23 #ifndef __PLUGINS_OPENRAVE_ENVIRONMENT_H_ 24 #define __PLUGINS_OPENRAVE_ENVIRONMENT_H_ 28 #include <openrave/openrave.h> 32 class EnvironmentBase;
53 virtual void create();
54 virtual void destroy();
56 virtual void set_name(
const char* name);
58 virtual void enable_debug(OpenRAVE::DebugLevel level=OpenRAVE::Level_Debug);
59 virtual void disable_debug();
61 virtual void start_viewer();
62 virtual void load_IK_solver(
OpenRaveRobotPtr& robot, OpenRAVE::IkParameterizationType iktype=OpenRAVE::IKP_Transform6D);
64 virtual void run_graspplanning(
const std::string& target_name,
OpenRaveRobotPtr& robot,
float sampling=0.01f);
66 virtual void add_robot(
const std::string& filename);
67 virtual void add_robot(OpenRAVE::RobotBasePtr robot);
70 virtual bool add_object(
const std::string& name,
const std::string& filename);
71 virtual bool delete_object(
const std::string& name);
72 virtual bool delete_all_objects();
73 virtual bool rename_object(
const std::string& name,
const std::string& new_name);
74 virtual bool move_object(
const std::string& name,
float trans_x,
float trans_y,
float trans_z);
75 virtual bool move_object(
const std::string& name,
float trans_x,
float trans_y,
float trans_z,
OpenRaveRobotPtr& robot);
76 virtual bool rotate_object(
const std::string& name,
float quat_x,
float quat_y,
float quat_z,
float quat_w);
77 virtual bool rotate_object(
const std::string& name,
float rot_x,
float rot_y,
float rot_z);
82 virtual OpenRAVE::EnvironmentBasePtr get_env_ptr()
const;
88 std::string __name_str;
90 OpenRAVE::EnvironmentBasePtr __env;
91 OpenRAVE::PlannerBasePtr __planner;
92 OpenRAVE::ModuleBasePtr __mod_ikfast;
94 boost::thread* __viewer_thread;
95 bool __viewer_running;
97 std::vector<OpenRAVE::GraphHandlePtr> __graph_handle;
99 virtual const char* name()
const;
Fawkes library namespace.
OpenRaveEnvironment class.
RefPtr<> is a reference-counting shared smartpointer.