#include <hpp/core_idl/_problem-idl.hh>

Inheritance diagram for _impl_Problem:

Collaboration diagram for _impl_Problem:

Public Member Functions
virtual	~_impl_Problem ()

virtual void	setRandomSeed (::CORBA::Long seed)=0

virtual void	setMaxNumThreads (::CORBA::UShort n)=0

virtual ::CORBA::UShort	getMaxNumThreads ()=0

virtual Names_t *	getAvailable (const char *type)=0

virtual Names_t *	getSelected (const char *type)=0

virtual void	setParameter (const char *name, const ::CORBA::Any &value)=0

virtual ::CORBA::Any *	getParameter (const char *name)=0

virtual char *	getParameterDoc (const char *name)=0

virtual ::CORBA::Boolean	selectProblem (const char *name)=0

virtual void	resetProblem ()=0

virtual ::CORBA::Boolean	loadPlugin (const char *pluginName)=0

virtual void	movePathToProblem (::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)=0

virtual void	setInitialConfig (const ::hpp::floatSeq &dofArray)=0

virtual floatSeq *	getInitialConfig ()=0

virtual void	addGoalConfig (const ::hpp::floatSeq &dofArray)=0

virtual floatSeqSeq *	getGoalConfigs ()=0

virtual void	resetGoalConfigs ()=0

virtual ::CORBA::Boolean	applyConstraints (const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)=0

virtual ::CORBA::Boolean	optimize (const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)=0

virtual void	computeValueAndJacobian (const ::hpp::floatSeq &config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)=0

virtual ::CORBA::Boolean	generateValidConfig (::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)=0

virtual void	createOrientationConstraint (const char constraintName, const char joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq &mask)=0

virtual void	createTransformationConstraint (const char constraintName, const char joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &mask)=0

virtual void	createTransformationSE3Constraint (const char constraintName, const char joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)=0

virtual void	createTransformationConstraint2 (const char constraintName, const char joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)=0

virtual void	createLockedJoint (const char lockedJointName, const char jointName, const ::hpp::floatSeq &value)=0

virtual void	createLockedExtraDof (const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &value)=0

virtual void	createManipulability (const char name, const char function)=0

virtual void	createComBeetweenFeet (const char constraintName, const char comName, const char jointLName, const char jointRName, const ::hpp::floatSeq &pointL, const ::hpp::floatSeq &pointR, const char *jointRefName, const ::hpp::floatSeq &pointRef, const ::hpp::boolSeq &mask)=0

virtual void	createRelativeComConstraint (const char constraintName, const char comName, const char *jointLName, const ::hpp::floatSeq &point, const ::hpp::boolSeq &mask)=0

virtual void	createConvexShapeContactConstraint (const char *constraintName, const ::hpp::Names_t &floorJoints, const ::hpp::Names_t &objectJoints, const ::hpp::floatSeqSeq &pts, const ::hpp::intSeqSeq &objectTriangles, const ::hpp::intSeqSeq &floorTriangles)=0

virtual void	createStaticStabilityConstraint (const char constraintName, const ::hpp::Names_t &jointNames, const ::hpp::floatSeqSeq &points, const ::hpp::floatSeqSeq &normals, const char comRootJointName)=0

virtual void	createPositionConstraint (const char constraintName, const char joint1Name, const char *joint2Name, const ::hpp::floatSeq &point1, const ::hpp::floatSeq &point2, const ::hpp::boolSeq &mask)=0

virtual void	createConfigurationConstraint (const char *constraintName, const ::hpp::floatSeq &goal, const ::hpp::floatSeq &weights)=0

virtual void	createDistanceBetweenJointConstraint (const char constraintName, const char joint1Name, const char *joint2Name, ::CORBA::Double distance)=0

virtual void	createDistanceBetweenJointAndObjects (const char constraintName, const char joint1Name, const ::hpp::Names_t &objects, ::CORBA::Double distance)=0

virtual void	createIdentityConstraint (const char *constraintName, const ::hpp::Names_t &inJoints, const ::hpp::Names_t &outJoints)=0

virtual void	resetConstraints ()=0

virtual void	resetConstraintMap ()=0

virtual void	addPassiveDofs (const char *constraintName, const ::hpp::Names_t &jointNames)=0

virtual void	getConstraintDimensions (const char *constraintName, ::CORBA::ULong &inputSize, ::CORBA::ULong &inputDerivativeSize, ::CORBA::ULong &outputSize, ::CORBA::ULong &outputDerivativeSize)=0

virtual void	setConstantRightHandSide (const char *constraintName, ::CORBA::Boolean constant)=0

