hpp::corbaserver::Robot Interface Reference

Creation of a device, joints and bodies. More...

import"/home/florent/devel/release/src/hpp-corbaserver/idl/hpp/corbaserver/robot.idl";

Public Member Functions
Loading URDF files
void	loadRobotModel (in string robotName, in string rootJointType, in string urdfName, in string srdfName) raises (Error)
void	loadHumanoidModel (in string robotName, in string rootJointType, in string urdfName, in string srdfName) raises (Error)
void	loadRobotModelFromString (in string robotName, in string rootJointType, in string urdfString, in string srdfString) raises (Error)
void	loadHumanoidModelFromString (in string robotName, in string rootJointType, in string urdfString, in string srdfString) raises (Error)
Degrees of freedom
long	getConfigSize () raises (Error)
long	getNumberDof () raises (Error)
Joints
Names_t	getJointNames () raises (Error)
Names_t	getJointTypes () raises (Error)
	Get joint types in the same order as in the configuration. More...
Names_t	getAllJointNames () raises (Error)
	Get all joint names including anchor joints. More...
string	getParentJointName (in string jointName) raises (Error)
floatSeq	getJointConfig (in string jointName) raises (Error)
void	setJointConfig (in string jointName, in floatSeq config) raises (Error)
string	getJointType (in string jointName) raises (Error)
floatSeq	jointIntegrate (in floatSeq jointCfg, in string jointName, in floatSeq speed, in boolean saturate) raises (Error)
floatSeqSeq	getCurrentTransformation (in string jointName) raises (Error)
Transform_	getJointPosition (in string jointName) raises (Error)
TransformSeq	getJointsPosition (in floatSeq q, in Names_t jointNames) raises (Error)
floatSeq	getJointVelocity (in string jointName) raises (Error)
floatSeq	getJointVelocityInLocalFrame (in string jointName) raises (Error)
Transform_	getJointPositionInParentFrame (in string jointName) raises (Error)
Transform_	getRootJointPosition () raises (Error)
void	setRootJointPosition (in Transform_ position) raises (Error)
void	setJointPositionInParentFrame (in string jointName, in Transform_ position) raises (Error)
long	getJointNumberDof (in string jointName) raises (Error)
long	getJointConfigSize (in string jointName) raises (Error)
void	setJointBounds (in string jointName, in floatSeq inJointBound) raises (Error)
	set bounds for a joint More...
floatSeq	getJointBounds (in string jointName) raises (Error)
Transform_	getLinkPosition (in string linkName) raises (Error)
TransformSeq	getLinksPosition (in floatSeq q, in Names_t linkName) raises (Error)
Names_t	getLinkNames (in string jointName) raises (Error)
Extra configuration space
void	setDimensionExtraConfigSpace (in unsigned long dimension) raises (Error)
unsigned long	getDimensionExtraConfigSpace () raises (Error)
void	setExtraConfigSpaceBounds (in floatSeq bounds) raises (Error)
Configuration
floatSeq	getCurrentConfig () raises (Error)
floatSeq	shootRandomConfig () raises (Error)
void	setCurrentConfig (in floatSeq dofArray) raises (Error)
floatSeq	getCurrentVelocity () raises (Error)
void	setCurrentVelocity (in floatSeq qDot) raises (Error)
Bodies
Names_t	getJointInnerObjects (in string jointName) raises (Error)
Names_t	getJointOuterObjects (in string jointName) raises (Error)
void	getObjectPosition (in string objectName, out Transform_ cfg) raises (Error)
Collision checking and distance computation
void	isConfigValid (in floatSeq dofArray, out boolean validity, out string report) raises (Error)
void	distancesToCollision (out floatSeq distances, out Names_t innerObjects, out Names_t outerObjects, out floatSeqSeq innerPoints, out floatSeqSeq outerPoints) raises (Error)
void	autocollisionCheck (out boolSeq collide) raises (Error)
void	autocollisionPairs (out Names_t innerObjects, out Names_t outerObjects, out boolSeq active) raises (Error)
void	setAutoCollision (in string innerObject, in string outerObject, in boolean active) raises (Error)
floatSeq	getRobotAABB () raises (Error)
	Get the aligned axes bounding box around the robot. More...
Mass and inertia
double	getMass () raises (Error)
	Get mass of robot. More...
floatSeq	getCenterOfMass () raises (Error)
	Get position of center of mass. More...
floatSeq	getCenterOfMassVelocity () raises (Error)
	Get velocity of center of mass. More...
floatSeqSeq	getJacobianCenterOfMass () raises (Error)
	Get Jacobian of the center of mass. More...
void	addPartialCom (in string comName, in Names_t jointNames) raises (Error)
floatSeq	getPartialCom (in string comName) raises (Error)
	Get position of partial center of mass. More...
floatSeqSeq	getJacobianPartialCom (in string comName) raises (Error)
	Get Jacobian of the partial center of mass. More...
floatSeq	getVelocityPartialCom (in string comName) raises (Error)
	Get the velocity of the partial center of mass. More...
string	getRobotName () raises (Error)
	Get the name of the current robot. More...
pinocchio_idl::CenterOfMassComputation	getCenterOfMassComputation (in string name) raises (Error)
Create and register robot
void	createRobot (in string robotName) raises (Error)
void	appendJoint (in string parentJoint, in string jointName, in string jointType, in Transform_ pos) raises (Error)
void	createPolyhedron (in string inPolyName) raises (Error)
void	createBox (in string name, in double x, in double y, in double z) raises (Error)
void	createSphere (in string name, in double radius) raises (Error)
void	createCylinder (in string name, in double radius, in double length) raises (Error)
unsigned long	addPoint (in string inPolyName, in double x, in double y, in double z) raises (Error)
unsigned long	addTriangle (in string inPolyName, in unsigned long pt1, in unsigned long pt2, in unsigned long pt3) raises (Error)
void	addObjectToJoint (in string jointName, in string objectName, in Transform_ pos) raises (Error)

