSuffix, in string srdfSuffix) raises (Error)
	Load robot model. More...

void	loadHumanoidModel (in string robotName, in string rootJointType, in string packageName, in string modelName, in string urdfSuffix, in string srdfSuffix) raises (Error)
	Load humanoid robot model. More...

void	loadRobotModelFromString (in string robotName, in string rootJointType, in string urdfString, in string srdfString) raises (Error)
	Load robot model. More...

void	loadHumanoidModelFromString (in string robotName, in string rootJointType, in string urdfString, in string srdfString) raises (Error)
	Load humanoid robot model. More...

Degrees of freedom
long	getConfigSize () raises (Error)
	Get size of configuration. More...

long	getNumberDof () raises (Error)
	Get size of velocity. More...

Joints
Names_t	getJointNames () raises (Error)
	Get joint names in the same order as in the configuration. More...

Names_t	getJointTypes () raises (Error)
	Get joint types in the same order as in the configuration. More...

Names_t	getAllJointNames () raises (Error)
	Get all joint names including anchor joints. More...

string	getParentJointName (in string jointName) raises (Error)
	Get the parent joint of a joint jointName any joint (anchor or movable). More...

floatSeq	getJointConfig (in string jointName) raises (Error)
	Get configuration of a joint in robot configuration. More...

void	setJointConfig (in string jointName, in floatSeq config) raises (Error)
	Set configuration of a joint in robot configuration. More...

string	getJointType (in string jointName) raises (Error)
	Get joint type. More...

floatSeq	jointIntegrate (in floatSeq jointCfg, in string jointName, in floatSeq speed, in boolean saturate) raises (Error)
	Integrate velocity of a joint starting from joint configuration. More...

floatSeqSeq	getCurrentTransformation (in string jointName) raises (Error)
	Get joint Transformation. More...

Transform_	getJointPosition (in string jointName) raises (Error)
	Get joint position. More...

TransformSeq	getJointsPosition (in floatSeq q, in Names_t jointNames) raises (Error)
	Get position of a list of joints in world frame. More...

floatSeq	getJointVelocity (in string jointName) raises (Error)
	Get joint velocity expressed in the world frame, at the center of the world. More...

floatSeq	getJointVelocityInLocalFrame (in string jointName) raises (Error)
	Get joint velocity expressed in the joint frame, at the center of the joint. More...

Transform_	getJointPositionInParentFrame (in string jointName) raises (Error)
	Get the initial joint position (when config parameter corresponds to the identity) More...

Transform_	getRootJointPosition () raises (Error)
	Get position of root joint in world frame. More...

void	setRootJointPosition (in Transform_ position) raises (Error)
	Set position of root joint in world frame. More...

void	setJointPositionInParentFrame (in string jointName, in Transform_ position) raises (Error)
	Set the static position of joint WRT its parent. More...

long	getJointNumberDof (in string jointName) raises (Error)
	Get joint number degrees of freedom. More...

long	getJointConfigSize (in string jointName) raises (Error)
	Get joint number config size. More...

void	setJointBounds (in string jointName, in floatSeq inJointBound) raises (Error)
	set bounds for a joint More...

floatSeq	getJointBounds (in string jointName) raises (Error)
	Get bounds for a joint. More...

Transform_	getLinkPosition (in string linkName) raises (Error)
	Get link position in world frame. More...

TransformSeq	getLinksPosition (in floatSeq q, in Names_t linkName) raises (Error)
	Get position of a list of links in world frame. More...

Names_t	getLinkNames (in string jointName) raises (Error)
	Get link names. More...

Extra configuration space
void	setDimensionExtraConfigSpace (in unsigned long dimension) raises (Error)
	Set dimension of the extra configuration space. More...

unsigned long	getDimensionExtraConfigSpace () raises (Error)
	Get the dimension of the extra configuration space. More...

void	setExtraConfigSpaceBounds (in floatSeq bounds) raises (Error)
	Set bounds of extra configuration variables. More...