virtual ::CORBA::Boolean	getConstantRightHandSide (const char *constraintName)=0

virtual floatSeq *	getRightHandSide ()=0

virtual void	setRightHandSide (const ::hpp::floatSeq &rhs)=0

virtual void	setRightHandSideFromConfig (const ::hpp::floatSeq &config)=0

virtual void	setRightHandSideByName (const char *constraintName, const ::hpp::floatSeq &rhs)=0

virtual void	setRightHandSideFromConfigByName (const char *constraintName, const ::hpp::floatSeq &config)=0

virtual void	addNumericalConstraints (const char *configProjName, const ::hpp::Names_t &constraintNames, const ::hpp::intSeq &priorities)=0

virtual void	setNumericalConstraintsLastPriorityOptional (::CORBA::Boolean optional)=0

virtual void	addLockedJointConstraints (const char *configProjName, const ::hpp::Names_t &lockedJointNames)=0

virtual char *	displayConstraints ()=0

virtual ::CORBA::Double	getErrorThreshold ()=0

virtual void	setErrorThreshold (::CORBA::Double threshold)=0

virtual void	setDefaultLineSearchType (const char *type)=0

virtual ::CORBA::ULong	getMaxIterProjection ()=0

virtual void	setMaxIterProjection (::CORBA::ULong iterations)=0

virtual ::CORBA::ULong	getMaxIterPathPlanning ()=0

virtual void	setMaxIterPathPlanning (::CORBA::ULong iterations)=0

virtual void	scCreateScalarMultiply (const char outName, ::CORBA::Double scalar, const char inName)=0

virtual ::CORBA::Double	getTimeOutPathPlanning ()=0

virtual void	setTimeOutPathPlanning (::CORBA::Double timeOut)=0

virtual void	filterCollisionPairs ()=0

virtual void	selectPathPlanner (const char *pathPlannerType)=0

virtual void	selectConfigurationShooter (const char *configurationShooterType)=0

virtual void	selectDistance (const char *distanceType)=0

virtual void	selectSteeringMethod (const char *steeringMethodType)=0

virtual void	addPathOptimizer (const char *pathOptimizerType)=0

virtual void	clearPathOptimizers ()=0

virtual void	addConfigValidation (const char *configValidationType)=0

virtual void	clearConfigValidations ()=0

virtual void	selectPathValidation (const char *pathValidationType, ::CORBA::Double tolerance)=0

virtual void	selectPathProjector (const char *pathProjectorType, ::CORBA::Double tolerance)=0

virtual ::CORBA::Boolean	prepareSolveStepByStep ()=0

virtual ::CORBA::Boolean	executeOneStep ()=0

virtual void	finishSolveStepByStep ()=0

virtual intSeq *	solve ()=0

virtual ::CORBA::Boolean	directPath (const ::hpp::floatSeq &startConfig, const ::hpp::floatSeq &endConfig, ::CORBA::Boolean validate, ::CORBA::ULong &pathId, ::CORBA::String_out report)=0

virtual ::CORBA::Boolean	reversePath (::CORBA::ULong pathId, ::CORBA::ULong &reversedPathId)=0

virtual void	addConfigToRoadmap (const ::hpp::floatSeq &config)=0

virtual void	addEdgeToRoadmap (const ::hpp::floatSeq &config1, const ::hpp::floatSeq &config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)=0

virtual void	appendDirectPath (::CORBA::ULong pathId, const ::hpp::floatSeq &config, ::CORBA::Boolean validate)=0

virtual void	concatenatePath (::CORBA::ULong startId, ::CORBA::ULong endId)=0

virtual void	extractPath (::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)=0

virtual void	erasePath (::CORBA::ULong pathId)=0

virtual ::CORBA::Boolean	projectPath (::CORBA::ULong patId)=0

virtual ::CORBA::Long	numberPaths ()=0

virtual intSeq *	optimizePath (::CORBA::ULong inPathId)=0

virtual ::CORBA::Double	pathLength (::CORBA::ULong inPathId)=0

virtual floatSeq *	configAtParam (::CORBA::ULong inPathId, ::CORBA::Double atDistance)=0

virtual floatSeq *	derivativeAtParam (::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)=0

virtual floatSeqSeq *	getWaypoints (::CORBA::ULong pathId, ::hpp::floatSeq_out times)=0

