hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
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robot.idl
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1// Copyright (C) 2009, 2010, 2011, 2012, 1013, 2014 CNRS
2// Authors: Florent Lamiraux, Thomas Moulard.
3//
4// This file is part of the hpp-corbaserver.
5//
6// This software is provided "as is" without warranty of any kind,
7// either expressed or implied, including but not limited to the
8// implied warranties of fitness for a particular purpose.
9//
10// See the COPYING file for more information.
11
12#ifndef HPP_CORBASERVER_ROBOT_SERVER_IDL
13#define HPP_CORBASERVER_ROBOT_SERVER_IDL
14#include <hpp/common.idl>
16
17module hpp
18{
19 module corbaserver {
21 interface Robot {
24
35 void loadRobotModel (in string robotName, in string rootJointType,
36 in string urdfName, in string srdfName)
37 raises (Error);
38
49 void loadHumanoidModel (in string robotName, in string rootJointType,
50 in string urdfName, in string srdfName)
51 raises (Error);
52
61 void loadRobotModelFromString (in string robotName, in string rootJointType,
62 in string urdfString, in string srdfString)
63 raises (Error);
64
73 void loadHumanoidModelFromString (in string robotName, in string rootJointType,
74 in string urdfString, in string srdfString)
75 raises (Error);
76
78
81
84 long getConfigSize () raises (Error);
85
88 long getNumberDof () raises (Error);
89
91
94
97 Names_t getJointNames () raises (Error);
98
100 Names_t getJointTypes () raises (Error);
101
103 Names_t getAllJointNames () raises (Error);
104
108 string getParentJointName (in string jointName) raises (Error);
109
115 floatSeq getJointConfig(in string jointName) raises (Error);
116
126 void setJointConfig(in string jointName, in floatSeq config) raises (Error);
127
131 string getJointType(in string jointName) raises (Error);
132
142 floatSeq jointIntegrate(in floatSeq jointCfg, in string jointName, in floatSeq speed, in boolean saturate) raises (Error);
143
147 floatSeqSeq getCurrentTransformation(in string jointName) raises (Error);
148
152 Transform_ getJointPosition (in string jointName) raises (Error);
153
156 TransformSeq getJointsPosition (in floatSeq q, in Names_t jointNames) raises (Error);
157
162 floatSeq getJointVelocity (in string jointName) raises (Error);
163
168 floatSeq getJointVelocityInLocalFrame (in string jointName) raises (Error);
169
173 Transform_ getJointPositionInParentFrame (in string jointName) raises (Error);
174
178 Transform_ getRootJointPosition () raises (Error);
179
183 void setRootJointPosition (in Transform_ position) raises (Error);
184
187 void setJointPositionInParentFrame (in string jointName, in Transform_ position)
188 raises (Error);
189
193 long getJointNumberDof (in string jointName) raises (Error);
194
198 long getJointConfigSize (in string jointName) raises (Error);
199
201
210 void setJointBounds(in string jointName,
211 in floatSeq inJointBound)
212 raises (Error);
213
221 floatSeq getJointBounds(in string jointName) raises (Error);
222
232 Transform_ getLinkPosition (in string linkName) raises (Error);
233
236 TransformSeq getLinksPosition (in floatSeq q, in Names_t linkName) raises (Error);
237
242 Names_t getLinkNames (in string jointName) raises (Error);
243
245
248
253 void setDimensionExtraConfigSpace (in unsigned long dimension)
254 raises (Error);
255
259 unsigned long getDimensionExtraConfigSpace ()
260 raises (Error);
261
268 void setExtraConfigSpaceBounds (in floatSeq bounds) raises (Error);
269
271
274
277 floatSeq getCurrentConfig() raises (Error);
278
281 floatSeq shootRandomConfig() raises (Error);
282
285 void setCurrentConfig(in floatSeq dofArray) raises (Error);
286
289 floatSeq getCurrentVelocity() raises (Error);
290
293 void setCurrentVelocity(in floatSeq qDot) raises (Error);
294
296
299
303 Names_t getJointInnerObjects (in string jointName) raises (Error);
