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

Inheritance diagram for _impl_Robot:

Collaboration diagram for _impl_Robot:

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

◆ ~_impl_Robot()

virtual _impl_Robot::~_impl_Robot ( )

virtual

Member Function Documentation

◆ _dispatch()

virtual _CORBA_Boolean _impl_Robot::_dispatch ( omniCallHandle & )

virtual

◆ addObjectToJoint()

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

pure virtual

◆ addPartialCom()

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

pure virtual

◆ addPoint()

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

pure virtual

◆ addTriangle()

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

pure virtual

◆ appendJoint()

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

pure virtual

◆ autocollisionCheck()

virtual void _impl_Robot::autocollisionCheck ( ::hpp::boolSeq_out collide )

pure virtual

◆ autocollisionPairs()

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

pure virtual

◆ createBox()

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

pure virtual

◆ createCylinder()

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

pure virtual

◆ createPolyhedron()

virtual void _impl_Robot::createPolyhedron ( const char * inPolyName )

pure virtual

◆ createRobot()

virtual void _impl_Robot::createRobot ( const char * robotName )

pure virtual

◆ createSphere()

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

pure virtual

◆ distancesToCollision()

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

◆ getAllJointNames()

virtual Names_t* _impl_Robot::getAllJointNames ( )

pure virtual

◆ getCenterOfMass()

virtual floatSeq* _impl_Robot::getCenterOfMass ( )

pure virtual

◆ getCenterOfMassComputation()

virtual pinocchio_idl::CenterOfMassComputation_ptr _impl_Robot::getCenterOfMassComputation ( const char * name )

pure virtual

◆ getCenterOfMassVelocity()

virtual floatSeq* _impl_Robot::getCenterOfMassVelocity ( )

pure virtual

◆ getConfigSize()

virtual ::CORBA::Long _impl_Robot::getConfigSize ( )

pure virtual

◆ getCurrentConfig()

virtual floatSeq* _impl_Robot::getCurrentConfig ( )

pure virtual

◆ getCurrentTransformation()

virtual floatSeqSeq* _impl_Robot::getCurrentTransformation ( const char * jointName )

pure virtual

◆ getCurrentVelocity()

virtual floatSeq* _impl_Robot::getCurrentVelocity ( )

pure virtual

◆ getDimensionExtraConfigSpace()

virtual ::CORBA::ULong _impl_Robot::getDimensionExtraConfigSpace ( )

pure virtual

◆ getJacobianCenterOfMass()

virtual floatSeqSeq* _impl_Robot::getJacobianCenterOfMass ( )

pure virtual

◆ getJacobianPartialCom()

virtual floatSeqSeq* _impl_Robot::getJacobianPartialCom ( const char * comName )

pure virtual

◆ getJointBounds()

virtual floatSeq* _impl_Robot::getJointBounds ( const char * jointName )

pure virtual

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

◆ getJointConfig()

virtual floatSeq* _impl_Robot::getJointConfig ( const char * jointName )

pure virtual

◆ getJointConfigSize()

virtual ::CORBA::Long _impl_Robot::getJointConfigSize ( const char * jointName )

pure virtual

◆ getJointInnerObjects()

virtual Names_t* _impl_Robot::getJointInnerObjects ( const char * jointName )

pure virtual

◆ getJointNames()

virtual Names_t* _impl_Robot::getJointNames ( )

pure virtual

◆ getJointNumberDof()

virtual ::CORBA::Long _impl_Robot::getJointNumberDof ( const char * jointName )

pure virtual

◆ getJointOuterObjects()

virtual Names_t* _impl_Robot::getJointOuterObjects ( const char * jointName )

pure virtual

◆ getJointPosition()

virtual Transform__slice* _impl_Robot::getJointPosition ( const char * jointName )

pure virtual

◆ getJointPositionInParentFrame()

virtual Transform__slice* _impl_Robot::getJointPositionInParentFrame ( const char * jointName )

pure virtual

◆ getJointsPosition()

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

pure virtual

◆ getJointType()

virtual char* _impl_Robot::getJointType ( const char * jointName )

pure virtual

◆ getJointTypes()

virtual Names_t* _impl_Robot::getJointTypes ( )

pure virtual

◆ getJointVelocity()

virtual floatSeq* _impl_Robot::getJointVelocity ( const char * jointName )

pure virtual

◆ getJointVelocityInLocalFrame()

virtual floatSeq* _impl_Robot::getJointVelocityInLocalFrame ( const char * jointName )

pure virtual

◆ getLinkNames()

virtual Names_t* _impl_Robot::getLinkNames ( const char * jointName )

pure virtual

◆ getLinkPosition()

virtual Transform__slice* _impl_Robot::getLinkPosition ( const char * linkName )

pure virtual

◆ getLinksPosition()

