23 #ifndef __PLUGINS_OPENRAVE_ENVIRONMENT_H_
24 #define __PLUGINS_OPENRAVE_ENVIRONMENT_H_
26 #include <openrave/openrave.h>
30 class EnvironmentBase;
39 void SetViewer(OpenRAVE::EnvironmentBasePtr penv,
const std::string& viewername);
51 virtual void create();
52 virtual void destroy();
55 virtual void enable_debug(OpenRAVE::DebugLevel level=OpenRAVE::Level_Debug);
56 virtual void disable_debug();
58 virtual void start_viewer();
59 virtual void load_IK_solver(
OpenRaveRobot* robot, OpenRAVE::IkParameterizationType iktype=OpenRAVE::IKP_Transform6D);
60 virtual void run_planner(
OpenRaveRobot* robot,
float sampling=0.01f);
61 virtual void run_graspplanning(
const std::string& target_name,
OpenRaveRobot* robot,
float sampling=0.01f);
63 virtual void add_robot(
const std::string& filename);
64 virtual void add_robot(OpenRAVE::RobotBasePtr robot);
67 virtual bool add_object(
const std::string& name,
const std::string& filename);
68 virtual bool delete_object(
const std::string& name);
69 virtual bool rename_object(
const std::string& name,
const std::string& new_name);
70 virtual bool move_object(
const std::string& name,
float trans_x,
float trans_y,
float trans_z,
OpenRaveRobot* robot=NULL);
71 virtual bool rotate_object(
const std::string& name,
float quat_x,
float quat_y,
float quat_z,
float quat_w);
72 virtual bool rotate_object(
const std::string& name,
float rot_x,
float rot_y,
float rot_z);
75 virtual OpenRAVE::EnvironmentBasePtr get_env_ptr()
const;
80 OpenRAVE::EnvironmentBasePtr __env;
81 OpenRAVE::PlannerBasePtr __planner;
82 OpenRAVE::ModuleBasePtr __mod_ikfast;
84 std::vector<OpenRAVE::GraphHandlePtr> __graph_handle;
86 bool __viewer_enabled;
Fawkes library namespace.
OpenRaveEnvironment class.
void SetViewer(OpenRAVE::EnvironmentBasePtr env, const std::string &viewername)
Sets and loads a viewer for OpenRAVE.