304
305
309 Names_t getJointOuterObjects (in string jointName) raises (Error);
310
316 void getObjectPosition (in string objectName, out Transform_ cfg)
317 raises (Error);
318
320
323
330 void isConfigValid (in floatSeq dofArray, out boolean validity,
331 out string report) raises (Error);
332
333
343 void distancesToCollision (out floatSeq distances,
344 out Names_t innerObjects,
345 out Names_t outerObjects,
346 out floatSeqSeq innerPoints,
347 out floatSeqSeq outerPoints) raises (Error);
348
353 void autocollisionCheck (out boolSeq collide) raises (Error);
354
360 void autocollisionPairs (out Names_t innerObjects, out Names_t outerObjects, out boolSeq active) raises (Error);
361
362 void setAutoCollision (in string innerObject, in string outerObject, in boolean active) raises (Error);
363
365 floatSeq getRobotAABB () raises (Error);
366
368
371
373 double getMass () raises (Error);
374
376 floatSeq getCenterOfMass () raises (Error);
377
379 floatSeq getCenterOfMassVelocity () raises (Error);
380
382 floatSeqSeq getJacobianCenterOfMass () raises (Error);
383
389 void addPartialCom (in string comName, in Names_t jointNames)
390 raises (Error);
391
393 floatSeq getPartialCom (in string comName) raises (Error);
394
396 floatSeqSeq getJacobianPartialCom (in string comName) raises (Error);
397
399 floatSeq getVelocityPartialCom (in string comName)
400 raises (Error);
401
403 string getRobotName () raises (Error);
404
405 pinocchio_idl::CenterOfMassComputation getCenterOfMassComputation (in string name) raises (Error);
406
408
411
414 void createRobot(in string robotName) raises (Error);
415
416 // Create a new joint
417 // \param parentJoint name of the parent joint,
418 // \param jointName name of the joint,
419 // \param jointType among ["FreeFlyer", "Planar",
420 // "RX", "RY", "RZ",
421 // "RUBX", "RUBY",
422 // "RUBZ",
423 // "PX", "PY", "PZ",
424 // "Translation"]
425 // \param pos initial position of the joint
426 // \param joinBounds bounds of the joint. See setJointBounds for details.
427 // \note In the joint types, R stands for Rotation, RUB stands for
428 // Rotation UnBounded, P stands for Prismatic. Translation is 3D.
429 void appendJoint(in string parentJoint,
430 in string jointName, in string jointType,
431 in Transform_ pos)
432 raises (Error);
433
437 void createPolyhedron(in string inPolyName) raises (Error);
438
442 void createBox (in string name, in double x, in double y, in double z)
443 raises (Error);
444
448 void createSphere (in string name, in double radius) raises (Error);
449
454 void createCylinder (in string name, in double radius, in double length) raises (Error);
455
462 unsigned long addPoint(in string inPolyName, in double x, in double y, in double z)
463 raises (Error);
464
471 unsigned long addTriangle(in string inPolyName, in unsigned long pt1,
472 in unsigned long pt2, in unsigned long pt3)
473 raises (Error);
474
479 void addObjectToJoint(in string jointName,
480 in string objectName,
481 in Transform_ pos)
482 raises (Error);
483
485 };
486 };
487};
488
489#endif // HPP_CORBASERVER_ROBOT_SERVER_IDL
Definition robots-idl.hh:94
Definition common-idl.hh:78
Definition common-idl.hh:965
Definition common-idl.hh:347
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
Creation of a device, joints and bodies.
Definition robot.idl:21
void loadHumanoidModelFromString(in string robotName, in string rootJointType, in string urdfString, in string srdfString)
void loadHumanoidModel(in string robotName, in string rootJointType, in string urdfName, in string srdfName)
void loadRobotModel(in string robotName, in string rootJointType, in string urdfName, in string srdfName)
void loadRobotModelFromString(in string robotName, in string rootJointType, in string urdfString, in string srdfString)
Implement CORBA interface `‘Obstacle’'.
Definition client.hh:46