Configuration
floatSeq	getCurrentConfig () raises (Error)
	Get current configuration. More...

floatSeq	shootRandomConfig () raises (Error)
	Shoot random configuration. More...

void	setCurrentConfig (in floatSeq dofArray) raises (Error)
	Set current configuration of specified robot,. More...

floatSeq	getCurrentVelocity () raises (Error)
	Get current velocity. More...

void	setCurrentVelocity (in floatSeq qDot) raises (Error)
	Set current velocity. More...

Bodies
Names_t	getJointInnerObjects (in string jointName) raises (Error)
	Get the list of objects attached to a joint. More...

Names_t	getJointOuterObjects (in string jointName) raises (Error)
	Get list of collision objects tested with the body attached to a joint. More...

void	getObjectPosition (in string objectName, out Transform_ cfg) raises (Error)
	Get the position of an object of the robot. More...

Collision checking and distance computation
void	isConfigValid (in floatSeq dofArray, out boolean validity, out string report) raises (Error)
	Test the validity of a configuration. More...

void	distancesToCollision (out floatSeq distances, out Names_t innerObjects, out Names_t outerObjects, out floatSeqSeq innerPoints, out floatSeqSeq outerPoints) raises (Error)
	Compute distances between bodies and obstacles. More...

void	autocollisionCheck (out boolSeq collide) raises (Error)
	Check each auto-collision pair for collision and return the result. More...

void	autocollisionPairs (out Names_t innerObjects, out Names_t outerObjects, out boolSeq active) raises (Error)
	Returns the list of auto collision pairs. More...

void	setAutoCollision (in string innerObject, in string outerObject, in boolean active) raises (Error)

floatSeq	getRobotAABB () raises (Error)
	Get the aligned axes bounding box around the robot. More...

Mass and inertia
double	getMass () raises (Error)
	Get mass of robot. More...

floatSeq	getCenterOfMass () raises (Error)
	Get position of center of mass. More...

floatSeq	getCenterOfMassVelocity () raises (Error)
	Get velocity of center of mass. More...

floatSeqSeq	getJacobianCenterOfMass () raises (Error)
	Get Jacobian of the center of mass. More...

void	addPartialCom (in string comName, in Names_t jointNames) raises (Error)
	Add an object to compute a partial COM of the robot. More...

floatSeq	getPartialCom (in string comName) raises (Error)
	Get position of partial center of mass. More...

floatSeqSeq	getJacobianPartialCom (in string comName) raises (Error)
	Get Jacobian of the partial center of mass. More...

floatSeq	getVelocityPartialCom (in string comName) raises (Error)
	Get the velocity of the partial center of mass. More...

string	getRobotName () raises (Error)
	Get the name of the current robot. More...

Create and register robot
void	createRobot (in string robotName) raises (Error)
	Create an empty device. More...

void	appendJoint (in string parentJoint, in string jointName, in string jointType, in Transform_ pos) raises (Error)

void	createPolyhedron (in string inPolyName) raises (Error)
	create an empty polyhedron. More...

void	createBox (in string name, in double x, in double y, in double z) raises (Error)
	Create a box. More...

void	createSphere (in string name, in double radius) raises (Error)
	Create a sphere. More...

void	createCylinder (in string name, in double radius, in double length) raises (Error)
	Create a cylinder. More...

unsigned long	addPoint (in string inPolyName, in double x, in double y, in double z) raises (Error)
	Add a point to a polyhedron. More...

unsigned long	addTriangle (in string inPolyName, in unsigned long pt1, in unsigned long pt2, in unsigned long pt3) raises (Error)
	Add a point to a polyhedron. More...

void	addObjectToJoint (in string jointName, in string objectName, in Transform_ pos) raises (Error)
	Attach an object to a joint. More...

Detailed Description

Creation of a device, joints and bodies.

Member Function Documentation

void hpp::corbaserver::Robot::addObjectToJoint	(	in string	jointName,
		in string	objectName,
		in Transform_	pos
	)
raises	(	Error
	)

Attach an object to a joint.

Parameters

jointName	name of the body
objectName	name of the object
pos	relative position of the polyhedron in the body

void hpp::corbaserver::Robot::addPartialCom	(	in string	comName,
		in Names_t	jointNames
	)
raises	(	Error
	)

Add an object to compute a partial COM of the robot.

