Public Member Functions | Protected Member Functions | Friends | List of all members
_objref_Robot Class Reference

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

Inheritance diagram for _objref_Robot:
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Collaboration diagram for _objref_Robot:
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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 ()
 
pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation (const char *name)
 
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() [1/2]

_objref_Robot::_objref_Robot ( )
inline

◆ _objref_Robot() [2/2]

_objref_Robot::_objref_Robot ( omniIOR *  ,
omniIdentity *   
)

◆ ~_objref_Robot()

virtual _objref_Robot::~_objref_Robot ( )
protectedvirtual

Member Function Documentation

◆ addObjectToJoint()

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

◆ addPartialCom()

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

◆ addPoint()

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

◆ addTriangle()

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

◆ appendJoint()

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

◆ autocollisionCheck()

void _objref_Robot::autocollisionCheck ( ::hpp::boolSeq_out  collide)

◆ autocollisionPairs()

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

◆ createBox()

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

◆ createCylinder()

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

◆ createPolyhedron()

void _objref_Robot::createPolyhedron ( const char *  inPolyName)

◆ createRobot()

void _objref_Robot::createRobot ( const char *  robotName)

◆ createSphere()

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

◆ distancesToCollision()

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 
)

◆ getAllJointNames()

Names_t* _objref_Robot::getAllJointNames ( )

◆ getCenterOfMass()

floatSeq* _objref_Robot::getCenterOfMass ( )

◆ getCenterOfMassComputation()

pinocchio_idl::CenterOfMassComputation_ptr _objref_Robot::getCenterOfMassComputation ( const char *  name)

◆ getCenterOfMassVelocity()

floatSeq* _objref_Robot::getCenterOfMassVelocity ( )

◆ getConfigSize()

::CORBA::Long _objref_Robot::getConfigSize ( )

◆ getCurrentConfig()

floatSeq* _objref_Robot::getCurrentConfig ( )

◆ getCurrentTransformation()

floatSeqSeq* _objref_Robot::getCurrentTransformation ( const char *  jointName)

◆ getCurrentVelocity()

floatSeq* _objref_Robot::getCurrentVelocity ( )

◆ getDimensionExtraConfigSpace()

::CORBA::ULong _objref_Robot::getDimensionExtraConfigSpace ( )

◆ getJacobianCenterOfMass()

floatSeqSeq* _objref_Robot::getJacobianCenterOfMass ( )

◆ getJacobianPartialCom()

floatSeqSeq* _objref_Robot::getJacobianPartialCom ( const char *  comName)

◆ getJointBounds()

floatSeq* _objref_Robot::getJointBounds ( const char *  jointName)

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

◆ getJointConfig()

floatSeq* _objref_Robot::getJointConfig ( const char *  jointName)

◆ getJointConfigSize()

::CORBA::Long _objref_Robot::getJointConfigSize ( const char *  jointName)

◆ getJointInnerObjects()

Names_t* _objref_Robot::getJointInnerObjects ( const char *  jointName)

◆ getJointNames()

Names_t* _objref_Robot::getJointNames ( )

◆ getJointNumberDof()

::CORBA::Long _objref_Robot::getJointNumberDof ( const char *  jointName)

◆ getJointOuterObjects()

Names_t* _objref_Robot::getJointOuterObjects ( const char *  jointName)

◆ getJointPosition()

Transform__slice* _objref_Robot::getJointPosition ( const char *  jointName)

◆ getJointPositionInParentFrame()

Transform__slice* _objref_Robot::getJointPositionInParentFrame ( const char *  jointName)

◆ getJointsPosition()

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

◆ getJointType()

char* _objref_Robot::getJointType ( const char *  jointName)

◆ getJointTypes()

Names_t* _objref_Robot::getJointTypes ( )

◆ getJointVelocity()

floatSeq* _objref_Robot::getJointVelocity ( const char *  jointName)

◆ getJointVelocityInLocalFrame()

floatSeq* _objref_Robot::getJointVelocityInLocalFrame ( const char *  jointName)

◆ getLinkNames()

Names_t* _objref_Robot::getLinkNames ( const char *  jointName)

◆ getLinkPosition()

Transform__slice* _objref_Robot::getLinkPosition ( const char *  linkName)

◆ getLinksPosition()

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

◆ getMass()

::CORBA::Double _objref_Robot::getMass ( )

◆ getNumberDof()

::CORBA::Long _objref_Robot::getNumberDof ( )

◆ getObjectPosition()

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

◆ getParentJointName()

char* _objref_Robot::getParentJointName ( const char *  jointName)

◆ getPartialCom()

floatSeq* _objref_Robot::getPartialCom ( const char *  comName)

◆ getRobotAABB()

floatSeq* _objref_Robot::getRobotAABB ( )

◆ getRobotName()

char* _objref_Robot::getRobotName ( )

◆ getRootJointPosition()

Transform__slice* _objref_Robot::getRootJointPosition ( )

◆ getVelocityPartialCom()

floatSeq* _objref_Robot::getVelocityPartialCom ( const char *  comName)

◆ isConfigValid()

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

◆ jointIntegrate()

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

◆ loadHumanoidModel()

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

◆ loadHumanoidModelFromString()

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

◆ loadRobotModel()

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

◆ loadRobotModelFromString()

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

◆ setAutoCollision()

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

◆ setCurrentConfig()

void _objref_Robot::setCurrentConfig ( const ::hpp::floatSeq &  dofArray)

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

◆ setCurrentVelocity()

void _objref_Robot::setCurrentVelocity ( const ::hpp::floatSeq &  qDot)

◆ setDimensionExtraConfigSpace()

void _objref_Robot::setDimensionExtraConfigSpace ( ::CORBA::ULong  dimension)

◆ setExtraConfigSpaceBounds()

void _objref_Robot::setExtraConfigSpaceBounds ( const ::hpp::floatSeq &  bounds)

◆ setJointBounds()

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

◆ setJointConfig()

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

◆ setJointPositionInParentFrame()

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

◆ setRootJointPosition()

void _objref_Robot::setRootJointPosition ( const ::hpp::Transform_  position)

◆ shootRandomConfig()

floatSeq* _objref_Robot::shootRandomConfig ( )

Friends And Related Function Documentation

◆ Robot

friend class Robot
friend