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;
67 virtual void start_viewer()
const = 0;
78 virtual void run_planner(
float sampling=0.01f) = 0;
84 virtual void run_graspplanning(
const std::string& target_name,
OpenRaveRobotPtr& robot) = 0;
89 virtual void run_graspplanning(
const std::string& target_name) = 0;
116 virtual OpenRaveRobotPtr add_robot(
const std::string& filename_robot,
bool autogenerate_IK) = 0;
140 virtual void set_manipulator(
OpenRaveManipulatorPtr& manip,
float trans_x=0.f,
float trans_y=0.f,
float trans_z=0.f,
bool calibrate=0) = 0;
148 virtual bool add_object(
const std::string& name,
const std::string& filename) = 0;
154 virtual bool delete_object(
const std::string& name) = 0;
161 virtual bool rename_object(
const std::string& name,
const std::string& new_name) = 0;
172 virtual bool move_object(
const std::string& name,
float trans_x,
float trans_y,
float trans_z,
OpenRaveRobotPtr& robot) = 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;
210 virtual bool attach_object(
const char* name,
OpenRaveRobotPtr& robot,
const char* manip_name) = 0;
217 virtual bool attach_object(
const char* name,
const char* manip_name) = 0;
224 virtual bool release_object(
const std::string& name,
OpenRaveRobotPtr& robot) = 0;
230 virtual bool release_object(
const std::string& name) = 0;
241 virtual bool release_all_objects() = 0;
253 virtual bool set_target_object(
const std::string& name,
OpenRaveRobotPtr& robot,
float rot_x = 0) = 0;
virtual ~OpenRaveConnector()
Virtual empty destructor.
Fawkes library namespace.
Class containing information about all manipulator motors.
Interface for a OpenRave connection creator.
RefPtr<> is a reference-counting shared smartpointer.