hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
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obstacle.idl
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1// Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL.
2//
3// This file is part of the hpp-corbaserver.
4//
5// This software is provided "as is" without warranty of any kind,
6// either expressed or implied, including but not limited to the
7// implied warranties of fitness for a particular purpose.
8//
9// See the COPYING file for more information.
10
11#ifndef HPP_CORBASERVER_OBSTACLE_SERVER_IDL
12#define HPP_CORBASERVER_OBSTACLE_SERVER_IDL
13#include <hpp/common.idl>
14
15module hpp
16{
17 module corbaserver {
20 interface Obstacle
21 {
31 void loadObstacleModel (in string filename, in string prefix)
32 raises (Error);
33
38 void loadPolyhedron (in string obstacleName, in string filename)
39 raises (Error);
40
50 void loadObstacleModelFromString (in string urdfString, in string prefix)
51 raises (Error);
52
56 void loadPointCloudFromFilename (in string objectName, in string filename)
57 raises (Error);
58
71 void loadPointCloudFromPoints (in string objectName, in double resolution,
72 in floatSeqSeq points)
73 raises (Error);
74
78 void removeObstacle (in string objectName) raises (Error);
79
87 void removeObstacleFromJoint (in string objectName, in string jointName,
88 in boolean collision, in boolean distance)
89 raises (Error);
90
94 void cutObstacle (in string objectName, in floatSeq aabb) raises (Error);
95
110 void addObstacle (in string objectName, in boolean collision,
111 in boolean distance) raises (Error);
112
122 void moveObstacle (in string objectName, in Transform_ cfg)
123 raises (Error);
124
130 void getObstaclePosition (in string objectName, out Transform_ cfg)
131 raises (Error);
132
138 Names_t getObstacleNames (in boolean collision, in boolean distance)
139 raises (Error);
140
142
145
149 void createPolyhedron (in string polyName)
150 raises (Error);
151
155 void createBox (in string inBoxName, in double x, in double y, in double z)
156 raises (Error);
157
161 void createSphere (in string name, in double radius) raises (Error);
162
167 void createCylinder (in string name, in double radius, in double length) raises (Error);
168
175 unsigned long addPoint (in string polyName, in double x, in double y, in double z)
176 raises (Error);
177
184 unsigned long addTriangle
185 (in string polyName, in unsigned long pt1,
186 in unsigned long pt2, in unsigned long pt3) raises (Error);
187
189 };
190 };
191};
192
193#endif
Definition common-idl.hh:78
Definition common-idl.hh:803
Definition common-idl.hh:689
::CORBA::Double Transform_[7]
Definition common-idl.hh:915
Corba exception travelling through the Corba channel.
Definition common.idl:27
Obstacle management.
Definition obstacle.idl:21
void loadPointCloudFromFilename(in string objectName, in string filename)
void cutObstacle(in string objectName, in floatSeq aabb)
void loadPolyhedron(in string obstacleName, in string filename)
Load a polyhedron as an obstacle from a file.
void createPolyhedron(in string polyName)
create an empty polyhedron.
void loadObstacleModelFromString(in string urdfString, in string prefix)
void createSphere(in string name, in double radius)
void moveObstacle(in string objectName, in Transform_ cfg)
Move an obstacle to a given configuration.
void loadObstacleModel(in string filename, in string prefix)
void removeObstacleFromJoint(in string objectName, in string jointName, in boolean collision, in boolean distance)
Remove an obstacle from outer objects of a joint body.
void loadPointCloudFromPoints(in string objectName, in double resolution, in floatSeqSeq points)
void createCylinder(in string name, in double radius, in double length)
Names_t getObstacleNames(in boolean collision, in boolean distance)
void removeObstacle(in string objectName)
Remove an obstacle.
unsigned long addTriangle(in string polyName, in unsigned long pt1, in unsigned long pt2, in unsigned long pt3)
Add a point to a polyhedron.
void getObstaclePosition(in string objectName, out Transform_ cfg)
void createBox(in string inBoxName, in double x, in double y, in double z)
Create a box.
void addObstacle(in string objectName, in boolean collision, in boolean distance)
Add an obstacle to the set of obstacles.
unsigned long addPoint(in string polyName, in double x, in double y, in double z)
Add a point to a polyhedron.
Implement CORBA interface `‘Obstacle’'.
Definition client.hh:46