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| | Robot () |
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| void | setServer (ServerPlugin *server) |
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| virtual void | createRobot (const char *robotName) |
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| virtual void | loadRobotModel (const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName) |
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| virtual void | loadHumanoidModel (const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName) |
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| virtual void | loadRobotModelFromString (const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString) |
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| virtual void | loadHumanoidModelFromString (const char *robotName, const char *rootJointType, const char *urdfString, 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, 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, const char *jointName, const floatSeq &dq, bool saturate) |
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| virtual hpp::floatSeqSeq * | getCurrentTransformation (const char *jointName) |
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| virtual Transform__slice * | getJointPositionInParentFrame (const char *jointName) |
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| virtual Transform__slice * | getJointPosition (const char *jointName) |
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| virtual TransformSeq * | getJointsPosition (const floatSeq &q, 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, 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, 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, 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, CORBA::String_out report) |
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| virtual void | distancesToCollision (hpp::floatSeq_out distances, Names_t_out innerObjects, Names_t_out outerObjects, hpp::floatSeqSeq_out innerPoints, 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, Names_t_out outerObjects, boolSeq_out active) |
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| virtual void | setAutoCollision (const char *innerObject, 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, Double z) |
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| virtual ULong | addTriangle (const char *polyhedronName, ULong pt1, ULong pt2, ULong pt3) |
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| virtual void | addObjectToJoint (const char *jointName, const char *objectName, 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 (const char *name) |
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| virtual floatSeq * | getRobotAABB () |
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Implementation of corba interface hpp::Robot.
Robots and obstacles are stored in object core::Planner.
The kinematic part of a robot is stored in a CkppDeviceComponent object (see KineoWorks documentation).
- To each joint is attached a body (CkwsBody).
- Each body contains a list of CkcdObject (derived into CkppKCDPolyhedron).
- A polyhedron is defined by a set of vertices and a set of facets.
Obstacles are stored in collision lists (CkcdCollisionList) composed of polyhedra (CkppKCDPolyhedron).The construction of a
