hpp::corbaserver::Obstacle Interface Reference

Obstacle management. More...

import </root/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-6.0.0/idl/hpp/corbaserver/obstacle.idl;

Public Member Functions
void	loadObstacleModel (in string filename, in string prefix) raises (Error)
void	loadPolyhedron (in string obstacleName, in string filename) raises (Error)
	Load a polyhedron as an obstacle from a file.
void	loadObstacleModelFromString (in string urdfString, in string prefix) raises (Error)
void	loadPointCloudFromFilename (in string objectName, in string filename) raises (Error)
void	loadPointCloudFromPoints (in string objectName, in double resolution, in floatSeqSeq points) raises (Error)
void	removeObstacle (in string objectName) raises (Error)
	Remove an obstacle.
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.
void	cutObstacle (in string objectName, in floatSeq aabb) raises (Error)
void	addObstacle (in string objectName, in boolean collision, in boolean distance) raises (Error)
	Add an obstacle to the set of obstacles.
void	moveObstacle (in string objectName, in Transform_ cfg) raises (Error)
	Move an obstacle to a given configuration.
void	getObstaclePosition (in string objectName, out Transform_ cfg) raises (Error)
Names_t	getObstacleNames (in boolean collision, in boolean distance) raises (Error)
Polyhedra
void	createPolyhedron (in string polyName) raises (Error)
	create an empty polyhedron.
void	createBox (in string inBoxName, in double x, in double y, in double z) raises (Error)
	Create a box.
void	createSphere (in string name, in double radius) raises (Error)
void	createCylinder (in string name, in double radius, in double length) raises (Error)
unsigned long	addPoint (in string polyName, in double x, in double y, in double z) raises (Error)
	Add a point to a polyhedron.
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.

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	filename,
		in string	prefix
	)
raises	(	Error
	)

Load obstacle from urdf file

Parameters

package	Name of the package containing the model.
filename	name of the urdf file, it may contain "package://"
prefix	prefix added to object names in case the same file is loaded several times

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

loadObstacleModelFromString()

void hpp::corbaserver::Obstacle::loadObstacleModelFromString	(	in string	urdfString,
		in string	prefix
	)
raises	(	Error
	)

Load obstacle from urdf file

Parameters

package	Name of the package containing the model.
urdfString	XML string to parse
prefix	prefix added to object names in case the same file is loaded several times

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

loadPointCloudFromFilename()

void hpp::corbaserver::Obstacle::loadPointCloudFromFilename	(	in string	objectName,
		in string	filename
	)
raises	(	Error
	)

Load (or update if it exists) a point cloud from a filename.

Parameters

filename

a filename whose format must be compatible with Octomap

loadPointCloudFromPoints()

void hpp::corbaserver::Obstacle::loadPointCloudFromPoints	(	in string	objectName,
		in double	resolution,
		in floatSeqSeq	points
	)
raises	(	Error
	)

Load (or update if it exists) a point cloud from a set of points

Parameters

resolution	OcTree resolution. See Octomap::OcTree for more info.
points	a Nx3 matrix representing the point cloud.

Note

OmniORB has a limit in the size of arguments that you can send. If you have an exception about the message size limit being exceeded, you can try to increase the limit. The option is giopMaxMsgSize. The value must be changed both on the server and client side. See https://omniorb.sourceforge.io/omni40/omniORB/omniORB004.html for the different ways of changing a configuration value. The easiest is likely to set the value in file ${OmniORB_INSTALLATION_PREFIX}/etc/omniORB.cfg

loadPolyhedron()

void hpp::corbaserver::Obstacle::loadPolyhedron	(	in string	obstacleName,
		in string	filename
	)
raises	(	Error
	)

Load a polyhedron as an obstacle from a file.

Parameters

obstacleName	name of the polyhedron.
filename	name of the file.

Exceptions

Error.

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.

removeObstacle()

void hpp::corbaserver::Obstacle::removeObstacle	(	in string	objectName	)
raises	(	Error
	)

Remove an obstacle.

Parameters

objectName

name of the object to remove

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.

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

• idl/hpp/corbaserver/obstacle.idl