Detailed Description

Creation of a device, joints and bodies.

Member Function Documentation

addObjectToJoint()

void hpp::corbaserver::Robot::addObjectToJoint	(	in string	jointName,
		in string	objectName,
		in Transform_	pos
	)
raises	(	Error
	)

Attach an object to a joint.

Parameters

jointName	name of the body
objectName	name of the object
pos	relative position of the polyhedron in the body

addPartialCom()

void hpp::corbaserver::Robot::addPartialCom	(	in string	comName,
		in Names_t	jointNames
	)
raises	(	Error
	)

Add an object to compute a partial COM of the robot.

Parameters

name	of the partial com
jointNames	names of each ROOT of the joint trees to consider.

Note

Joints are added recursively, it is not possible so far to add a joint without addind all its children.

addPoint()

unsigned long hpp::corbaserver::Robot::addPoint	(	in string	inPolyName,
		in double	x,
		in double	y,
		in double	z
	)
raises	(	Error
	)

Add a point to a polyhedron

Parameters

inPolyName	the name of the polyhedron.
x	coordinate of the point.
y	coordinate of the point.
z	coordinate of the point.

Returns

rank of point in polyhedron

addTriangle()

unsigned long hpp::corbaserver::Robot::addTriangle	(	in string	inPolyName,
		in unsigned long	pt1,
		in unsigned long	pt2,
		in unsigned long	pt3
	)
raises	(	Error
	)

Add a point to a polyhedron

Parameters

inPolyName	the name of the polyhedron.
pt1	rank of first point in polyhedron.
pt2	rank of second point in polyhedron.
pt3	rank of third point in polyhedron.

Returns

rank of triangle in polyhedron

appendJoint()

void hpp::corbaserver::Robot::appendJoint	(	in string	parentJoint,
		in string	jointName,
		in string	jointType,
		in Transform_	pos
	)
raises	(	Error
	)

autocollisionCheck()

void hpp::corbaserver::Robot::autocollisionCheck	(	out boolSeq	collide	)
raises	(	Error
	)

Check each auto-collision pair for collision and return the result.