virtual void	interruptPathPlanning ()=0

virtual floatSeqSeq *	nodes ()=0

virtual ::CORBA::Long	numberNodes ()=0

virtual floatSeq *	node (::CORBA::ULong nodeId)=0

virtual ::CORBA::Long	connectedComponentOfEdge (::CORBA::ULong edgeId)=0

virtual ::CORBA::Long	connectedComponentOfNode (::CORBA::ULong nodeId)=0

virtual ::CORBA::Long	numberEdges ()=0

virtual void	edge (::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)=0

virtual ::CORBA::Long	numberConnectedComponents ()=0

virtual floatSeqSeq *	nodesConnectedComponent (::CORBA::ULong connectedComponentId)=0

virtual floatSeq *	getNearestConfig (const ::hpp::floatSeq &config, ::CORBA::Long connectedComponentId, ::CORBA::Double &distance)=0

virtual void	clearRoadmap ()=0

virtual void	resetRoadmap ()=0

virtual void	saveRoadmap (const char *filename)=0

virtual void	readRoadmap (const char *filename)=0

virtual core_idl::Distance_ptr	getDistance ()=0

virtual void	setDistance (::hpp::core_idl::Distance_ptr distance)=0

virtual core_idl::Path_ptr	getPath (::CORBA::ULong pathId)=0

virtual ::CORBA::ULong	addPath (::hpp::core_idl::PathVector_ptr path)=0

virtual core_idl::SteeringMethod_ptr	getSteeringMethod ()=0

virtual core_idl::PathValidation_ptr	getPathValidation ()=0

virtual core_idl::PathPlanner_ptr	getPathPlanner ()=0

virtual core_idl::Problem_ptr	getProblem ()=0

virtual constraints_idl::Implicit_ptr	getConstraint (const char *constraintName)=0

virtual _CORBA_Boolean	_dispatch (omniCallHandle &)

virtual	~_impl_Problem ()

virtual pinocchio_idl::Device_ptr	robot ()=0

virtual void	setInitConfig (const ::hpp::floatSeq &init)=0

virtual floatSeq *	getInitConfig ()=0

virtual void	resetGoalConfigs ()=0

virtual Constraint_ptr	getConstraints ()=0

virtual Distance_ptr	getDistance ()=0

virtual void	setDistance (::hpp::core_idl::Distance_ptr d)=0

virtual SteeringMethod_ptr	getSteeringMethod ()=0

virtual void	setSteeringMethod (::hpp::core_idl::SteeringMethod_ptr d)=0

virtual PathValidation_ptr	getPathValidation ()=0

virtual void	setPathValidation (::hpp::core_idl::PathValidation_ptr d)=0

virtual ConfigurationShooter_ptr	getConfigurationShooter ()=0

virtual void	setConfigurationShooter (::hpp::core_idl::ConfigurationShooter_ptr d)=0

virtual _CORBA_Boolean	_dispatch (omniCallHandle &)

Constructor & Destructor Documentation

◆ ~_impl_Problem() [1/2]

virtual _impl_Problem::~_impl_Problem ( )

virtual

◆ ~_impl_Problem() [2/2]

virtual _impl_Problem::~_impl_Problem ( )

virtual

Member Function Documentation

◆ _dispatch() [1/2]

virtual _CORBA_Boolean _impl_Problem::_dispatch ( omniCallHandle & )

virtual

◆ _dispatch() [2/2]

virtual _CORBA_Boolean _impl_Problem::_dispatch ( omniCallHandle & )

virtual

◆ addConfigToRoadmap()

virtual void _impl_Problem::addConfigToRoadmap ( const ::hpp::floatSeq & config )

pure virtual

◆ addConfigValidation()

virtual void _impl_Problem::addConfigValidation ( const char * configValidationType )

pure virtual

◆ addEdgeToRoadmap()

virtual void _impl_Problem::addEdgeToRoadmap	(	const ::hpp::floatSeq &	config1,
		const ::hpp::floatSeq &	config2,
		::CORBA::ULong	pathId,
		::CORBA::Boolean	bothEdges
	)

pure virtual

◆ addGoalConfig()

virtual void _impl_Problem::addGoalConfig ( const ::hpp::floatSeq & dofArray )

pure virtual

◆ addLockedJointConstraints()

virtual void _impl_Problem::addLockedJointConstraints	(	const char *	configProjName,
		const ::hpp::Names_t &	lockedJointNames
	)

pure virtual

◆ addNumericalConstraints()

virtual void _impl_Problem::addNumericalConstraints	(	const char *	configProjName,
		const ::hpp::Names_t &	constraintNames,
		const ::hpp::intSeq &	priorities
	)

pure virtual

◆ addPassiveDofs()

virtual void _impl_Problem::addPassiveDofs	(	const char *	constraintName,
		const ::hpp::Names_t &	jointNames
	)

pure virtual

◆ addPath()