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

pure virtual

◆ getMass()

virtual ::CORBA::Double _impl_Robot::getMass ( )

pure virtual

◆ getNumberDof()

virtual ::CORBA::Long _impl_Robot::getNumberDof ( )

pure virtual

◆ getObjectPosition()

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

pure virtual

◆ getParentJointName()

virtual char* _impl_Robot::getParentJointName ( const char * jointName )

pure virtual

◆ getPartialCom()

virtual floatSeq* _impl_Robot::getPartialCom ( const char * comName )

pure virtual

◆ getRobotAABB()

virtual floatSeq* _impl_Robot::getRobotAABB ( )

pure virtual

◆ getRobotName()

virtual char* _impl_Robot::getRobotName ( )

pure virtual

◆ getRootJointPosition()

virtual Transform__slice* _impl_Robot::getRootJointPosition ( )

pure virtual

◆ getVelocityPartialCom()

virtual floatSeq* _impl_Robot::getVelocityPartialCom ( const char * comName )

pure virtual

◆ isConfigValid()

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

pure virtual

◆ jointIntegrate()

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

pure virtual

◆ loadHumanoidModel()

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

◆ loadHumanoidModelFromString()

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

pure virtual

◆ loadRobotModel()

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

◆ loadRobotModelFromString()

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

pure virtual

◆ setAutoCollision()

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

pure virtual

◆ setCurrentConfig()

virtual void _impl_Robot::setCurrentConfig ( const ::hpp::floatSeq & dofArray )

pure virtual

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

◆ setCurrentVelocity()

virtual void _impl_Robot::setCurrentVelocity ( const ::hpp::floatSeq & qDot )

pure virtual

◆ setDimensionExtraConfigSpace()

virtual void _impl_Robot::setDimensionExtraConfigSpace ( ::CORBA::ULong dimension )

pure virtual

◆ setExtraConfigSpaceBounds()

virtual void _impl_Robot::setExtraConfigSpaceBounds ( const ::hpp::floatSeq & bounds )

pure virtual

◆ setJointBounds()

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

pure virtual

◆ setJointConfig()

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

pure virtual

◆ setJointPositionInParentFrame()

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

pure virtual

◆ setRootJointPosition()

virtual void _impl_Robot::setRootJointPosition ( const ::hpp::Transform_ position )

pure virtual

◆ shootRandomConfig()

virtual floatSeq* _impl_Robot::shootRandomConfig ( )

pure virtual

Public Member Functions

Constructor & Destructor Documentation

◆ ~_impl_Robot()

Member Function Documentation

◆ _dispatch()

◆ addObjectToJoint()

◆ addPartialCom()

◆ addPoint()

◆ addTriangle()

◆ appendJoint()

◆ autocollisionCheck()

◆ autocollisionPairs()

◆ createBox()

◆ createCylinder()

◆ createPolyhedron()

◆ createRobot()

◆ createSphere()

◆ distancesToCollision()

◆ getAllJointNames()

◆ getCenterOfMass()

◆ getCenterOfMassComputation()

◆ getCenterOfMassVelocity()

◆ getConfigSize()

◆ getCurrentConfig()

◆ getCurrentTransformation()

◆ getCurrentVelocity()

◆ getDimensionExtraConfigSpace()

◆ getJacobianCenterOfMass()

◆ getJacobianPartialCom()

◆ getJointBounds()

◆ getJointConfig()

◆ getJointConfigSize()

◆ getJointInnerObjects()

◆ getJointNames()

◆ getJointNumberDof()

◆ getJointOuterObjects()

◆ getJointPosition()

◆ getJointPositionInParentFrame()

◆ getJointsPosition()

◆ getJointType()

◆ getJointTypes()

◆ getJointVelocity()

◆ getJointVelocityInLocalFrame()

◆ getLinkNames()

◆ getLinkPosition()

◆ getLinksPosition()

◆ getMass()

◆ getNumberDof()

◆ getObjectPosition()

◆ getParentJointName()

◆ getPartialCom()

◆ getRobotAABB()

◆ getRobotName()

◆ getRootJointPosition()

◆ getVelocityPartialCom()

◆ isConfigValid()

◆ jointIntegrate()

◆ loadHumanoidModel()

◆ loadHumanoidModelFromString()

◆ loadRobotModel()

◆ loadRobotModelFromString()

◆ setAutoCollision()

◆ setCurrentConfig()

◆ setCurrentVelocity()

◆ setDimensionExtraConfigSpace()

◆ setExtraConfigSpaceBounds()

◆ setJointBounds()

◆ setJointConfig()

◆ setJointPositionInParentFrame()

◆ setRootJointPosition()

◆ shootRandomConfig()