Return values

collide

a list of boolean corresponding to the return value of of collisionPairs

autocollisionPairs()

void hpp::corbaserver::Robot::autocollisionPairs	(	out Names_t	innerObjects,
		out Names_t	outerObjects,
		out boolSeq	active
	)
raises	(	Error
	)

Returns the list of auto collision pairs.

Return values

innerObjects	names of the objects belonging to a body
outerObjects	names of the objects tested with inner objects,
active	vector of boolean saying whether a collision pair is active

createBox()

void hpp::corbaserver::Robot::createBox	(	in string	name,
		in double	x,
		in double	y,
		in double	z
	)
raises	(	Error
	)

Create a box

Parameters

name	name of the box
x,y,z	Size of the box

createCylinder()

void hpp::corbaserver::Robot::createCylinder	(	in string	name,
		in double	radius,
		in double	length
	)
raises	(	Error
	)

Create a cylinder

Parameters

name	name of the cylinder
radius	radius of the cylinder
length	length of the cylinder

createPolyhedron()

void hpp::corbaserver::Robot::createPolyhedron	(	in string	inPolyName	)
raises	(	Error
	)

create an empty polyhedron.

Parameters

inPolyName

name of the polyhedron.

Exceptions

Error.

createRobot()

void hpp::corbaserver::Robot::createRobot	(	in string	robotName	)
raises	(	Error
	)

Create an empty device

Parameters

robotName

name of the robot.

createSphere()

void hpp::corbaserver::Robot::createSphere	(	in string	name,
		in double	radius
	)
raises	(	Error
	)

Create a sphere

Parameters

name	name of the sphere
radius	radius of the sphere

distancesToCollision()

void hpp::corbaserver::Robot::distancesToCollision	(	out floatSeq	distances,
		out Names_t	innerObjects,
		out Names_t	outerObjects,
		out floatSeqSeq	innerPoints,
		out floatSeqSeq	outerPoints
	)
raises	(	Error
	)

Compute distances between bodies and obstacles

Return values

distances	list of distances,
innerObjects	names of the objects belonging to a body
outerObjects	names of the objects tested with inner objects,
innerPoints	closest points on the body,
outerPoints	closest points on the obstacles

Note

outer objects for a body can also be inner objects of another body.

getAllJointNames()

Names_t hpp::corbaserver::Robot::getAllJointNames	(		)
raises	(	Error
	)

Get all joint names including anchor joints.

getCenterOfMass()

floatSeq hpp::corbaserver::Robot::getCenterOfMass	(		)
raises	(	Error
	)

Get position of center of mass.

getCenterOfMassComputation()

pinocchio_idl::CenterOfMassComputation hpp::corbaserver::Robot::getCenterOfMassComputation	(	in string	name	)
raises	(	Error
	)

getCenterOfMassVelocity()

floatSeq hpp::corbaserver::Robot::getCenterOfMassVelocity	(		)
raises	(	Error
	)

Get velocity of center of mass.

getConfigSize()

long hpp::corbaserver::Robot::getConfigSize	(		)
raises	(	Error
	)

Get size of configuration

Returns

size of configuration

getCurrentConfig()

floatSeq hpp::corbaserver::Robot::getCurrentConfig	(		)
raises	(	Error
	)

Get current configuration

Returns

dofArray Array of degrees of freedom.

getCurrentTransformation()

floatSeqSeq hpp::corbaserver::Robot::getCurrentTransformation	(	in string	jointName	)
raises	(	Error
	)

Get joint Transformation

Parameters

jointName

name of the joint

Exceptions

Error

if robot is not set or it joint does not exist.

getCurrentVelocity()

floatSeq hpp::corbaserver::Robot::getCurrentVelocity	(		)
raises	(	Error
	)

Get current velocity

Parameters

qDot	Array of degrees of freedom

getDimensionExtraConfigSpace()

unsigned long hpp::corbaserver::Robot::getDimensionExtraConfigSpace	(		)
raises	(	Error
	)

Get the dimension of the extra configuration space

See also

hpp::pinocchio::ExtraConfigSpace

getJacobianCenterOfMass()

floatSeqSeq hpp::corbaserver::Robot::getJacobianCenterOfMass	(		)
raises	(	Error
	)

