robot.idl

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// Copyright (c) 2014 CNRS
// Author: Florent Lamiraux
//
// This file is part of hpp-manipulation-corba.
// hpp-manipulation-corba is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-manipulation-corba is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-manipulation-corba.  If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_MANIPULATION_CORBA_ROBOT_IDL
#define HPP_MANIPULATION_CORBA_ROBOT_IDL

#include <hpp/common.idl>

module hpp
{
  module corbaserver {
  module manipulation {
  interface Robot
  {
    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);

  }; // interface Robot
  }; // module manipulation
  }; // module corbaserver
}; // module hpp

#endif // HPP_MANIPULATION_CORBA_ROBOT_IDL