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// Copyright (c) 2014 CNRS |
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// Author: Florent Lamiraux |
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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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#ifndef HPP_MANIPULATION_CORBA_ROBOT_IMPL_HH |
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#define HPP_MANIPULATION_CORBA_ROBOT_IMPL_HH |
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#include <hpp/corbaserver/manipulation/fwd.hh> |
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#include <hpp/manipulation/problem-solver.hh> |
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#include "hpp/corbaserver/manipulation/robot-idl.hh" |
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namespace hpp { |
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namespace manipulation { |
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namespace impl { |
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using CORBA::Short; |
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class Robot : public virtual POA_hpp::corbaserver::manipulation::Robot { |
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public: |
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Robot(); |
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void setServer(Server* server) { server_ = server; } |
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virtual void insertRobotModel(const char* robotName, |
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const char* rootJointType, const char* urdfName, |
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const char* srdfName); |
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virtual void insertRobotModelOnFrame(const char* robotName, |
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const char* frameName, |
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const char* rootJointType, |
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const char* urdfName, |
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const char* srdfName); |
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virtual void insertRobotModelFromString(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 insertRobotModelOnFrameFromString(const char* robotName, |
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const char* frameName, |
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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 insertRobotSRDFModel(const char* robotName, |
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const char* srdfPath); |
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virtual void insertRobotSRDFModelFromString(const char* robotName, |
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const char* srdfString); |
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virtual void insertHumanoidModel(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 insertHumanoidModelFromString(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 loadEnvironmentModel(const char* urdfName, const char* srdfName, |
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const char* prefix); |
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virtual void loadEnvironmentModelFromString(const char* urdfString, |
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const char* srdfString, |
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const char* prefix); |
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virtual Transform__slice* getRootJointPosition(const char* robotName); |
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virtual void setRootJointPosition(const char* robotName, |
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const ::hpp::Transform_ position); |
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virtual void addHandle(const char* linkName, const char* handleName, |
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const ::hpp::Transform_ localPosition, |
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double clearance, const ::hpp::boolSeq& mask); |
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virtual void addGripper(const char* linkName, const char* gripperName, |
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const ::hpp::Transform_ handlePositioninJoint, |
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double clearance); |
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virtual char* getGripperPositionInJoint(const char* gripperName, |
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::hpp::Transform__out position); |
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virtual char* getHandlePositionInJoint(const char* handleName, |
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::hpp::Transform__out position); |
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virtual void setHandlePositionInJoint(const char* handleName, |
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const ::hpp::Transform_ position); |
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private: |
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ProblemSolverPtr_t problemSolver(); |
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Server* server_; |
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}; // class Robot |
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} // namespace impl |
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} // namespace manipulation |
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} // namespace hpp |
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#endif // HPP_MANIPULATION_CORBA_ROBOT_IMPL_HH |
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