Get Jacobian of the center of mass.

getJacobianPartialCom()

floatSeqSeq hpp::corbaserver::Robot::getJacobianPartialCom	(	in string	comName	)
raises	(	Error
	)

Get Jacobian of the partial center of mass.

getJointBounds()

floatSeq hpp::corbaserver::Robot::getJointBounds	(	in string	jointName	)
raises	(	Error
	)

Get bounds for a joint

Parameters

jointName

name of the joint

Returns

sequence of bounds in order [v0_min,v0_max,v1_min,v1_max,...] where vi_min, vi_max are the bounds of the i-th degree of freedom of the joint if the degree of freedom is bounded, 1, 0 otherwise.

getJointConfig()

floatSeq hpp::corbaserver::Robot::getJointConfig	(	in string	jointName	)
raises	(	Error
	)

Get configuration of a joint in robot configuration

Parameters

jointName

name of the joint,

Returns

the segment of the robot current configuration correponding to the joint.

getJointConfigSize()

long hpp::corbaserver::Robot::getJointConfigSize	(	in string	jointName	)
raises	(	Error
	)

Get joint number config size

Parameters

jointName

name of the joint

Exceptions

Error

if robot is not set or if joint does not exist.

getJointInnerObjects()

Names_t hpp::corbaserver::Robot::getJointInnerObjects	(	in string	jointName	)
raises	(	Error
	)

Get the list of objects attached to a joint.

Parameters

inJointName

name of the joint.

Returns

list of names of CollisionObject attached to the body.

getJointNames()

Names_t hpp::corbaserver::Robot::getJointNames	(		)
raises	(	Error
	)

Get joint names in the same order as in the configuration

Note

anchor joints are not exported.

getJointNumberDof()

long hpp::corbaserver::Robot::getJointNumberDof	(	in string	jointName	)
raises	(	Error
	)

Get joint number degrees of freedom

Parameters

jointName

name of the joint

Exceptions

Error

if robot is not set or if joint does not exist.

getJointOuterObjects()

Names_t hpp::corbaserver::Robot::getJointOuterObjects	(	in string	jointName	)
raises	(	Error
	)

Get list of collision objects tested with the body attached to a joint

Parameters

inJointName

name of the joint.

Returns

list of names of CollisionObject

getJointPosition()

Transform_ hpp::corbaserver::Robot::getJointPosition	(	in string	jointName	)
raises	(	Error
	)

Get joint position

Parameters

jointName

name of the joint

Exceptions

Error

if robot is not set or if joint does not exist.

getJointPositionInParentFrame()

Transform_ hpp::corbaserver::Robot::getJointPositionInParentFrame	(	in string	jointName	)
raises	(	Error
	)

Get the initial joint position (when config parameter corresponds to the identity)

Parameters

jointName

name of the joint

Exceptions

Error

if robot is not set or if joint does not exist.

getJointsPosition()

TransformSeq hpp::corbaserver::Robot::getJointsPosition	(	in floatSeq	q,
		in Names_t	jointNames
	)
raises	(	Error
	)

Get position of a list of joints in world frame

Note

This method is thread safe

getJointType()

string hpp::corbaserver::Robot::getJointType	(	in string	jointName	)
raises	(	Error
	)

Get joint type.

Parameters

jointName

name of the joint,

getJointTypes()

Names_t hpp::corbaserver::Robot::getJointTypes	(		)
raises	(	Error
	)

Get joint types in the same order as in the configuration.

getJointVelocity()

floatSeq hpp::corbaserver::Robot::getJointVelocity	(	in string	jointName	)
raises	(	Error
	)

Get joint velocity expressed in the world frame, at the center of the world

Parameters

jointName

name of the joint

Exceptions

Error

if robot is not set or if joint does not exist.

getJointVelocityInLocalFrame()

floatSeq hpp::corbaserver::Robot::getJointVelocityInLocalFrame	(	in string	jointName	)
raises	(	Error
	)