virtual ::CORBA::ULong _impl_Problem::addPath ( ::hpp::core_idl::PathVector_ptr path )

pure virtual

◆ addPathOptimizer()

virtual void _impl_Problem::addPathOptimizer ( const char * pathOptimizerType )

pure virtual

◆ appendDirectPath()

virtual void _impl_Problem::appendDirectPath	(	::CORBA::ULong	pathId,
		const ::hpp::floatSeq &	config,
		::CORBA::Boolean	validate
	)

pure virtual

◆ applyConstraints()

virtual ::CORBA::Boolean _impl_Problem::applyConstraints	(	const ::hpp::floatSeq &	input,
		::hpp::floatSeq_out	output,
		::CORBA::Double &	residualError
	)

pure virtual

◆ clearConfigValidations()

virtual void _impl_Problem::clearConfigValidations ( )

pure virtual

◆ clearPathOptimizers()

virtual void _impl_Problem::clearPathOptimizers ( )

pure virtual

◆ clearRoadmap()

virtual void _impl_Problem::clearRoadmap ( )

pure virtual

◆ computeValueAndJacobian()

virtual void _impl_Problem::computeValueAndJacobian	(	const ::hpp::floatSeq &	config,
		::hpp::floatSeq_out	value,
		::hpp::floatSeqSeq_out	jacobian
	)

pure virtual

◆ concatenatePath()

virtual void _impl_Problem::concatenatePath	(	::CORBA::ULong	startId,
		::CORBA::ULong	endId
	)

pure virtual

◆ configAtParam()

virtual floatSeq* _impl_Problem::configAtParam	(	::CORBA::ULong	inPathId,
		::CORBA::Double	atDistance
	)

pure virtual

◆ connectedComponentOfEdge()

virtual ::CORBA::Long _impl_Problem::connectedComponentOfEdge ( ::CORBA::ULong edgeId )

pure virtual

◆ connectedComponentOfNode()

virtual ::CORBA::Long _impl_Problem::connectedComponentOfNode ( ::CORBA::ULong nodeId )

pure virtual

◆ createComBeetweenFeet()

virtual void _impl_Problem::createComBeetweenFeet	(	const char *	constraintName,
		const char *	comName,
		const char *	jointLName,
		const char *	jointRName,
		const ::hpp::floatSeq &	pointL,
		const ::hpp::floatSeq &	pointR,
		const char *	jointRefName,
		const ::hpp::floatSeq &	pointRef,
		const ::hpp::boolSeq &	mask
	)

pure virtual

◆ createConfigurationConstraint()

virtual void _impl_Problem::createConfigurationConstraint	(	const char *	constraintName,
		const ::hpp::floatSeq &	goal,
		const ::hpp::floatSeq &	weights
	)

pure virtual

◆ createConvexShapeContactConstraint()

virtual void _impl_Problem::createConvexShapeContactConstraint	(	const char *	constraintName,
		const ::hpp::Names_t &	floorJoints,
		const ::hpp::Names_t &	objectJoints,
		const ::hpp::floatSeqSeq &	pts,
		const ::hpp::intSeqSeq &	objectTriangles,
		const ::hpp::intSeqSeq &	floorTriangles
	)

pure virtual

◆ createDistanceBetweenJointAndObjects()

virtual void _impl_Problem::createDistanceBetweenJointAndObjects	(	const char *	constraintName,
		const char *	joint1Name,
		const ::hpp::Names_t &	objects,
		::CORBA::Double	distance
	)

pure virtual

◆ createDistanceBetweenJointConstraint()

virtual void _impl_Problem::createDistanceBetweenJointConstraint	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		::CORBA::Double	distance
	)

pure virtual

◆ createIdentityConstraint()

virtual void _impl_Problem::createIdentityConstraint	(	const char *	constraintName,
		const ::hpp::Names_t &	inJoints,
		const ::hpp::Names_t &	outJoints
	)

pure virtual

◆ createLockedExtraDof()

virtual void _impl_Problem::createLockedExtraDof	(	const char *	lockedDofName,
		::CORBA::ULong	index,
		const ::hpp::floatSeq &	value
	)

pure virtual

◆ createLockedJoint()

virtual void _impl_Problem::createLockedJoint	(	const char *	lockedJointName,
		const char *	jointName,
		const ::hpp::floatSeq &	value
	)

pure virtual

◆ createManipulability()

virtual void _impl_Problem::createManipulability	(	const char *	name,
		const char *	function
	)

pure virtual

◆ createOrientationConstraint()

