24 #ifndef __PLUGINS_OPENRAVE_ASPECT_OPENRAVE_CONNECTOR_H_ 25 #define __PLUGINS_OPENRAVE_ASPECT_OPENRAVE_CONNECTOR_H_ 28 #include <core/utils/refptr.h> 35 class OpenRaveEnvironment;
148 virtual bool add_object(
const std::string& name,
const std::string& filename) = 0;
161 virtual bool rename_object(
const std::string& name,
const std::string& new_name) = 0;
182 virtual bool move_object(
const std::string& name,
float trans_x,
float trans_y,
float trans_z) = 0;
192 virtual bool rotate_object(
const std::string& name,
float quat_x,
float quat_y,
float quat_z,
float quat_w) = 0;
202 virtual bool rotate_object(
const std::string& name,
float rot_x,
float rot_y,
float rot_z) = 0;
217 virtual bool attach_object(
const char* name,
const char* manip_name) = 0;
virtual bool add_object(const std::string &name, const std::string &filename)=0
Add an object to the environment.
virtual ~OpenRaveConnector()
Virtual empty destructor.
Fawkes library namespace.
virtual bool set_target_object(const std::string &name, OpenRaveRobotPtr &robot, float rot_x=0)=0
Set an object as the target.
virtual OpenRaveRobotPtr add_robot(const std::string &filename_robot, bool autogenerate_IK)=0
Add a new robot to the environment, and set it as the currently active one.
virtual bool release_all_objects()=0
Release all grabbed kinbodys from the robot.
virtual OpenRaveEnvironmentPtr get_environment() const =0
Get pointer to OpenRaveEnvironment object.
virtual void clone(OpenRaveEnvironmentPtr &env, OpenRaveRobotPtr &robot, OpenRaveManipulatorPtr &manip) const =0
Clone basically everything We pass pointers to pointer as parameters, so the pointers we create befor...
RefPtr< OpenRaveEnvironment > OpenRaveEnvironmentPtr
RefPtr to OpenRaveEnvironment.
virtual bool rotate_object(const std::string &name, float quat_x, float quat_y, float quat_z, float quat_w)=0
Rotate object by a quaternion.
RefPtr< OpenRaveManipulator > OpenRaveManipulatorPtr
RefPtr to OpenRaveManipulator.
virtual void run_graspplanning(const std::string &target_name, OpenRaveRobotPtr &robot)=0
Run graspplanning script for a given target.
Class containing information about all manipulator motors.
virtual void run_planner(OpenRaveRobotPtr &robot, float sampling=0.01f)=0
Run planner on previously set target.
virtual bool attach_object(const char *name, OpenRaveRobotPtr &robot, const char *manip_name)=0
Attach a kinbody to the robot.
Interface for a OpenRave connection creator.
RefPtr<> is a reference-counting shared smartpointer.
virtual void set_manipulator(OpenRaveRobotPtr &robot, OpenRaveManipulatorPtr &manip, float trans_x=0.f, float trans_y=0.f, float trans_z=0.f, bool calibrate=0)=0
Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directl...
virtual void start_viewer() const =0
Start OpenRave viewer.
virtual bool release_object(const std::string &name, OpenRaveRobotPtr &robot)=0
Release a kinbody from the robot.
virtual OpenRaveRobotPtr get_active_robot() const =0
Get pointer to currently used OpenRaveRobot object.
RefPtr< OpenRaveRobot > OpenRaveRobotPtr
RefPtr to OpenRaveRobot.
virtual void set_active_robot(OpenRaveRobotPtr robot)=0
Set robot to be used.
virtual bool move_object(const std::string &name, float trans_x, float trans_y, float trans_z, OpenRaveRobotPtr &robot)=0
Move object in the environment.
virtual bool rename_object(const std::string &name, const std::string &new_name)=0
Rename object.
virtual bool delete_object(const std::string &name)=0
Remove object from environment.