Parameters

name	of the partial com
jointNames	names of each ROOT of the joint trees to consider.

Note: Joints are added recursively, it is not possible so far to add a joint without addind all its children.

unsigned long hpp::corbaserver::Robot::addPoint	(	in string	inPolyName,
		in double	x,
		in double	y,
		in double	z
	)
raises	(	Error
	)

Add a point to a polyhedron.

Parameters

inPolyName	the name of the polyhedron.
x	coordinate of the point.
y	coordinate of the point.
z	coordinate of the point.

Returns: rank of point in polyhedron

unsigned long hpp::corbaserver::Robot::addTriangle	(	in string	inPolyName,
		in unsigned long	pt1,
		in unsigned long	pt2,
		in unsigned long	pt3
	)
raises	(	Error
	)

Add a point to a polyhedron.

Parameters

inPolyName	the name of the polyhedron.
pt1	rank of first point in polyhedron.
pt2	rank of second point in polyhedron.
pt3	rank of third point in polyhedron.

Returns: rank of triangle in polyhedron

void hpp::corbaserver::Robot::appendJoint	(	in string	parentJoint,
		in string	jointName,
		in string	jointType,
		in Transform_	pos
	)
raises	(	Error
	)

void hpp::corbaserver::Robot::autocollisionCheck	(	out boolSeq	collide	)
raises	(	Error
	)

Check each auto-collision pair for collision and return the result.

Return values

collide a list of boolean corresponding to the return value of of collisionPairs

void hpp::corbaserver::Robot::autocollisionPairs	(	out Names_t	innerObjects,
		out Names_t	outerObjects,
		out boolSeq	active
	)
raises	(	Error
	)

Returns the list of auto collision pairs.

Return values

innerObjects	names of the objects belonging to a body
outerObjects	names of the objects tested with inner objects,
active	vector of boolean saying whether a collision pair is active

void hpp::corbaserver::Robot::createBox	(	in string	name,
		in double	x,
		in double	y,
		in double	z
	)
raises	(	Error
	)

Create a box.

Parameters

name	name of the box
x,y,z	Size of the box

void hpp::corbaserver::Robot::createCylinder	(	in string	name,
		in double	radius,
		in double	length
	)
raises	(	Error
	)

Create a cylinder.

Parameters

name	name of the cylinder
radius	radius of the cylinder
length	length of the cylinder

void hpp::corbaserver::Robot::createPolyhedron	(	in string	inPolyName	)
raises	(	Error
	)

create an empty polyhedron.

Parameters

inPolyName name of the polyhedron.

Exceptions

Error.

void hpp::corbaserver::Robot::createRobot	(	in string	robotName	)
raises	(	Error
	)

Create an empty device.

Parameters

robotName name of the robot.

void hpp::corbaserver::Robot::createSphere	(	in string	name,
		in double	radius
	)
raises	(	Error
	)

Create a sphere.

Parameters

name	name of the sphere
radius	radius of the sphere

void hpp::corbaserver::Robot::distancesToCollision	(	out floatSeq	distances,
		out Names_t	innerObjects,
		out Names_t	outerObjects,
		out floatSeqSeq	innerPoints,
		out floatSeqSeq	outerPoints
	)
raises	(	Error
	)

Compute distances between bodies and obstacles.

Return values

distances	list of distances,
innerObjects	names of the objects belonging to a body
outerObjects	names of the objects tested with inner objects,
innerPoints	closest points on the body,
outerPoints	closest points on the obstacles

Note: outer objects for a body can also be inner objects of another body.

Names_t hpp::corbaserver::Robot::getAllJointNames	(		)
raises	(	Error
	)

Get all joint names including anchor joints.

floatSeq hpp::corbaserver::Robot::getCenterOfMass	(		)
raises	(	Error
	)

Get position of center of mass.

floatSeq hpp::corbaserver::Robot::getCenterOfMassVelocity	(		)
raises	(	Error
	)

Get velocity of center of mass.

long hpp::corbaserver::Robot::getConfigSize	(		)
raises	(	Error
	)

Get size of configuration.

Returns: size of configuration

floatSeq hpp::corbaserver::Robot::getCurrentConfig	(		)
raises	(	Error
	)

Get current configuration.

