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// Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL. |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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// |
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// This software is provided "as is" without warranty of any kind, |
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// either expressed or implied, including but not limited to the |
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// implied warranties of fitness for a particular purpose. |
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// |
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// See the COPYING file for more information. |
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#ifndef HPP_CORBASERVER_ROBOT_IMPL_HH |
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#define HPP_CORBASERVER_ROBOT_IMPL_HH |
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#include <hpp/fcl/BVH/BVH_model.h> |
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#include <map> |
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#include <string> |
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// # include <hpp/pinocchio/object-factory.hh> |
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#include "hpp/corbaserver/fwd.hh" |
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#include "hpp/corbaserver/object-map.hh" |
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#include "hpp/corbaserver/robot-idl.hh" |
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#include "hpp/core/problem-solver.hh" |
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namespace hpp { |
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namespace corbaServer { |
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namespace impl { |
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using CORBA::Long; |
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/** |
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Robots and obstacles are stored in object core::Planner. |
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The kinematic part of a robot is stored in a |
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CkppDeviceComponent object (see KineoWorks documentation). |
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\li To each \em joint is attached a \em body (CkwsBody). |
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\li Each \em body contains a list of CkcdObject (derived into |
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CkppKCDPolyhedron). |
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\li A \em polyhedron is defined by a set of \em vertices and a |
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set of \em facets. |
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Obstacles are stored in collision lists (CkcdCollisionList) |
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composed of polyhedra (CkppKCDPolyhedron). |
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*/ |
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/// \brief Implementation of corba interface hpp::Robot. |
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/// |
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/// The construction of a |
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class Robot : public virtual POA_hpp::corbaserver::Robot { |
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public: |
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Robot(); |
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void setServer(ServerPlugin* server) { server_ = server; } |
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virtual void createRobot(const char* robotName); |
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virtual void loadRobotModel(const char* robotName, const char* rootJointType, |
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const char* urdfName, const char* srdfName); |
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virtual void loadHumanoidModel(const char* robotName, |
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const char* rootJointType, |
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const char* urdfName, const char* srdfName); |
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virtual void loadRobotModelFromString(const char* robotName, |
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const char* rootJointType, |
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const char* urdfString, |
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const char* srdfString); |
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virtual void loadHumanoidModelFromString(const char* robotName, |
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const char* rootJointType, |
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const char* urdfString, |
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const char* srdfString); |
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virtual char* getRobotName(); |
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virtual Long getConfigSize(); |
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virtual Long getNumberDof(); |
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virtual void appendJoint(const char* parentName, const char* jointName, |
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const char* jointType, const Transform_ pos); |
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virtual Names_t* getJointNames(); |
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virtual Names_t* getJointTypes(); |
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virtual Names_t* getAllJointNames(); |
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virtual Names_t* getChildJointNames(const char* jointName); |
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virtual char* getParentJointName(const char* jointName); |
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virtual hpp::floatSeq* getJointConfig(const char* jointName); |
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virtual void setJointConfig(const char* jointName, const floatSeq& cfg); |
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virtual char* getJointType(const char* jointName); |
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virtual floatSeq* jointIntegrate(const floatSeq& jointCfg, |
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const char* jointName, const floatSeq& dq, |
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bool saturate); |
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virtual hpp::floatSeqSeq* getCurrentTransformation(const char* jointName); |
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virtual Transform__slice* getJointPositionInParentFrame( |
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const char* jointName); |
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virtual Transform__slice* getJointPosition(const char* jointName); |
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virtual TransformSeq* getJointsPosition(const floatSeq& q, |
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const Names_t& jointNames); |
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virtual floatSeq* getJointVelocity(const char* jointName); |
