_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 *urdfName, const char *srdfName)
void	loadHumanoidModel (const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)
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

)

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 *	urdfName,
		const char *	srdfName
	)

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 *	urdfName,
		const char *	srdfName
	)

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

)

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

---

The documentation for this class was generated from the following file:

• src/hpp/corbaserver/robot-idl.hh