Returns: dofArray Array of degrees of freedom.

floatSeqSeq hpp::corbaserver::Robot::getCurrentTransformation	(	in string	jointName	)
raises	(	Error
	)

Get joint Transformation.

Parameters

jointName name of the joint

Exceptions

Error if robot is not set or it joint does not exist.

floatSeq hpp::corbaserver::Robot::getCurrentVelocity	(		)
raises	(	Error
	)

Get current velocity.

Parameters

qDot	Array of degrees of freedom

unsigned long hpp::corbaserver::Robot::getDimensionExtraConfigSpace	(		)
raises	(	Error
	)

Get the dimension of the extra configuration space.

See also: hpp::pinocchio::ExtraConfigSpace

floatSeqSeq hpp::corbaserver::Robot::getJacobianCenterOfMass	(		)
raises	(	Error
	)

Get Jacobian of the center of mass.

floatSeqSeq hpp::corbaserver::Robot::getJacobianPartialCom	(	in string	comName	)
raises	(	Error
	)

Get Jacobian of the partial center of mass.

floatSeq hpp::corbaserver::Robot::getJointBounds	(	in string	jointName	)
raises	(	Error
	)

Get bounds for a joint.

Parameters

jointName name of the joint

Returns: sequence of bounds in order [v0_min,v0_max,v1_min,v1_max,...] where vi_min, vi_max are the bounds of the i-th degree of freedom of the joint if the degree of freedom is bounded, 1, 0 otherwise.

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

floatSeq hpp::corbaserver::Robot::getJointConfig	(	in string	jointName	)
raises	(	Error
	)

Get configuration of a joint in robot configuration.

Parameters

jointName name of the joint,

Returns: the segment of the robot current configuration correponding to the joint.

long hpp::corbaserver::Robot::getJointConfigSize	(	in string	jointName	)
raises	(	Error
	)

Get joint number config size.

Parameters

jointName name of the joint

Exceptions

Error if robot is not set or if joint does not exist.

Names_t hpp::corbaserver::Robot::getJointInnerObjects	(	in string	jointName	)
raises	(	Error
	)

Get the list of objects attached to a joint.

Parameters

inJointName name of the joint.

Returns: list of names of CollisionObject attached to the body.

Names_t hpp::corbaserver::Robot::getJointNames	(		)
raises	(	Error
	)

Get joint names in the same order as in the configuration.

Note: anchor joints are not exported.

long hpp::corbaserver::Robot::getJointNumberDof	(	in string	jointName	)
raises	(	Error
	)

Get joint number degrees of freedom.

Parameters

jointName name of the joint

Exceptions

Error if robot is not set or if joint does not exist.

Names_t hpp::corbaserver::Robot::getJointOuterObjects	(	in string	jointName	)
raises	(	Error
	)

Get list of collision objects tested with the body attached to a joint.

Parameters

inJointName name of the joint.

Returns: list of names of CollisionObject

Transform_ hpp::corbaserver::Robot::getJointPosition	(	in string	jointName	)
raises	(	Error
	)

Get joint position.

Parameters

jointName name of the joint

Exceptions

Error if robot is not set or if joint does not exist.

Transform_ hpp::corbaserver::Robot::getJointPositionInParentFrame	(	in string	jointName	)
raises	(	Error
	)

Get the initial joint position (when config parameter corresponds to the identity)

Parameters

jointName name of the joint

Exceptions

Error if robot is not set or if joint does not exist.

TransformSeq hpp::corbaserver::Robot::getJointsPosition	(	in floatSeq	q,
		in Names_t	jointNames
	)
raises	(	Error
	)

Get position of a list of joints in world frame.

Note: This method is thread safe

string hpp::corbaserver::Robot::getJointType	(	in string	jointName	)
raises	(	Error
	)

Get joint type.

Parameters

jointName name of the joint,

Names_t hpp::corbaserver::Robot::getJointTypes	(		)
raises	(	Error
	)

Get joint types in the same order as in the configuration.

floatSeq hpp::corbaserver::Robot::getJointVelocity	(	in string	jointName	)
raises	(	Error
	)

Get joint velocity expressed in the world frame, at the center of the world.

