hpp::corbaserver::manipulation::Robot Interface Reference

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

Public Member Functions
void	insertRobotModel (in string robotName, in string rootJointType, in string urdfname, in string srdfname) raises (Error)
void	insertRobotModelOnFrame (in string robotName, in string frameName, in string rootJointType, in string urdfname, in string srdfname) raises (Error)
void	insertRobotModelFromString (in string robotName, in string rootJointType, in string urdfString, in string srdfString) raises (Error)
void	insertRobotSRDFModel (in string robotName, in string packageName, in string modelName, in string srdfSuffix) raises (Error)
void	insertHumanoidModel (in string robotName, in string rootJointType, in string urdfname, in string srdfname) raises (Error)
void	insertHumanoidModelFromString (in string robotName, in string rootJointType, in string urdfString, in string srdfString) raises (Error)
void	loadEnvironmentModel (in string urdfName, in string srdfName, in string prefix) raises (Error)
Transform_	getRootJointPosition (in string robotName) raises (Error)
void	setRootJointPosition (in string robotName, in Transform_ position) raises (Error)
void	addGripper (in string linkName, in string gripperName, in Transform_ handlePositioninJoint) raises (Error)
void	addHandle (in string linkName, in string handleName, in Transform_ localPosition) raises (Error)
void	addAxialHandle (in string linkName, in string handleName, in Transform_ localPosition) raises (Error)
string	getGripperPositionInJoint (in string gripperName, out Transform_ position) raises (hpp::Error)
string	getHandlePositionInJoint (in string handleName, out Transform_ position) raises (hpp::Error)

Member Function Documentation

addAxialHandle()

void hpp::corbaserver::manipulation::Robot::addAxialHandle	(	in string	linkName,
		in string	handleName,
		in Transform_	localPosition
	)
raises	(	Error
	)

Add axial handle to an object

Parameters

linkName	name of the link (hpp::model::Body) holding the handle,
handleName	name of the handle,
localPosition	position of the handle in the joint frame, rotation around x-axis is not constrained.

addGripper()

void hpp::corbaserver::manipulation::Robot::addGripper	(	in string	linkName,
		in string	gripperName,
		in Transform_	handlePositioninJoint
	)
raises	(	Error
	)

Add Gripper to a robot

Parameters

linkName	name of the link (hpp::model::Body) holding the gripper,
gripperName	name of the gripper,
handlePositioninJoint	position of the handle in the joint frame.

addHandle()

void hpp::corbaserver::manipulation::Robot::addHandle	(	in string	linkName,
		in string	handleName,
		in Transform_	localPosition
	)
raises	(	Error
	)

Add Handle to an object

Parameters

linkName	name of the link (hpp::model::Body) holding the handle,
handleName	name of the handle,
localPosition	position of the handle in the joint frame.

getGripperPositionInJoint()

string hpp::corbaserver::manipulation::Robot::getGripperPositionInJoint	(	in string	gripperName,
		out Transform_	position
	)
raises	(	hpp::Error
	)

Return the joint name in which a gripper is and the position relatively to the joint

getHandlePositionInJoint()

string hpp::corbaserver::manipulation::Robot::getHandlePositionInJoint	(	in string	handleName,
		out Transform_	position
	)
raises	(	hpp::Error
	)

Return the joint name in which a handle is and the position relatively to the joint

getRootJointPosition()

Transform_ hpp::corbaserver::manipulation::Robot::getRootJointPosition	(	in string	robotName	)
raises	(	Error
	)

Get the position of root joint of a robot in world frame

Parameters

robotName

key of the robot in ProblemSolver object map.

insertHumanoidModel()

void hpp::corbaserver::manipulation::Robot::insertHumanoidModel	(	in string	robotName,
		in string	rootJointType,
		in string	urdfname,
		in string	srdfname
	)
raises	(	Error
	)

Insert humanoid robot model as a child of the root joint of the Device

Parameters

robotName	key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
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.

insertHumanoidModelFromString()

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

Insert humanoid robot model as a child of the root joint of the Device

Parameters

robotName	key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
urdfString	urdf file,
srdfString	srdf file. Can be empty.

insertRobotModel()

void hpp::corbaserver::manipulation::Robot::insertRobotModel	(	in string	robotName,
		in string	rootJointType,
		in string	urdfname,
		in string	srdfname
	)
raises	(	Error
	)

Insert robot model as a child of the root joint of the Device

Parameters

robotName	key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
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.

insertRobotModelFromString()

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

Insert robot model as a child of the root joint of the Device

Parameters

robotName	key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
urdfString	urdf file,
srdfString	srdf file. Can be empty.

insertRobotModelOnFrame()

void hpp::corbaserver::manipulation::Robot::insertRobotModelOnFrame	(	in string	robotName,
		in string	frameName,
		in string	rootJointType,
		in string	urdfname,
		in string	srdfname
	)
raises	(	Error
	)

insertRobotSRDFModel()

void hpp::corbaserver::manipulation::Robot::insertRobotSRDFModel	(	in string	robotName,
		in string	packageName,
		in string	modelName,
		in string	srdfSuffix
	)
raises	(	Error
	)

Load a SRDF for the robot. Several SRDF can thus be loaded for the same robot

loadEnvironmentModel()

void hpp::corbaserver::manipulation::Robot::loadEnvironmentModel	(	in string	urdfName,
		in string	srdfName,
		in string	prefix
	)
raises	(	Error
	)

Load model of the environment

urdfName name of the urdf file describing the environment srdfName name of the srdf file describing the environment, prefix string added in front of object names.

setRootJointPosition()

void hpp::corbaserver::manipulation::Robot::setRootJointPosition	(	in string	robotName,
		in Transform_	position
	)
raises	(	Error
	)

Set the position of root joint of a robot in world frame

Parameters

robotName	key of the robot in ProblemSolver object map.
position	constant position of the root joint in world frame in initial configuration.

---

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

• idl/hpp/corbaserver/manipulation/robot.idl