robot.impl.hh

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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_ROBOT_IMPL_HH
# define HPP_CORBASERVER_ROBOT_IMPL_HH
# include <map>
# include <string>
# include <hpp/fcl/BVH/BVH_model.h>
// # include <hpp/pinocchio/object-factory.hh>
# include "hpp/core/problem-solver.hh"
# include "hpp/corbaserver/fwd.hh"
# include "hpp/corbaserver/robot-idl.hh" 
# include "hpp/corbaserver/object-map.hh" 

namespace hpp
{
  namespace corbaServer
  {
    namespace impl
    {
      using CORBA::Long;
      class Robot : public virtual POA_hpp::corbaserver::Robot
      {
      public:
    Robot ();

        void setServer (ServerPlugin* server)
        {
          server_ = server;
        }

    virtual void
    createRobot (const char* robotName);

    virtual void loadRobotModel (const char* robotName,
                     const char* rootJointType,
                     const char* urdfName,
                     const char* srdfName);

    virtual void loadHumanoidModel (const char* robotName,
                     const char* rootJointType,
                     const char* urdfName,
                     const char* srdfName);

    virtual void loadRobotModelFromString (
            const char* robotName,
            const char* rootJointType,
            const char* urdfString,
            const char* srdfString);

    virtual void loadHumanoidModelFromString (
            const char* robotName,
            const char* rootJointType,
            const char* urdfString,
            const char* srdfString);

    virtual char* getRobotName ();

    virtual Long getConfigSize ();

    virtual Long getNumberDof ();

    virtual void appendJoint
    (const char* parentName, const char* jointName, const char* jointType,
     const Transform_ pos);

    virtual Names_t* getJointNames ();
    virtual Names_t* getJointTypes ();
    virtual Names_t* getAllJointNames ();
    virtual Names_t* getChildJointNames (const char* jointName);
    virtual char* getParentJointName (const char* jointName);
        virtual hpp::floatSeq* getJointConfig(const char* jointName);
        virtual void setJointConfig(const char* jointName, const floatSeq& cfg);
        virtual char* getJointType(const char* jointName);
        virtual floatSeq* jointIntegrate(const floatSeq& jointCfg,
            const char* jointName, const floatSeq& dq, bool saturate);
    virtual hpp::floatSeqSeq* getCurrentTransformation(const char* jointName);
        virtual Transform__slice* getJointPositionInParentFrame(const char* jointName);
    virtual Transform__slice* getJointPosition(const char* jointName);
    virtual TransformSeq* getJointsPosition (const floatSeq& q, const Names_t& jointNames);
    virtual floatSeq* getJointVelocity(const char* jointName);
    virtual floatSeq* getJointVelocityInLocalFrame(const char* jointName);

    virtual Transform__slice* getRootJointPosition ();

    virtual void setRootJointPosition (const Transform_ position);

        virtual void setJointPositionInParentFrame (const char* jointName,
            const Transform_ position);

    virtual Long getJointNumberDof (const char* jointName);
    virtual Long getJointConfigSize (const char* jointName);

        virtual hpp::floatSeq* getJointBounds (const char* jointName);
    virtual void setJointBounds
    (const char* jointName,
     const hpp::floatSeq& jointBound);

    virtual Transform__slice* getLinkPosition (const char* linkName);

    virtual TransformSeq* getLinksPosition (const floatSeq& q, const Names_t& linkName);

    virtual Names_t* getLinkNames(const char* jointName);

    virtual void setDimensionExtraConfigSpace (ULong dimension);

  virtual ULong getDimensionExtraConfigSpace ();

    virtual void setExtraConfigSpaceBounds
    (const hpp::floatSeq& bounds);

    virtual void setCurrentConfig
    (const hpp::floatSeq& dofArray);

    virtual hpp::floatSeq* shootRandomConfig ();
    virtual hpp::floatSeq* getCurrentConfig();

    virtual void setCurrentVelocity
    (const hpp::floatSeq& qDot);
    virtual hpp::floatSeq* getCurrentVelocity();

    virtual Names_t* getJointInnerObjects
    (const char* bodyName);

    virtual Names_t* getJointOuterObjects
    (const char* bodyName);

    virtual void getObjectPosition (const char* objectName, Transform_ cfg);

    virtual void isConfigValid
    (const hpp::floatSeq& dofArray, Boolean& validity,
     CORBA::String_out report);

    virtual void
    distancesToCollision (hpp::floatSeq_out distances,
                  Names_t_out innerObjects,
                  Names_t_out outerObjects,
                  hpp::floatSeqSeq_out innerPoints,
                  hpp::floatSeqSeq_out outerPoints);

    virtual void
    autocollisionCheck (hpp::boolSeq_out collide);

    virtual void
    autocollisionPairs (Names_t_out innerObjects,
            Names_t_out outerObjects,
                        boolSeq_out active);

    virtual void
    setAutoCollision (const char* innerObject,
              const char* outerObject,
                          bool active);

    virtual Double getMass ();

    virtual hpp::floatSeq* getCenterOfMass ();

    virtual hpp::floatSeq* getCenterOfMassVelocity ();

    virtual hpp::floatSeqSeq* getJacobianCenterOfMass ();

    virtual void
    createPolyhedron
    (const char* polyhedronName);

    virtual void
    createBox (const char* name, Double x, Double y, Double z);

    virtual void
    createSphere (const char* name, Double radius);

    virtual void
    createCylinder (const char* name, Double radius, Double length);

    virtual ULong
    addPoint (const char* polyhedronName, Double x, Double y, Double z);

    virtual ULong
    addTriangle
    (const char* polyhedronName, ULong pt1, ULong pt2, ULong pt3);

    virtual void
    addObjectToJoint (const char* jointName,
            const char* objectName, const Transform_ config);

        virtual void
        addPartialCom (const char* comName, const Names_t& jointNames);

        virtual hpp::floatSeq* getPartialCom (const char* comName);

        virtual hpp::floatSeqSeq* getJacobianPartialCom (const char* comName);

        virtual hpp::floatSeq* getVelocityPartialCom (const char* comName);

        hpp::pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation (const char* name);

        virtual floatSeq* getRobotAABB();

      private:
    CollisionObjectConstPtr_t getObjectByName (const char* name);

        ObjectMap objectMap_;

    ServerPlugin* server_;

    core::ProblemSolverPtr_t problemSolver();
      };
    } // end of namespace impl.
  } // end of namespace corbaServer.
} // end of namespace hpp.

#endif