24 #ifndef __PLUGINS_OPENRAVE_ASPECT_OPENRAVE_CONNECTOR_H_ 25 #define __PLUGINS_OPENRAVE_ASPECT_OPENRAVE_CONNECTOR_H_ 34 class OpenRaveEnvironment;
36 class OpenRaveManipulator;
115 virtual bool add_object(
const std::string& name,
const std::string& filename) = 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;
virtual bool add_object(const std::string &name, const std::string &filename)=0
Add an object to the environment.
virtual bool set_target_object(const std::string &name, OpenRaveRobot *robot, float rot_x=0)=0
Set an object as the target.
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
Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directl...
virtual ~OpenRaveConnector()
Virtual empty destructor.
virtual void run_planner(OpenRaveRobot *robot=NULL, float sampling=0.01f)=0
Run planner on previously set target.
virtual bool attach_object(const std::string &name, OpenRaveRobot *robot=NULL)=0
Attach a kinbody to the robot.
Fawkes library namespace.
virtual OpenRaveRobot * 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 void start_viewer() const =0
Start OpenRave viewer.
virtual OpenRaveRobot * get_active_robot() const =0
Get pointer to currently used OpenRaveRobot object.
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.
virtual bool release_all_objects(OpenRaveRobot *robot)=0
Release all grabbed kinbodys from the robot.
virtual void set_active_robot(OpenRaveRobot *robot)=0
Set robot to be used.
OpenRaveEnvironment class.
virtual void run_graspplanning(const std::string &target_name, OpenRaveRobot *robot=NULL)=0
Run graspplanning script for a given target.
Class containing information about all manipulator motors.
Interface for a OpenRave connection creator.
virtual bool move_object(const std::string &name, float trans_x, float trans_y, float trans_z, OpenRaveRobot *robot=NULL)=0
Move object in the environment.
virtual bool release_object(const std::string &name, OpenRaveRobot *robot=NULL)=0
Release a kinbody from the robot.
virtual OpenRaveEnvironment * get_environment() const =0
Get pointer to OpenRaveEnvironment object.
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.