robot.idl

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// Copyright (C) 2009, 2010, 2011, 2012, 1013, 2014 CNRS
// Authors:  Florent Lamiraux, Thomas Moulard.
//
// 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_ROBOT_SERVER_IDL
#define HPP_CORBASERVER_ROBOT_SERVER_IDL
#include <hpp/common.idl>
#include <hpp/pinocchio_idl/robots.idl>

module hpp
{
  module corbaserver {
  interface Robot {

    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);



    long getConfigSize () raises (Error);

    long getNumberDof () raises (Error);



    Names_t getJointNames () raises (Error);

    Names_t getJointTypes () raises (Error);

    Names_t getAllJointNames () raises (Error);

    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);

    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);



    void setDimensionExtraConfigSpace (in unsigned long dimension)
      raises (Error);

    unsigned long getDimensionExtraConfigSpace ()
      raises (Error);

    void setExtraConfigSpaceBounds (in floatSeq bounds) raises (Error);



    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);



    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);



    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);



    double getMass () raises (Error);

    floatSeq getCenterOfMass () raises (Error);

    floatSeq getCenterOfMassVelocity () raises (Error);

    floatSeqSeq getJacobianCenterOfMass () raises (Error);

    void addPartialCom (in string comName, in Names_t jointNames)
        raises (Error);

    floatSeq getPartialCom (in string comName) raises (Error);

    floatSeqSeq getJacobianPartialCom (in string comName) raises (Error);

    floatSeq getVelocityPartialCom (in string comName)
      raises (Error);

    string getRobotName () raises (Error);

    pinocchio_idl::CenterOfMassComputation getCenterOfMassComputation (in string name) raises (Error);



    void createRobot(in string robotName) raises (Error);

    // Create a new joint
    // \param parentJoint name of the parent joint,
    // \param jointName name of the joint,
    // \param jointType among ["FreeFlyer", "Planar",
    //                         "RX", "RY", "RZ",
    //                         "RUBX", "RUBY",
    //                         "RUBZ",
    //                         "PX", "PY", "PZ",
    //                         "Translation"]
    // \param pos initial position of the joint
    // \param joinBounds bounds of the joint. See setJointBounds for details.
    // \note In the joint types, R stands for Rotation, RUB stands for 
    //       Rotation UnBounded, P stands for Prismatic. Translation is 3D.
    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);

  };
  };
};

#endif // HPP_CORBASERVER_ROBOT_SERVER_IDL