hpp::corbaserver::Obstacle Interface Reference

Obstacle management. More...

import"/root/robotpkg/path/py-hpp-corbaserver/work.runner-7gqkM7SY-project-83-concurrent-3/hpp-corbaserver-4.8.0/idl/hpp/corbaserver/obstacle.idl";

Public Member Functions
void	loadObstacleModel (in string package, in string file, in string prefix) raises (Error)
	Load obstacle from urdf file. More...
void	removeObstacleFromJoint (in string objectName, in string jointName, in boolean collision, in boolean distance) raises (Error)
	Remove an obstacle from outer objects of a joint body. More...
void	cutObstacle (in string objectName, in floatSeq aabb) raises (Error)
	Cut the obstacle with the given AABB. More...
void	addObstacle (in string objectName, in boolean collision, in boolean distance) raises (Error)
	Add an obstacle to the set of obstacles. More...
void	moveObstacle (in string objectName, in Transform_ cfg) raises (Error)
	Move an obstacle to a given configuration. More...
void	getObstaclePosition (in string objectName, out Transform_ cfg) raises (Error)
	Get the position of an obstacle. More...
Names_t	getObstacleNames (in boolean collision, in boolean distance) raises (Error)
	Get list of obstacles. More...
Polyhedra
void	createPolyhedron (in string polyName) raises (Error)
	create an empty polyhedron. More...
void	createBox (in string inBoxName, 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 polyName, in double x, in double y, in double z) raises (Error)
	Add a point to a polyhedron. More...
unsigned long	addTriangle (in string polyName, in unsigned long pt1, in unsigned long pt2, in unsigned long pt3) raises (Error)
	Add a point to a polyhedron. More...

Detailed Description

Obstacle management.

Member Function Documentation

addObstacle()

void hpp::corbaserver::Obstacle::addObstacle	(	in string	objectName,
		in boolean	collision,
		in boolean	distance
	)
raises	(	Error
	)

Add an obstacle to the set of obstacles.

Parameters

objectName	name of the object.
collision	whether collision with object should be computed
distance	whether distance to object should be computed

Exceptions

Error.

Note

The obstacle should have been built using one of methods

• hpp::Obstacle::createPolyhedron,
• hpp::Obstacle::createBox
• hpp::Obstacle::addPoint
• hpp::Obstacle::addTriangle.

Build the bounding volume hierarchy of the object if needed.

addPoint()

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

Add a point to a polyhedron.

Parameters

polyName	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.

addTriangle()

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

Add a point to a polyhedron.

Parameters

polyName	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.

createBox()

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

Create a box.

Parameters

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

createCylinder()

void hpp::corbaserver::Obstacle::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

createPolyhedron()

void hpp::corbaserver::Obstacle::createPolyhedron	(	in string	polyName	)
raises	(	Error
	)

create an empty polyhedron.

Parameters

polyName

name of the polyhedron.

Exceptions

Error.

createSphere()

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

Create a sphere.

Parameters

name	name of the sphere
radius	radius of the sphere

cutObstacle()

void hpp::corbaserver::Obstacle::cutObstacle	(	in string	objectName,
		in floatSeq	aabb
	)
raises	(	Error
	)

Cut the obstacle with the given AABB.

Parameters

aabb	a vector of 6 floats. The 3 first represent one corner and the 3 last represent the opposite corner.

getObstacleNames()

Names_t hpp::corbaserver::Obstacle::getObstacleNames	(	in boolean	collision,
		in boolean	distance
	)
raises	(	Error
	)

Get list of obstacles.

Parameters

collision	whether to return obstacle for collision,
distance	whether to return obstacles for distance computation

Returns

list of obstacles

getObstaclePosition()

void hpp::corbaserver::Obstacle::getObstaclePosition	(	in string	objectName,
		out Transform_	cfg
	)
raises	(	Error
	)

Get the position of an obstacle.

Parameters

objectName

name of the polyhedron.

Return values

cfg	Position of the obstacle.

Exceptions

Error.

loadObstacleModel()

void hpp::corbaserver::Obstacle::loadObstacleModel	(	in string	package,
		in string	file,
		in string	prefix
	)
raises	(	Error
	)

Load obstacle from urdf file.

Parameters

package	Name of the package containing the model.
file	If package is empty, this is the XML string to parse otherwise, this is the filename of the urdf file in the package (without suffix .urdf)
prefix	prefix added to object names in case the same file is loaded several times

The ros url is built as follows: "package://${package}/urdf/${filename}.urdf"

The kinematic structure of the urdf file is ignored. Only the geometric objects are loaded as obstacles.

moveObstacle()

void hpp::corbaserver::Obstacle::moveObstacle	(	in string	objectName,
		in Transform_	cfg
	)
raises	(	Error
	)

Move an obstacle to a given configuration.

Parameters

objectName	name of the polyhedron.
cfg	the configuration of the obstacle.

Exceptions

Error.

Note

The obstacle is not added to local map impl::Obstacle::collisionListMap.

Build the collision entity of polyhedron for KCD.

removeObstacleFromJoint()

void hpp::corbaserver::Obstacle::removeObstacleFromJoint	(	in string	objectName,
		in string	jointName,
		in boolean	collision,
		in boolean	distance
	)
raises	(	Error
	)

Remove an obstacle from outer objects of a joint body.

Parameters

objectName	name of the object to remove,
jointName	name of the joint owning the body,
collision	whether collision with object should be ignored,
distance	whether distance to object should be ignored.

Exceptions

Error.