hpp::pinocchio_idl::Device Interface Reference

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

Public Member Functions
string	name () raises (Error)
floatSeq	neutralConfiguration () raises (Error)
size_type	configSize () raises (Error)
size_type	numberDof () raises (Error)
void	integrate (in floatSeq config_in, in floatSeq velocity, out floatSeq result) raises (Error)
void	difference (in floatSeq q1, in floatSeq q2, out floatSeq result) raises (Error)
void	interpolate (in floatSeq q1, in floatSeq q2, in float u, out floatSeq result) raises (Error)
void	saturate (in floatSeq qin, out floatSeq qout, out boolSeq saturation) raises (Error)
void	replaceGeometryByConvexHull (in Names_t geometryNames) raises (Error)
floatSeq	getCurrentConfiguration () raises (Error)
boolean	setCurrentConfiguration (in floatSeq configuration) raises (Error)
floatSeq	getCurrentVelocity () raises (Error)
boolean	setCurrentVelocity (in floatSeq velocity) raises (Error)
floatSeq	getCurrentAcceleration () raises (Error)
boolean	setCurrentAcceleration (in floatSeq acceleration) raises (Error)
short	computationFlag () raises (Error)
void	controlComputation (in short flag) raises (Error)
void	computeForwardKinematics (in short computationFlag) raises (Error)
void	computeFramesForwardKinematics () raises (Error)
void	updateGeometryPlacements () raises (Error)
frame_index	getFrameByName (in string name) raises (Error)
Transform_	getFramePosition (in frame_index frame_id) raises (Error)
floatSeqSeq	getFrameJacobian (in frame_index frame_id) raises (Error)
void	removeJoints (in Names_t joints, in floatSeq refConfig) raises (Error)

Member Function Documentation

computationFlag()

short hpp::pinocchio_idl::Device::computationFlag	(		)
raises	(	Error
	)

computeForwardKinematics()

void hpp::pinocchio_idl::Device::computeForwardKinematics	(	in short	computationFlag	)
raises	(	Error
	)

computeFramesForwardKinematics()

void hpp::pinocchio_idl::Device::computeFramesForwardKinematics	(		)
raises	(	Error
	)

configSize()

size_type hpp::pinocchio_idl::Device::configSize	(		)
raises	(	Error
	)

controlComputation()

void hpp::pinocchio_idl::Device::controlComputation	(	in short	flag	)
raises	(	Error
	)

difference()

void hpp::pinocchio_idl::Device::difference	(	in floatSeq	q1,
		in floatSeq	q2,
		out floatSeq	result
	)
raises	(	Error
	)

getCurrentAcceleration()

floatSeq hpp::pinocchio_idl::Device::getCurrentAcceleration	(		)
raises	(	Error
	)

getCurrentConfiguration()

floatSeq hpp::pinocchio_idl::Device::getCurrentConfiguration	(		)
raises	(	Error
	)

getCurrentVelocity()

floatSeq hpp::pinocchio_idl::Device::getCurrentVelocity	(		)
raises	(	Error
	)

getFrameByName()

frame_index hpp::pinocchio_idl::Device::getFrameByName	(	in string	name	)
raises	(	Error
	)

getFrameJacobian()

floatSeqSeq hpp::pinocchio_idl::Device::getFrameJacobian	(	in frame_index	frame_id	)
raises	(	Error
	)

getFramePosition()

Transform_ hpp::pinocchio_idl::Device::getFramePosition	(	in frame_index	frame_id	)
raises	(	Error
	)

integrate()

void hpp::pinocchio_idl::Device::integrate	(	in floatSeq	config_in,
		in floatSeq	velocity,
		out floatSeq	result
	)
raises	(	Error
	)

interpolate()

void hpp::pinocchio_idl::Device::interpolate	(	in floatSeq	q1,
		in floatSeq	q2,
		in float	u,
		out floatSeq	result
	)
raises	(	Error
	)

name()

string hpp::pinocchio_idl::Device::name	(		)
raises	(	Error
	)

neutralConfiguration()

floatSeq hpp::pinocchio_idl::Device::neutralConfiguration	(		)
raises	(	Error
	)

numberDof()

size_type hpp::pinocchio_idl::Device::numberDof	(		)
raises	(	Error
	)

removeJoints()

void hpp::pinocchio_idl::Device::removeJoints	(	in Names_t	joints,
		in floatSeq	refConfig
	)
raises	(	Error
	)

Warning

removing joints invalidates joint ids. Use this carefully.

replaceGeometryByConvexHull()

void hpp::pinocchio_idl::Device::replaceGeometryByConvexHull	(	in Names_t	geometryNames	)
raises	(	Error
	)

saturate()

void hpp::pinocchio_idl::Device::saturate	(	in floatSeq	qin,
		out floatSeq	qout,
		out boolSeq	saturation
	)
raises	(	Error
	)

setCurrentAcceleration()

boolean hpp::pinocchio_idl::Device::setCurrentAcceleration	(	in floatSeq	acceleration	)
raises	(	Error
	)

setCurrentConfiguration()

boolean hpp::pinocchio_idl::Device::setCurrentConfiguration	(	in floatSeq	configuration	)
raises	(	Error
	)

setCurrentVelocity()

boolean hpp::pinocchio_idl::Device::setCurrentVelocity	(	in floatSeq	velocity	)
raises	(	Error
	)

updateGeometryPlacements()

void hpp::pinocchio_idl::Device::updateGeometryPlacements	(		)
raises	(	Error
	)

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

• idl/hpp/pinocchio_idl/robots.idl