added idsl interface

robocomp · Apr 11, 2023 · 0476e6b · 0476e6b
1 parent 439ed00
commit 0476e6b
Showing 1 changed file with 42 additions and 0 deletions.
diff --git a/interfaces/IDSLs/Gazebo2Robocomp.idsl b/interfaces/IDSLs/Gazebo2Robocomp.idsl
@@ -0,0 +1,42 @@
+module RoboCompGazebo2Robocomp
+{
+	struct Vector3
+	{
+		float x;
+		float y;
+		float z;
+	};
+
+	struct Quaternion
+	{
+		float x;
+		float y;
+		float z;
+		float w;
+	};
+
+	interface Gazebo2Robocomp
+	{
+		// Raw creation
+		void createEntity(string sdf);
+
+		// Random name creation
+		void createBoxEntity(Vector3 position, Quaternion orientation, float size);
+		void createCylinderEntity(Vector3 position, Quaternion orientation, float length, float radius);
+		void createSphereEntity(Vector3 position, Quaternion orientation, float radius);
+		void createCapsuleEntity(Vector3 position, Quaternion orientation, float length, float radius);
+
+		// Specific name creation
+		void createBoxEntity(string name, Vector3 position, Quaternion orientation, float size);
+		void createCylinderEntity(string name, Vector3 position, Quaternion orientation, float length, float radius);
+		void createSphereEntity(string name, Vector3 position, Quaternion orientation, float radius);
+		void createCapsuleEntity(string name, Vector3 position, Quaternion orientation, float length, float radius);
+
+		// Remove by name
+		void removeEntity(string name);
+
+		// Moving by name
+		void setEntityPose(string name, Vector3 position, Quaternion orientation);
+
+	};
+};