24 #ifndef __PLUGINS_OPENRAVE_ASPECT_OPENRAVE_CONNECTOR_H_
25 #define __PLUGINS_OPENRAVE_ASPECT_OPENRAVE_CONNECTOR_H_
34 class OpenRaveEnvironment;
36 class OpenRaveManipulator;
49 virtual void start_viewer()
const = 0;
55 virtual void run_planner(
OpenRaveRobot* robot = NULL,
float sampling=0.01f) = 0;
61 virtual void run_graspplanning(
const std::string& target_name,
OpenRaveRobot* robot = NULL) = 0;
83 virtual OpenRaveRobot* add_robot(
const std::string& filename_robot,
bool autogenerate_IK) = 0;
95 virtual void set_manipulator(
OpenRaveRobot* robot,
OpenRaveManipulator* manip,
float trans_x=0.f,
float trans_y=0.f,
float trans_z=0.f,
bool calibrate=0) = 0;
107 virtual void set_manipulator(
OpenRaveManipulator* manip,
float trans_x=0.f,
float trans_y=0.f,
float trans_z=0.f,
bool calibrate=0) = 0;
115 virtual bool add_object(
const std::string& name,
const std::string& filename) = 0;
121 virtual bool delete_object(
const std::string& name) = 0;
128 virtual bool rename_object(
const std::string& name,
const std::string& new_name) = 0;
139 virtual bool move_object(
const std::string& name,
float trans_x,
float trans_y,
float trans_z,
OpenRaveRobot* robot=NULL) = 0;
149 virtual bool rotate_object(
const std::string& name,
float quat_x,
float quat_y,
float quat_z,
float quat_w) = 0;
159 virtual bool rotate_object(
const std::string& name,
float rot_x,
float rot_y,
float rot_z) = 0;
166 virtual bool attach_object(
const std::string& name,
OpenRaveRobot* robot=NULL) = 0;
173 virtual bool release_object(
const std::string& name,
OpenRaveRobot* robot=NULL) = 0;
191 virtual bool set_target_object(
const std::string& name,
OpenRaveRobot* robot,
float rot_x = 0) = 0;