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virtual floatSeq* getJointVelocityInLocalFrame(const char* jointName); |
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virtual Transform__slice* getRootJointPosition(); |
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virtual void setRootJointPosition(const Transform_ position); |
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virtual void setJointPositionInParentFrame(const char* jointName, |
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const Transform_ position); |
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virtual Long getJointNumberDof(const char* jointName); |
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virtual Long getJointConfigSize(const char* jointName); |
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virtual hpp::floatSeq* getJointBounds(const char* jointName); |
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virtual void setJointBounds(const char* jointName, |
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const hpp::floatSeq& jointBound); |
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virtual Transform__slice* getLinkPosition(const char* linkName); |
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virtual TransformSeq* getLinksPosition(const floatSeq& q, |
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const Names_t& linkName); |
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virtual Names_t* getLinkNames(const char* jointName); |
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virtual void setDimensionExtraConfigSpace(ULong dimension); |
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virtual ULong getDimensionExtraConfigSpace(); |
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virtual void setExtraConfigSpaceBounds(const hpp::floatSeq& bounds); |
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virtual void setCurrentConfig(const hpp::floatSeq& dofArray); |
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virtual hpp::floatSeq* shootRandomConfig(); |
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virtual hpp::floatSeq* getCurrentConfig(); |
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virtual void setCurrentVelocity(const hpp::floatSeq& qDot); |
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virtual hpp::floatSeq* getCurrentVelocity(); |
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virtual Names_t* getJointInnerObjects(const char* bodyName); |
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virtual Names_t* getJointOuterObjects(const char* bodyName); |
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virtual void getObjectPosition(const char* objectName, Transform_ cfg); |
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virtual void isConfigValid(const hpp::floatSeq& dofArray, Boolean& validity, |
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CORBA::String_out report); |
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virtual void distancesToCollision(hpp::floatSeq_out distances, |
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Names_t_out innerObjects, |
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Names_t_out outerObjects, |
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hpp::floatSeqSeq_out innerPoints, |
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hpp::floatSeqSeq_out outerPoints); |
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virtual void autocollisionCheck(hpp::boolSeq_out collide); |
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virtual void autocollisionPairs(Names_t_out innerObjects, |
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Names_t_out outerObjects, boolSeq_out active); |
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virtual void setAutoCollision(const char* innerObject, |
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const char* outerObject, bool active); |
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virtual Double getMass(); |
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virtual hpp::floatSeq* getCenterOfMass(); |
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virtual hpp::floatSeq* getCenterOfMassVelocity(); |
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virtual hpp::floatSeqSeq* getJacobianCenterOfMass(); |
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virtual void createPolyhedron(const char* polyhedronName); |
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virtual void createBox(const char* name, Double x, Double y, Double z); |
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virtual void createSphere(const char* name, Double radius); |
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virtual void createCylinder(const char* name, Double radius, Double length); |
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virtual ULong addPoint(const char* polyhedronName, Double x, Double y, |
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Double z); |
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virtual ULong addTriangle(const char* polyhedronName, ULong pt1, ULong pt2, |
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ULong pt3); |
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virtual void addObjectToJoint(const char* jointName, const char* objectName, |
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const Transform_ config); |
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virtual void addPartialCom(const char* comName, const Names_t& jointNames); |
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virtual hpp::floatSeq* getPartialCom(const char* comName); |
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virtual hpp::floatSeqSeq* getJacobianPartialCom(const char* comName); |
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virtual hpp::floatSeq* getVelocityPartialCom(const char* comName); |
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hpp::pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation( |
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const char* name); |
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virtual floatSeq* getRobotAABB(); |
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private: |
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CollisionObjectConstPtr_t getObjectByName(const char* name); |
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ObjectMap objectMap_; |
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/// \brief Pointer to the ServerPlugin owning this object. |
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ServerPlugin* server_; |
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/// \brief Pointer to hpp::core::ProblemSolver object of ServerPlugin. |
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core::ProblemSolverPtr_t problemSolver(); |
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}; |
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} // end of namespace impl. |
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} // end of namespace corbaServer. |
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} // end of namespace hpp. |
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#endif |
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