_constraints.idl

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// Copyright (C) 2019 by Joseph Mirabel, LAAS-CNRS.
//
// This file is part of the hpp-corbaserver.
//
// This software is provided "as is" without warranty of any kind,
// either expressed or implied, including but not limited to the
// implied warranties of fitness for a particular purpose.
//
// See the COPYING file for more information.
 
#ifndef HPP_CORE_CONSTRAINTS_IDL
#define HPP_CORE_CONSTRAINTS_IDL
#include <hpp/common.idl>
 
#include <hpp/constraints_idl/constraints.idl>
 
module hpp
{
  module constraints_idl {
    interface Implicit;
    typedef sequence <Implicit> Implicits;
  };
 
  module core_idl {
 
  interface Constraint
  {
    HPP_EXPOSE_MEMORY_DEALLOCATION(Error)
 
    boolean apply (inout floatSeq config) raises (Error);
 
    string name () raises (Error);
    string str () raises (Error);
    boolean isSatisfied (in floatSeq config) raises (Error);
 
    Constraint copy() raises (Error);
  }; // interface Constraint
 
  interface ConfigProjector : Constraint
  {
    void setRightHandSideFromConfig             (in floatSeq config) raises (Error);
    //-> rightHandSideFromConfig
    void setRightHandSideOfConstraintFromConfig (in constraints_idl::Implicit nm, in floatSeq config) raises (Error);
    //-> rightHandSideFromConfig
    void setRightHandSide             (in floatSeq param) raises (Error);
    //-> rightHandSide
    void setRightHandSideOfConstraint (in constraints_idl::Implicit nm, in floatSeq rhs) raises (Error);
    //-> rightHandSide
    floatSeq getRightHandSide () raises (Error);
    //-> rightHandSide
    void setRightHandSideAt (in value_type s) raises (Error);
    //-> rightHandSideAt
    boolean isConstraintSatisfied (in constraints_idl::Implicit nm,
                                   in floatSeq arg, out floatSeq err,
                                   out boolean constraintFound) raises (Error);
    //* hpp::core::vector_t _arg = hpp::corbaServer::floatSeqToVector (arg);
    //* hpp::constraints::ImplicitPtr_t _nm = hpp::corbaServer::reference_to_servant_base<hpp::constraints::Implicit>(server_, nm)->get();
    //* hpp::core::vector_t errorOut (_nm->function ().outputSpace ()->nv ());
    //* bool res = getT ()->solver ().isConstraintSatisfied
    //*    (_nm, _arg,errorOut, constraintFound);
    //* err = hpp::corbaServer::vectorToFloatSeq (errorOut);
    //* return res;
 
    constraints_idl::Implicits numericalConstraints() raises(Error);
 
    boolean add (in constraints_idl::Implicit numconstraint, in unsigned long priority);
 
    void setLastIsOptional (in boolean optional);
    //-> lastIsOptional
 
    boolean getLastIsOptional ();
    //-> lastIsOptional
 
    void setErrorThreshold (in value_type threshold) raises(Error);
    //-> errorThreshold
    value_type getErrorThreshold () raises(Error);
    //-> errorThreshold
  }; // interface ConfigProjector
 
  interface ConstraintSet : Constraint
  {
    Constraint getConfigProjector () raises (Error);
    //-> configProjector
 
    void addConstraint(in Constraint a_constraint) raises (Error);
  }; // interface ConstraintSet
 
  }; // module core
}; // module hpp
//* #include <hpp/core/constraint.hh>
//* #include <hpp/core/constraint-set.hh>
//* #include <hpp/core/config-projector.hh>
//* #include <hpp/constraints_idl/constraints.hh>
//* #include <hpp/constraints/solver/by-substitution.hh>
 
#endif // HPP_CORE_CONSTRAINTS_IDL