Get joint velocity expressed in the joint frame, at the center of the joint

Parameters

jointName

name of the joint

Exceptions

Error

if robot is not set or if joint does not exist.

getLinkNames()

Names_t hpp::corbaserver::Robot::getLinkNames	(	in string	jointName	)
raises	(	Error
	)

Get link names

Parameters

jointName

name of the joint,

Returns

names of the links.

getLinkPosition()

Transform_ hpp::corbaserver::Robot::getLinkPosition	(	in string	linkName	)
raises	(	Error
	)

Get link position in world frame

Joints are oriented in a different way as in urdf standard since rotation and uni-dimensional translation joints act around or along their x-axis. This method returns the current position of the urdf link in world frame.

Parameters

jointName

name of the joint

Returns

position of the link in world frame.

getLinksPosition()

TransformSeq hpp::corbaserver::Robot::getLinksPosition	(	in floatSeq	q,
		in Names_t	linkName
	)
raises	(	Error
	)

Get position of a list of links in world frame

Note

This method is thread safe

getMass()

double hpp::corbaserver::Robot::getMass	(		)
raises	(	Error
	)

Get mass of robot.

getNumberDof()

long hpp::corbaserver::Robot::getNumberDof	(		)
raises	(	Error
	)

Get size of velocity

Returns

size of velocity

getObjectPosition()

void hpp::corbaserver::Robot::getObjectPosition	(	in string	objectName,
		out Transform_	cfg
	)
raises	(	Error
	)

Get the position of an object of the robot

Parameters

objectName

name of the object.

Return values

cfg	Position of the obstacle.

Exceptions

Error.

getParentJointName()

string hpp::corbaserver::Robot::getParentJointName	(	in string	jointName	)
raises	(	Error
	)

Get the parent joint of a joint jointName any joint (anchor or movable).

Returns

the parent joint (can be an anchor joint)

getPartialCom()

floatSeq hpp::corbaserver::Robot::getPartialCom	(	in string	comName	)
raises	(	Error
	)

Get position of partial center of mass.

getRobotAABB()

floatSeq hpp::corbaserver::Robot::getRobotAABB	(		)
raises	(	Error
	)

Get the aligned axes bounding box around the robot.

getRobotName()

string hpp::corbaserver::Robot::getRobotName	(		)
raises	(	Error
	)

Get the name of the current robot.

getRootJointPosition()

Transform_ hpp::corbaserver::Robot::getRootJointPosition	(		)
raises	(	Error
	)

Get position of root joint in world frame

Returns

constant position of the root joint in world frame in initial configuration.

getVelocityPartialCom()

floatSeq hpp::corbaserver::Robot::getVelocityPartialCom	(	in string	comName	)
raises	(	Error
	)

Get the velocity of the partial center of mass.

isConfigValid()

void hpp::corbaserver::Robot::isConfigValid	(	in floatSeq	dofArray,
		out boolean	validity,
		out string	report
	)
raises	(	Error
	)

Test the validity of a configuration

Check whether current configuration of robot is valid by calling hpp::core::ConfigValidations object stored in Problem.

Return values

validity	whether configuration is valid
report	the reason why the config is not valid.

jointIntegrate()

floatSeq hpp::corbaserver::Robot::jointIntegrate	(	in floatSeq	jointCfg,
		in string	jointName,
		in floatSeq	speed,
		in boolean	saturate
	)
raises	(	Error
	)

Integrate velocity of a joint starting from joint configuration

Parameters

jointCfg	a joint configuration
jointName	name of the joint,
speed	velocity vector of the joint
saturate	the joint configuration within joint bounds.