virtual void _impl_Problem::createOrientationConstraint	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const ::hpp::Quaternion_	p,
		const ::hpp::boolSeq &	mask
	)

pure virtual

◆ createPositionConstraint()

virtual void _impl_Problem::createPositionConstraint	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const ::hpp::floatSeq &	point1,
		const ::hpp::floatSeq &	point2,
		const ::hpp::boolSeq &	mask
	)

pure virtual

◆ createRelativeComConstraint()

virtual void _impl_Problem::createRelativeComConstraint	(	const char *	constraintName,
		const char *	comName,
		const char *	jointLName,
		const ::hpp::floatSeq &	point,
		const ::hpp::boolSeq &	mask
	)

pure virtual

◆ createStaticStabilityConstraint()

virtual void _impl_Problem::createStaticStabilityConstraint	(	const char *	constraintName,
		const ::hpp::Names_t &	jointNames,
		const ::hpp::floatSeqSeq &	points,
		const ::hpp::floatSeqSeq &	normals,
		const char *	comRootJointName
	)

pure virtual

◆ createTransformationConstraint()

virtual void _impl_Problem::createTransformationConstraint	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const ::hpp::Transform_	ref,
		const ::hpp::boolSeq &	mask
	)

pure virtual

◆ createTransformationConstraint2()

virtual void _impl_Problem::createTransformationConstraint2	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const ::hpp::Transform_	frame1,
		const ::hpp::Transform_	frame2,
		const ::hpp::boolSeq &	mask
	)

pure virtual

◆ createTransformationSE3Constraint()

virtual void _impl_Problem::createTransformationSE3Constraint	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const ::hpp::Transform_	frame1,
		const ::hpp::Transform_	frame2,
		const ::hpp::boolSeq &	mask
	)

pure virtual

◆ derivativeAtParam()

virtual floatSeq* _impl_Problem::derivativeAtParam	(	::CORBA::ULong	inPathId,
		::CORBA::ULong	orderId,
		::CORBA::Double	atDistance
	)

pure virtual

◆ directPath()

virtual ::CORBA::Boolean _impl_Problem::directPath	(	const ::hpp::floatSeq &	startConfig,
		const ::hpp::floatSeq &	endConfig,
		::CORBA::Boolean	validate,
		::CORBA::ULong &	pathId,
		::CORBA::String_out	report
	)

pure virtual

◆ displayConstraints()

virtual char* _impl_Problem::displayConstraints ( )

pure virtual

◆ edge()

virtual void _impl_Problem::edge	(	::CORBA::ULong	edgeId,
		::hpp::floatSeq_out	q1,
		::hpp::floatSeq_out	q2
	)

pure virtual

◆ erasePath()

virtual void _impl_Problem::erasePath ( ::CORBA::ULong pathId )

pure virtual

◆ executeOneStep()

virtual ::CORBA::Boolean _impl_Problem::executeOneStep ( )

pure virtual

◆ extractPath()

virtual void _impl_Problem::extractPath	(	::CORBA::ULong	pathId,
		::CORBA::Double	start,
		::CORBA::Double	end
	)

pure virtual

◆ filterCollisionPairs()

virtual void _impl_Problem::filterCollisionPairs ( )

pure virtual

◆ finishSolveStepByStep()

virtual void _impl_Problem::finishSolveStepByStep ( )

pure virtual

◆ generateValidConfig()

virtual ::CORBA::Boolean _impl_Problem::generateValidConfig	(	::CORBA::ULong	maxIter,
		::hpp::floatSeq_out	output,
		::CORBA::Double &	residualError
	)

pure virtual

◆ getAvailable()

virtual Names_t* _impl_Problem::getAvailable ( const char * type )

pure virtual

◆ getConfigurationShooter()

virtual ConfigurationShooter_ptr _impl_Problem::getConfigurationShooter ( )

pure virtual

◆ getConstantRightHandSide()

virtual ::CORBA::Boolean _impl_Problem::getConstantRightHandSide ( const char * constraintName )

pure virtual

◆ getConstraint()

virtual constraints_idl::Implicit_ptr _impl_Problem::getConstraint ( const char * constraintName )

pure virtual

◆ getConstraintDimensions()

virtual void _impl_Problem::getConstraintDimensions	(	const char *	constraintName,
		::CORBA::ULong &	inputSize,
		::CORBA::ULong &	inputDerivativeSize,
		::CORBA::ULong &	outputSize,
		::CORBA::ULong &	outputDerivativeSize
	)

pure virtual

◆ getConstraints()

virtual Constraint_ptr _impl_Problem::getConstraints ( )

pure virtual

◆ getDistance() [1/2]

