robot.impl.hh

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// Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL.
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
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//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef HPP_CORBASERVER_ROBOT_IMPL_HH
#define HPP_CORBASERVER_ROBOT_IMPL_HH
#include <coal/BVH/BVH_model.h>
 
#include <map>
#include <string>
// # include <hpp/pinocchio/object-factory.hh>
#include "hpp/corbaserver/fwd.hh"
#include "hpp/corbaserver/object-map.hh"
#include "hpp/corbaserver/robot-idl.hh"
#include "hpp/core/problem-solver.hh"
 
namespace hpp {
namespace corbaServer {
namespace impl {
using CORBA::Long;
class Robot : public virtual POA_hpp::corbaserver::Robot {
 public:
  Robot();
 
  void setServer(ServerPlugin* server) { server_ = server; }
 
  virtual void createRobot(const char* robotName);
 
  virtual void loadRobotModel(const char* robotName, const char* rootJointType,
                              const char* urdfName, const char* srdfName);
 
  virtual void loadHumanoidModel(const char* robotName,
                                 const char* rootJointType,
                                 const char* urdfName, const char* srdfName);
 
  virtual void loadRobotModelFromString(const char* robotName,
                                        const char* rootJointType,
                                        const char* urdfString,
                                        const char* srdfString);
 
  virtual void loadHumanoidModelFromString(const char* robotName,
                                           const char* rootJointType,
                                           const char* urdfString,
                                           const char* srdfString);
 
  virtual char* getRobotName();
 
  virtual Long getConfigSize();
 
  virtual Long getNumberDof();
 
  virtual void appendJoint(const char* parentName, const char* jointName,
                           const char* jointType, const Transform_ pos);
 
  virtual Names_t* getJointNames();
  virtual Names_t* getJointTypes();
  virtual Names_t* getAllJointNames();
  virtual Names_t* getChildJointNames(const char* jointName);
  virtual char* getParentJointName(const char* jointName);
  virtual hpp::floatSeq* getJointConfig(const char* jointName);
  virtual void setJointConfig(const char* jointName, const floatSeq& cfg);
  virtual char* getJointType(const char* jointName);
  virtual floatSeq* jointIntegrate(const floatSeq& jointCfg,
                                   const char* jointName, const floatSeq& dq,
                                   bool saturate);
  virtual hpp::floatSeqSeq* getCurrentTransformation(const char* jointName);
  virtual Transform__slice* getJointPositionInParentFrame(
      const char* jointName);
  virtual Transform__slice* getJointPosition(const char* jointName);
  virtual TransformSeq* getJointsPosition(const floatSeq& q,
                                          const Names_t& jointNames);
  virtual floatSeq* getJointVelocity(const char* jointName);
  virtual floatSeq* getJointVelocityInLocalFrame(const char* jointName);
 
  virtual Transform__slice* getRootJointPosition();
 
  virtual void setRootJointPosition(const Transform_ position);
 
  virtual void setJointPositionInParentFrame(const char* jointName,
                                             const Transform_ position);
 
  virtual Long getJointNumberDof(const char* jointName);
  virtual Long getJointConfigSize(const char* jointName);
 
  virtual hpp::floatSeq* getJointBounds(const char* jointName);
  virtual void setJointBounds(const char* jointName,
                              const hpp::floatSeq& jointBound);
 
  virtual Transform__slice* getLinkPosition(const char* linkName);
 
  virtual TransformSeq* getLinksPosition(const floatSeq& q,
                                         const Names_t& linkName);
 
  virtual Names_t* getLinkNames(const char* jointName);
 
  virtual void setDimensionExtraConfigSpace(ULong dimension);
 
  virtual ULong getDimensionExtraConfigSpace();
 
  virtual void setExtraConfigSpaceBounds(const hpp::floatSeq& bounds);
 
  virtual void setCurrentConfig(const hpp::floatSeq& dofArray);
 
  virtual hpp::floatSeq* shootRandomConfig();
  virtual hpp::floatSeq* getCurrentConfig();
 
  virtual void setCurrentVelocity(const hpp::floatSeq& qDot);
  virtual hpp::floatSeq* getCurrentVelocity();
 
  virtual Names_t* getJointInnerObjects(const char* bodyName);
 
  virtual Names_t* getJointOuterObjects(const char* bodyName);
 
  virtual void getObjectPosition(const char* objectName, Transform_ cfg);
 
  virtual void isConfigValid(const hpp::floatSeq& dofArray, Boolean& validity,
                             CORBA::String_out report);
 
  virtual void distancesToCollision(hpp::floatSeq_out distances,
                                    Names_t_out innerObjects,
                                    Names_t_out outerObjects,
                                    hpp::floatSeqSeq_out innerPoints,
                                    hpp::floatSeqSeq_out outerPoints);
 
  virtual void autocollisionCheck(hpp::boolSeq_out collide);
 
  virtual void autocollisionPairs(Names_t_out innerObjects,
                                  Names_t_out outerObjects, boolSeq_out active);
 
  virtual void setAutoCollision(const char* innerObject,
                                const char* outerObject, bool active);
 
  virtual Double getMass();
 
  virtual hpp::floatSeq* getCenterOfMass();
 
  virtual hpp::floatSeq* getCenterOfMassVelocity();
 
  virtual hpp::floatSeqSeq* getJacobianCenterOfMass();
 
  virtual void createPolyhedron(const char* polyhedronName);
 
  virtual void createBox(const char* name, Double x, Double y, Double z);
 
  virtual void createSphere(const char* name, Double radius);
 
  virtual void createCylinder(const char* name, Double radius, Double length);
 
  virtual ULong addPoint(const char* polyhedronName, Double x, Double y,
                         Double z);
 
  virtual ULong addTriangle(const char* polyhedronName, ULong pt1, ULong pt2,
                            ULong pt3);
 
  virtual void addObjectToJoint(const char* jointName, const char* objectName,
                                const Transform_ config);
 
  virtual void addPartialCom(const char* comName, const Names_t& jointNames);
 
  virtual hpp::floatSeq* getPartialCom(const char* comName);
 
  virtual hpp::floatSeqSeq* getJacobianPartialCom(const char* comName);
 
  virtual hpp::floatSeq* getVelocityPartialCom(const char* comName);
 
  hpp::pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation(
      const char* name);
 
  virtual floatSeq* getRobotAABB();
 
 private:
  CollisionObjectConstPtr_t getObjectByName(const char* name);
 
  ObjectMap objectMap_;
 
  ServerPlugin* server_;
 
  core::ProblemSolverPtr_t problemSolver();
};
}  // end of namespace impl.
}  // end of namespace corbaServer.
}  // end of namespace hpp.
 
#endif