Returns

the resulting configuration

Size of speed should fit hpp::pinocchio::Joint::numberDof.

loadHumanoidModel()

void hpp::corbaserver::Robot::loadHumanoidModel	(	in string	robotName,
		in string	rootJointType,
		in string	urdfName,
		in string	srdfName
	)
raises	(	Error
	)

Load humanoid robot model

Parameters

robotName	Name of the robot that is constructed,
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
urdfName	name of the urdf file. It may contain "file://", or "package://" prefixes.
srdfName	name of the srdf file. It may contain "file://", or "package://" prefixes.

loadHumanoidModelFromString()

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

Load humanoid robot model

Parameters

robotName	Name of the robot that is constructed,
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
urdfString	urdf string,
srdfString	srdf string.

loadRobotModel()

void hpp::corbaserver::Robot::loadRobotModel	(	in string	robotName,
		in string	rootJointType,
		in string	urdfName,
		in string	srdfName
	)
raises	(	Error
	)

Load robot model

Parameters

robotName	Name of the robot that is constructed,
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
urdfName	name of the urdf file. It may contain "file://", or "package://" prefixes.
srdfName	name of the srdf file. It may contain "file://", or "package://" prefixes.

loadRobotModelFromString()

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

Load robot model

Parameters

robotName	Name of the robot that is constructed,
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
urdfString	urdf string,
srdfString	srdf string.

setAutoCollision()

void hpp::corbaserver::Robot::setAutoCollision	(	in string	innerObject,
		in string	outerObject,
		in boolean	active
	)
raises	(	Error
	)

setCurrentConfig()

void hpp::corbaserver::Robot::setCurrentConfig	(	in floatSeq	dofArray	)
raises	(	Error
	)

Set current configuration of specified robot,

Parameters

dofArray

Array of degrees of freedom /

setCurrentVelocity()

void hpp::corbaserver::Robot::setCurrentVelocity	(	in floatSeq	qDot	)
raises	(	Error
	)

Set current velocity

Parameters

qDot	Array of degrees of freedom

setDimensionExtraConfigSpace()

void hpp::corbaserver::Robot::setDimensionExtraConfigSpace	(	in unsigned long	dimension	)
raises	(	Error
	)

Set dimension of the extra configuration space

Parameters

dimension

dimension

See also

hpp::pinocchio::ExtraConfigSpace

setExtraConfigSpaceBounds()

void hpp::corbaserver::Robot::setExtraConfigSpaceBounds	(	in floatSeq	bounds	)
raises	(	Error
	)

Set bounds of extra configuration variables

Parameters

inJointBound

sequence of joint dof bounds in order [v0_min,v0_max,v1_min,v1_max,...]. If vi_min > vi_max, dof of rank i is not bounded. If size of sequence is different from twice the number of dofs, raise error.

setJointBounds()

void hpp::corbaserver::Robot::setJointBounds	(	in string	jointName,
		in floatSeq	inJointBound
	)
raises	(	Error
	)

set bounds for a joint

Parameters

jointName	name of the joint
inJointBound	sequence of joint dof bounds in order [v0_min,v0_max,v1_min,v1_max,...]. If vi_min > vi_max, dof of rank i is not bounded. If size of sequence is different from twice the number of dofs, raise error.

Note

The roadmap must be reset after all the joints bounds has been set. See Problem::resetRoadmap

setJointConfig()

void hpp::corbaserver::Robot::setJointConfig	(	in string	jointName,
		in floatSeq	config
	)
raises	(	Error
	)

Set configuration of a joint in robot configuration

Parameters

jointName	name of the joint,
config	Configuration of the joint.

Size of config should fit hpp::pinocchio::Joint::configSize.

Modify the part of the robot current configuration correponding to the joint and recompute forward kinematics

setJointPositionInParentFrame()

void hpp::corbaserver::Robot::setJointPositionInParentFrame	(	in string	jointName,
		in Transform_	position
	)
raises	(	Error
	)

Set the static position of joint WRT its parent

Parameters

position

constant position of the joint

setRootJointPosition()

void hpp::corbaserver::Robot::setRootJointPosition	(	in Transform_	position	)
raises	(	Error
	)

Set position of root joint in world frame

Parameters

position

constant position of the root joint in world frame in initial configuration.

shootRandomConfig()

floatSeq hpp::corbaserver::Robot::shootRandomConfig	(		)
raises	(	Error
	)

Shoot random configuration

Returns

dofArray Array of degrees of freedom.

---

The documentation for this interface was generated from the following file:

• idl/hpp/corbaserver/robot.idl