virtual Distance_ptr _impl_Problem::getDistance ( )

pure virtual

◆ getDistance() [2/2]

virtual core_idl::Distance_ptr _impl_Problem::getDistance ( )

pure virtual

◆ getErrorThreshold()

virtual ::CORBA::Double _impl_Problem::getErrorThreshold ( )

pure virtual

◆ getGoalConfigs()

virtual floatSeqSeq* _impl_Problem::getGoalConfigs ( )

pure virtual

◆ getInitConfig()

virtual floatSeq* _impl_Problem::getInitConfig ( )

pure virtual

◆ getInitialConfig()

virtual floatSeq* _impl_Problem::getInitialConfig ( )

pure virtual

◆ getMaxIterPathPlanning()

virtual ::CORBA::ULong _impl_Problem::getMaxIterPathPlanning ( )

pure virtual

◆ getMaxIterProjection()

virtual ::CORBA::ULong _impl_Problem::getMaxIterProjection ( )

pure virtual

◆ getMaxNumThreads()

virtual ::CORBA::UShort _impl_Problem::getMaxNumThreads ( )

pure virtual

◆ getNearestConfig()

virtual floatSeq* _impl_Problem::getNearestConfig	(	const ::hpp::floatSeq &	config,
		::CORBA::Long	connectedComponentId,
		::CORBA::Double &	distance
	)

pure virtual

◆ getParameter()

virtual ::CORBA::Any* _impl_Problem::getParameter ( const char * name )

pure virtual

◆ getParameterDoc()

virtual char* _impl_Problem::getParameterDoc ( const char * name )

pure virtual

◆ getPath()

virtual core_idl::Path_ptr _impl_Problem::getPath ( ::CORBA::ULong pathId )

pure virtual

◆ getPathPlanner()

virtual core_idl::PathPlanner_ptr _impl_Problem::getPathPlanner ( )

pure virtual

◆ getPathValidation() [1/2]

virtual PathValidation_ptr _impl_Problem::getPathValidation ( )

pure virtual

◆ getPathValidation() [2/2]

virtual core_idl::PathValidation_ptr _impl_Problem::getPathValidation ( )

pure virtual

◆ getProblem()

virtual core_idl::Problem_ptr _impl_Problem::getProblem ( )

pure virtual

◆ getRightHandSide()

virtual floatSeq* _impl_Problem::getRightHandSide ( )

pure virtual

◆ getSelected()

virtual Names_t* _impl_Problem::getSelected ( const char * type )

pure virtual

◆ getSteeringMethod() [1/2]

virtual SteeringMethod_ptr _impl_Problem::getSteeringMethod ( )

pure virtual

◆ getSteeringMethod() [2/2]

virtual core_idl::SteeringMethod_ptr _impl_Problem::getSteeringMethod ( )

pure virtual

◆ getTimeOutPathPlanning()

virtual ::CORBA::Double _impl_Problem::getTimeOutPathPlanning ( )

pure virtual

◆ getWaypoints()

virtual floatSeqSeq* _impl_Problem::getWaypoints	(	::CORBA::ULong	pathId,
		::hpp::floatSeq_out	times
	)

pure virtual

◆ interruptPathPlanning()

virtual void _impl_Problem::interruptPathPlanning ( )

pure virtual

◆ loadPlugin()

virtual ::CORBA::Boolean _impl_Problem::loadPlugin ( const char * pluginName )

pure virtual

◆ movePathToProblem()

virtual void _impl_Problem::movePathToProblem	(	::CORBA::ULong	pathId,
		const char *	problemName,
		const ::hpp::Names_t &	jointNames
	)

pure virtual

◆ node()

virtual floatSeq* _impl_Problem::node ( ::CORBA::ULong nodeId )

pure virtual

◆ nodes()

virtual floatSeqSeq* _impl_Problem::nodes ( )

pure virtual

◆ nodesConnectedComponent()

virtual floatSeqSeq* _impl_Problem::nodesConnectedComponent ( ::CORBA::ULong connectedComponentId )

pure virtual

◆ numberConnectedComponents()

virtual ::CORBA::Long _impl_Problem::numberConnectedComponents ( )

pure virtual

◆ numberEdges()

virtual ::CORBA::Long _impl_Problem::numberEdges ( )

pure virtual

◆ numberNodes()

virtual ::CORBA::Long _impl_Problem::numberNodes ( )

pure virtual

◆ numberPaths()

virtual ::CORBA::Long _impl_Problem::numberPaths ( )

pure virtual

◆ optimize()