Parameters

jointName name of the joint

Exceptions

Error if robot is not set or if joint does not exist.

floatSeq hpp::corbaserver::Robot::getJointVelocityInLocalFrame	(	in string	jointName	)
raises	(	Error
	)

Get joint velocity expressed in the joint frame, at the center of the joint.

Parameters

jointName name of the joint

Exceptions

Error if robot is not set or if joint does not exist.

Names_t hpp::corbaserver::Robot::getLinkNames	(	in string	jointName	)
raises	(	Error
	)

Get link names.

Parameters

jointName name of the joint,

Returns: names of the links.

Transform_ hpp::corbaserver::Robot::getLinkPosition	(	in string	linkName	)
raises	(	Error
	)

Get link position in world frame.

Joints are oriented in a different way as in urdf standard since rotation and uni-dimensional translation joints act around or along their x-axis. This method returns the current position of the urdf link in world frame.

Parameters

jointName name of the joint

Returns: position of the link in world frame.

TransformSeq hpp::corbaserver::Robot::getLinksPosition	(	in floatSeq	q,
		in Names_t	linkName
	)
raises	(	Error
	)

Get position of a list of links in world frame.

Note: This method is thread safe

double hpp::corbaserver::Robot::getMass	(		)
raises	(	Error
	)

Get mass of robot.

long hpp::corbaserver::Robot::getNumberDof	(		)
raises	(	Error
	)

Get size of velocity.

Returns: size of velocity

void hpp::corbaserver::Robot::getObjectPosition	(	in string	objectName,
		out Transform_	cfg
	)
raises	(	Error
	)

Get the position of an object of the robot.

Parameters

objectName name of the object.

Return values

cfg	Position of the obstacle.

Exceptions

Error.

string hpp::corbaserver::Robot::getParentJointName	(	in string	jointName	)
raises	(	Error
	)

Get the parent joint of a joint jointName any joint (anchor or movable).

Returns: the parent joint (can be an anchor joint)

floatSeq hpp::corbaserver::Robot::getPartialCom	(	in string	comName	)
raises	(	Error
	)

Get position of partial center of mass.

floatSeq hpp::corbaserver::Robot::getRobotAABB	(		)
raises	(	Error
	)

Get the aligned axes bounding box around the robot.

string hpp::corbaserver::Robot::getRobotName	(		)
raises	(	Error
	)

Get the name of the current robot.

Transform_ hpp::corbaserver::Robot::getRootJointPosition	(		)
raises	(	Error
	)

Get position of root joint in world frame.

Returns: constant position of the root joint in world frame in initial configuration.

floatSeq hpp::corbaserver::Robot::getVelocityPartialCom	(	in string	comName	)
raises	(	Error
	)

Get the velocity of the partial center of mass.

void hpp::corbaserver::Robot::isConfigValid	(	in floatSeq	dofArray,
		out boolean	validity,
		out string	report
	)
raises	(	Error
	)

Test the validity of a configuration.

Check whether current configuration of robot is valid by calling hpp::core::ConfigValidations object stored in Problem.

Return values

validity	whether configuration is valid
report	the reason why the config is not valid.

floatSeq hpp::corbaserver::Robot::jointIntegrate	(	in floatSeq	jointCfg,
		in string	jointName,
		in floatSeq	speed,
		in boolean	saturate
	)
raises	(	Error
	)

Integrate velocity of a joint starting from joint configuration.

Parameters

jointCfg	a joint configuration
jointName	name of the joint,
speed	velocity vector of the joint
saturate	the joint configuration within joint bounds.

Returns: the resulting configuration

Size of speed should fit hpp::pinocchio::Joint::numberDof.

void hpp::corbaserver::Robot::loadHumanoidModel	(	in string	robotName,
		in string	rootJointType,
		in string	packageName,
		in string	modelName,
		in string	urdfSuffix,
		in string	srdfSuffix
	)
raises	(	Error
	)

Load humanoid robot model.

