import"/home/jmirabel/devel/demo/src/hpp-manipulation-corba/idl/hpp/corbaserver/manipulation/robot.idl";

Public Member Functions
void	insertRobotModel (in string robotName, in string rootJointType, in string packageName, in string modelName, in string urdfSuffix, in string srdfSuffix) raises (Error)
	Insert robot model as a child of the root joint of the Device. More...

void	insertRobotModelOnFrame (in string robotName, in string frameName, in string rootJointType, in string packageName, in string modelName, in string urdfSuffix, in string srdfSuffix) raises (Error)

void	insertRobotModelFromString (in string robotName, in string rootJointType, in string urdfString, in string srdfString) raises (Error)
	Insert robot model as a child of the root joint of the Device. More...

void	insertRobotSRDFModel (in string robotName, in string packageName, in string modelName, in string srdfSuffix) raises (Error)
	Load a SRDF for the robot. More...

void	insertHumanoidModel (in string robotName, in string rootJointType, in string packageName, in string modelName, in string urdfSuffix, in string srdfSuffix) raises (Error)
	Insert humanoid robot model as a child of the root joint of the Device. More...

void	insertHumanoidModelFromString (in string robotName, in string rootJointType, in string urdfString, in string srdfString) raises (Error)
	Insert humanoid robot model as a child of the root joint of the Device. More...

void	insertObjectModel (in string objectName, in string rootJointType, in string packageName, in string modelName, in string urdfSuffix, in string srdfSuffix) raises (Error)

void	loadEnvironmentModel (in string packageName, in string envModelName, in string urdfSuffix, in string srdfSuffix, in string prefix) raises (Error)

Transform_	getRootJointPosition (in string robotName) raises (Error)
	Get the position of root joint of a robot in world frame. More...

void	setRootJointPosition (in string robotName, in Transform_ position) raises (Error)
	Set the position of root joint of a robot in world frame. More...

void	addGripper (in string linkName, in string gripperName, in Transform_ handlePositioninJoint) raises (Error)
	Add Gripper to a robot. More...

void	addHandle (in string linkName, in string handleName, in Transform_ localPosition) raises (Error)
	Add Handle to an object. More...

void	addAxialHandle (in string linkName, in string handleName, in Transform_ localPosition) raises (Error)
	Add axial handle to an object. More...

string	getGripperPositionInJoint (in string gripperName, out Transform_ position) raises (hpp::Error)
	Return the joint name in which a gripper is and the position relatively to the joint. More...

string	getHandlePositionInJoint (in string handleName, out Transform_ position) raises (hpp::Error)
	Return the joint name in which a handle is and the position relatively to the joint. More...

Member Function Documentation

void hpp::corbaserver::manipulation::Robot::addAxialHandle	(	in string	linkName,
		in string	handleName,
		in Transform_	localPosition
	)
raises	(	Error
	)

Add axial handle to an object.

Parameters

linkName	name of the link (hpp::model::Body) holding the handle,
handleName	name of the handle,
localPosition	position of the handle in the joint frame, rotation around x-axis is not constrained.

void hpp::corbaserver::manipulation::Robot::addGripper	(	in string	linkName,
		in string	gripperName,
		in Transform_	handlePositioninJoint
	)
raises	(	Error
	)

Add Gripper to a robot.

Parameters

linkName	name of the link (hpp::model::Body) holding the gripper,
gripperName	name of the gripper,
handlePositioninJoint	position of the handle in the joint frame.

void hpp::corbaserver::manipulation::Robot::addHandle	(	in string	linkName,
		in string	handleName,
		in Transform_	localPosition
	)
raises	(	Error
	)

Add Handle to an object.

Parameters

linkName	name of the link (hpp::model::Body) holding the handle,
handleName	name of the handle,
localPosition	position of the handle in the joint frame.

string hpp::corbaserver::manipulation::Robot::getGripperPositionInJoint	(	in string	gripperName,
		out Transform_	position
	)
raises	(	hpp::Error
	)

Return the joint name in which a gripper is and the position relatively to the joint.

string hpp::corbaserver::manipulation::Robot::getHandlePositionInJoint	(	in string	handleName,
		out Transform_	position
	)
raises	(	hpp::Error
	)

Return the joint name in which a handle is and the position relatively to the joint.