virtual ::CORBA::Boolean _impl_Problem::optimize	(	const ::hpp::floatSeq &	input,
		::hpp::floatSeq_out	output,
		::hpp::floatSeq_out	residualError
	)

pure virtual

◆ optimizePath()

virtual intSeq* _impl_Problem::optimizePath ( ::CORBA::ULong inPathId )

pure virtual

◆ pathLength()

virtual ::CORBA::Double _impl_Problem::pathLength ( ::CORBA::ULong inPathId )

pure virtual

◆ prepareSolveStepByStep()

virtual ::CORBA::Boolean _impl_Problem::prepareSolveStepByStep ( )

pure virtual

◆ projectPath()

virtual ::CORBA::Boolean _impl_Problem::projectPath ( ::CORBA::ULong patId )

pure virtual

◆ readRoadmap()

virtual void _impl_Problem::readRoadmap ( const char * filename )

pure virtual

◆ resetConstraintMap()

virtual void _impl_Problem::resetConstraintMap ( )

pure virtual

◆ resetConstraints()

virtual void _impl_Problem::resetConstraints ( )

pure virtual

◆ resetGoalConfigs() [1/2]

virtual void _impl_Problem::resetGoalConfigs ( )

pure virtual

◆ resetGoalConfigs() [2/2]

virtual void _impl_Problem::resetGoalConfigs ( )

pure virtual

◆ resetProblem()

virtual void _impl_Problem::resetProblem ( )

pure virtual

◆ resetRoadmap()

virtual void _impl_Problem::resetRoadmap ( )

pure virtual

◆ reversePath()

virtual ::CORBA::Boolean _impl_Problem::reversePath	(	::CORBA::ULong	pathId,
		::CORBA::ULong &	reversedPathId
	)

pure virtual

◆ robot()

virtual pinocchio_idl::Device_ptr _impl_Problem::robot ( )

pure virtual

◆ saveRoadmap()

virtual void _impl_Problem::saveRoadmap ( const char * filename )

pure virtual

◆ scCreateScalarMultiply()

virtual void _impl_Problem::scCreateScalarMultiply	(	const char *	outName,
		::CORBA::Double	scalar,
		const char *	inName
	)

pure virtual

◆ selectConfigurationShooter()

virtual void _impl_Problem::selectConfigurationShooter ( const char * configurationShooterType )

pure virtual

◆ selectDistance()

virtual void _impl_Problem::selectDistance ( const char * distanceType )

pure virtual

◆ selectPathPlanner()

virtual void _impl_Problem::selectPathPlanner ( const char * pathPlannerType )

pure virtual

◆ selectPathProjector()

virtual void _impl_Problem::selectPathProjector	(	const char *	pathProjectorType,
		::CORBA::Double	tolerance
	)

pure virtual

◆ selectPathValidation()

virtual void _impl_Problem::selectPathValidation	(	const char *	pathValidationType,
		::CORBA::Double	tolerance
	)

pure virtual

◆ selectProblem()

virtual ::CORBA::Boolean _impl_Problem::selectProblem ( const char * name )

pure virtual

◆ selectSteeringMethod()

virtual void _impl_Problem::selectSteeringMethod ( const char * steeringMethodType )

pure virtual

◆ setConfigurationShooter()

virtual void _impl_Problem::setConfigurationShooter ( ::hpp::core_idl::ConfigurationShooter_ptr d )

pure virtual

◆ setConstantRightHandSide()

virtual void _impl_Problem::setConstantRightHandSide	(	const char *	constraintName,
		::CORBA::Boolean	constant
	)

pure virtual

◆ setDefaultLineSearchType()

virtual void _impl_Problem::setDefaultLineSearchType ( const char * type )

pure virtual

◆ setDistance() [1/2]

virtual void _impl_Problem::setDistance ( ::hpp::core_idl::Distance_ptr d )

pure virtual

◆ setDistance() [2/2]

virtual void _impl_Problem::setDistance ( ::hpp::core_idl::Distance_ptr distance )

pure virtual

◆ setErrorThreshold()

virtual void _impl_Problem::setErrorThreshold ( ::CORBA::Double threshold )

pure virtual

◆ setInitConfig()

virtual void _impl_Problem::setInitConfig ( const ::hpp::floatSeq & init )

pure virtual

◆ setInitialConfig()

virtual void _impl_Problem::setInitialConfig ( const ::hpp::floatSeq & dofArray )

pure virtual

◆ setMaxIterPathPlanning()

virtual void _impl_Problem::setMaxIterPathPlanning ( ::CORBA::ULong iterations )

pure virtual

◆ setMaxIterProjection()

virtual void _impl_Problem::setMaxIterProjection ( ::CORBA::ULong iterations )