Parameters

robotName	Name of the robot that is constructed,
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
packageName	Name of the ROS package containing the model,
modelName	Name of the package containing the model
urdfSuffix	suffix for urdf file,

The ros url are built as follows:

package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf
package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf

void hpp::corbaserver::Robot::loadHumanoidModelFromString	(	in string	robotName,
		in string	rootJointType,
		in string	urdfString,
		in string	srdfString
	)
raises	(	Error
	)

Load humanoid robot model.

Parameters

robotName	Name of the robot that is constructed,
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
urdfString	urdf string,
srdfString	srdf string.

void hpp::corbaserver::Robot::loadRobotModel	(	in string	robotName,
		in string	rootJointType,
		in string	packageName,
		in string	modelName,
		in string	urdfSuffix,
		in string	srdfSuffix
	)
raises	(	Error
	)

Load robot model.

Parameters

robotName	Name of the robot that is constructed,
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
packageName	Name of the ROS package containing the model,
modelName	Name of the package containing the model
urdfSuffix	suffix for urdf file,

The ros url are built as follows:

package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf
package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf

void hpp::corbaserver::Robot::loadRobotModelFromString	(	in string	robotName,
		in string	rootJointType,
		in string	urdfString,
		in string	srdfString
	)
raises	(	Error
	)

Load robot model.

Parameters

robotName	Name of the robot that is constructed,
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
urdfString	urdf string,
srdfString	srdf string.

void hpp::corbaserver::Robot::setAutoCollision	(	in string	innerObject,
		in string	outerObject,
		in boolean	active
	)
raises	(	Error
	)

void hpp::corbaserver::Robot::setCurrentConfig	(	in floatSeq	dofArray	)
raises	(	Error
	)

Set current configuration of specified robot,.

Parameters

dofArray Array of degrees of freedom /

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

void hpp::corbaserver::Robot::setCurrentVelocity	(	in floatSeq	qDot	)
raises	(	Error
	)

Set current velocity.

Parameters

qDot	Array of degrees of freedom

void hpp::corbaserver::Robot::setDimensionExtraConfigSpace	(	in unsigned long	dimension	)
raises	(	Error
	)

Set dimension of the extra configuration space.

Parameters

dimension dimension

See also: hpp::pinocchio::ExtraConfigSpace

void hpp::corbaserver::Robot::setExtraConfigSpaceBounds	(	in floatSeq	bounds	)
raises	(	Error
	)

Set bounds of extra configuration variables.

Parameters

inJointBound

sequence of joint dof bounds in order [v0_min,v0_max,v1_min,v1_max,...].

If vi_min > vi_max, dof of rank i is not bounded.
If size of sequence is different from twice the number of dofs, raise error.

void hpp::corbaserver::Robot::setJointBounds	(	in string	jointName,
		in floatSeq	inJointBound
	)
raises	(	Error
	)

set bounds for a joint

Parameters

jointName	name of the joint
inJointBound	sequence of joint dof bounds in order [v0_min,v0_max,v1_min,v1_max,...]. If vi_min > vi_max, dof of rank i is not bounded. If size of sequence is different from twice the number of dofs, raise error.

Note: The roadmap must be reset after all the joints bounds has been set. See Problem::resetRoadmap

void hpp::corbaserver::Robot::setJointConfig	(	in string	jointName,
		in floatSeq	config
	)
raises	(	Error
	)

Set configuration of a joint in robot configuration.

Parameters

jointName	name of the joint,
config	Configuration of the joint.

Size of config should fit hpp::pinocchio::Joint::configSize.

Modify the part of the robot current configuration correponding to the joint and recompute forward kinematics

void hpp::corbaserver::Robot::setJointPositionInParentFrame	(	in string	jointName,
		in Transform_	position
	)
raises	(	Error
	)

Set the static position of joint WRT its parent.

Parameters

position constant position of the joint

void hpp::corbaserver::Robot::setRootJointPosition	(	in Transform_	position	)
raises	(	Error
	)

Set position of root joint in world frame.

Parameters

position constant position of the root joint in world frame in initial configuration.

floatSeq hpp::corbaserver::Robot::shootRandomConfig	(		)
raises	(	Error
	)

Shoot random configuration.

Returns: dofArray Array of degrees of freedom.

Public Member Functions

Detailed Description

Member Function Documentation