Transform_ hpp::corbaserver::manipulation::Robot::getRootJointPosition	(	in string	robotName	)
raises	(	Error
	)

Get the position of root joint of a robot in world frame.

Parameters

robotName key of the robot in ProblemSolver object map.

void hpp::corbaserver::manipulation::Robot::insertHumanoidModel	(	in string	robotName,
		in string	rootJointType,
		in string	packageName,
		in string	modelName,
		in string	urdfSuffix,
		in string	srdfSuffix
	)
raises	(	Error
	)

Insert humanoid robot model as a child of the root joint of the Device.

Parameters

robotName	key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
packageName	Name of the ROS package containing the model,
modelName	Name of the package containing the model
urdfSuffix	suffix for urdf file,

The ros url are built as follows: "package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf" "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"

Referenced by manipulation.robot.Robot::loadHumanoidModel(), and manipulation.robot.HumanoidRobot::loadModel().

void hpp::corbaserver::manipulation::Robot::insertHumanoidModelFromString	(	in string	robotName,
		in string	rootJointType,
		in string	urdfString,
		in string	srdfString
	)
raises	(	Error
	)

Insert humanoid robot model as a child of the root joint of the Device.

Parameters

robotName	key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
urdfString	urdf file,
srdfString	srdf file. Can be empty.

void hpp::corbaserver::manipulation::Robot::insertObjectModel	(	in string	objectName,
		in string	rootJointType,
		in string	packageName,
		in string	modelName,
		in string	urdfSuffix,
		in string	srdfSuffix
	)
raises	(	Error
	)

Deprecated:: use insertRobotModel(in string, in string, in string, in string, in string, in string) instead

void hpp::corbaserver::manipulation::Robot::insertRobotModel	(	in string	robotName,
		in string	rootJointType,
		in string	packageName,
		in string	modelName,
		in string	urdfSuffix,
		in string	srdfSuffix
	)
raises	(	Error
	)

Insert robot model as a child of the root joint of the Device.

Parameters

robotName	key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
packageName	Name of the ROS package containing the model,
modelName	Name of the package containing the model
urdfSuffix	suffix for urdf file,

The ros url are built as follows: "package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf" "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"

Referenced by manipulation.robot.Robot::loadModel().

void hpp::corbaserver::manipulation::Robot::insertRobotModelFromString	(	in string	robotName,
		in string	rootJointType,
		in string	urdfString,
		in string	srdfString
	)
raises	(	Error
	)

Insert robot model as a child of the root joint of the Device.

Parameters

robotName	key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
urdfString	urdf file,
srdfString	srdf file. Can be empty.

void hpp::corbaserver::manipulation::Robot::insertRobotModelOnFrame	(	in string	robotName,
		in string	frameName,
		in string	rootJointType,
		in string	packageName,
		in string	modelName,
		in string	urdfSuffix,
		in string	srdfSuffix
	)
raises	(	Error
	)

void hpp::corbaserver::manipulation::Robot::insertRobotSRDFModel	(	in string	robotName,
		in string	packageName,
		in string	modelName,
		in string	srdfSuffix
	)
raises	(	Error
	)

Load a SRDF for the robot.

Several SRDF can thus be loaded for the same robot

void hpp::corbaserver::manipulation::Robot::loadEnvironmentModel	(	in string	packageName,
		in string	envModelName,
		in string	urdfSuffix,
		in string	srdfSuffix,
		in string	prefix
	)
raises	(	Error
	)

void hpp::corbaserver::manipulation::Robot::setRootJointPosition	(	in string	robotName,
		in Transform_	position
	)
raises	(	Error
	)

Set the position of root joint of a robot in world frame.

Parameters

robotName	key of the robot in ProblemSolver object map.
position	constant position of the root joint in world frame in initial configuration.

Public Member Functions

Member Function Documentation