pure virtual

◆ setMaxNumThreads()

virtual void _impl_Problem::setMaxNumThreads ( ::CORBA::UShort n )

pure virtual

◆ setNumericalConstraintsLastPriorityOptional()

virtual void _impl_Problem::setNumericalConstraintsLastPriorityOptional ( ::CORBA::Boolean optional )

pure virtual

◆ setParameter()

virtual void _impl_Problem::setParameter	(	const char *	name,
		const ::CORBA::Any &	value
	)

pure virtual

◆ setPathValidation()

virtual void _impl_Problem::setPathValidation ( ::hpp::core_idl::PathValidation_ptr d )

pure virtual

◆ setRandomSeed()

virtual void _impl_Problem::setRandomSeed ( ::CORBA::Long seed )

pure virtual

◆ setRightHandSide()

virtual void _impl_Problem::setRightHandSide ( const ::hpp::floatSeq & rhs )

pure virtual

◆ setRightHandSideByName()

virtual void _impl_Problem::setRightHandSideByName	(	const char *	constraintName,
		const ::hpp::floatSeq &	rhs
	)

pure virtual

◆ setRightHandSideFromConfig()

virtual void _impl_Problem::setRightHandSideFromConfig ( const ::hpp::floatSeq & config )

pure virtual

◆ setRightHandSideFromConfigByName()

virtual void _impl_Problem::setRightHandSideFromConfigByName	(	const char *	constraintName,
		const ::hpp::floatSeq &	config
	)

pure virtual

◆ setSteeringMethod()

virtual void _impl_Problem::setSteeringMethod ( ::hpp::core_idl::SteeringMethod_ptr d )

pure virtual

◆ setTimeOutPathPlanning()

virtual void _impl_Problem::setTimeOutPathPlanning ( ::CORBA::Double timeOut )

pure virtual

◆ solve()

virtual intSeq* _impl_Problem::solve ( )

pure virtual

Public Member Functions

Constructor & Destructor Documentation

◆ ~_impl_Problem() [1/2]

◆ ~_impl_Problem() [2/2]

Member Function Documentation

◆ _dispatch() [1/2]

◆ _dispatch() [2/2]

◆ addConfigToRoadmap()

◆ addConfigValidation()

◆ addEdgeToRoadmap()

◆ addGoalConfig()

◆ addLockedJointConstraints()

◆ addNumericalConstraints()

◆ addPassiveDofs()

◆ addPath()

◆ addPathOptimizer()

◆ appendDirectPath()

◆ applyConstraints()

◆ clearConfigValidations()

◆ clearPathOptimizers()

◆ clearRoadmap()

◆ computeValueAndJacobian()

◆ concatenatePath()

◆ configAtParam()

◆ connectedComponentOfEdge()

◆ connectedComponentOfNode()

◆ createComBeetweenFeet()

◆ createConfigurationConstraint()

◆ createConvexShapeContactConstraint()

◆ createDistanceBetweenJointAndObjects()

◆ createDistanceBetweenJointConstraint()

◆ createIdentityConstraint()

◆ createLockedExtraDof()

◆ createLockedJoint()

◆ createManipulability()

◆ createOrientationConstraint()

◆ createPositionConstraint()

◆ createRelativeComConstraint()

◆ createStaticStabilityConstraint()

◆ createTransformationConstraint()

◆ createTransformationConstraint2()

◆ createTransformationSE3Constraint()

◆ derivativeAtParam()

◆ directPath()

◆ displayConstraints()

◆ edge()

◆ erasePath()

◆ executeOneStep()

◆ extractPath()

◆ filterCollisionPairs()

◆ finishSolveStepByStep()

◆ generateValidConfig()

◆ getAvailable()

◆ getConfigurationShooter()

◆ getConstantRightHandSide()

◆ getConstraint()

◆ getConstraintDimensions()

◆ getConstraints()

◆ getDistance() [1/2]

◆ getDistance() [2/2]

◆ getErrorThreshold()

◆ getGoalConfigs()

◆ getInitConfig()

◆ getInitialConfig()

◆ getMaxIterPathPlanning()

◆ getMaxIterProjection()

◆ getMaxNumThreads()

◆ getNearestConfig()

◆ getParameter()

◆ getParameterDoc()

◆ getPath()

◆ getPathPlanner()

◆ getPathValidation() [1/2]

◆ getPathValidation() [2/2]

◆ getProblem()

◆ getRightHandSide()

◆ getSelected()

◆ getSteeringMethod() [1/2]

◆ getSteeringMethod() [2/2]

◆ getTimeOutPathPlanning()