obstacle.idl

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// Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL.
//
// This file is part of the hpp-corbaserver.
//
// This software is provided "as is" without warranty of any kind,
// either expressed or implied, including but not limited to the
// implied warranties of fitness for a particular purpose.
//
// See the COPYING file for more information.

#ifndef HPP_CORBASERVER_OBSTACLE_SERVER_IDL
#define HPP_CORBASERVER_OBSTACLE_SERVER_IDL
#include <hpp/common.idl>

module hpp
{
  module corbaserver {
  interface Obstacle
  {
    void loadObstacleModel (in string filename, in string prefix)
      raises (Error);

    void loadPolyhedron (in string obstacleName, in string filename)
      raises (Error);

    void loadObstacleModelFromString (in string urdfString, in string prefix)
      raises (Error);

    void removeObstacle (in string objectName) raises (Error);

    void removeObstacleFromJoint (in string objectName, in string jointName,
                  in boolean collision, in boolean distance)
      raises (Error);

    void cutObstacle (in string objectName, in floatSeq aabb) raises (Error);

    void addObstacle (in string objectName, in boolean collision,
              in boolean distance) raises (Error);

    void moveObstacle (in string objectName, in Transform_ cfg)
      raises (Error);

    void getObstaclePosition (in string objectName, out Transform_ cfg)
      raises (Error);

    Names_t getObstacleNames (in boolean collision, in boolean distance)
      raises (Error);



    void createPolyhedron (in string polyName)
      raises (Error);

    void createBox (in string inBoxName, 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 polyName, in double x, in double y, in double z)
      raises (Error);

    unsigned long addTriangle
    (in string polyName, in unsigned long pt1,
     in unsigned long pt2, in unsigned long pt3) raises (Error);

    };
  };
};

#endif