_objref_Problem Class Reference

#include <hpp/corbaserver/problem-idl.hh>

Inheritance diagram for _objref_Problem:

Collaboration diagram for _objref_Problem:

Public Member Functions
void	setRandomSeed (::CORBA::Long seed)
void	setMaxNumThreads (::CORBA::UShort n)
::CORBA::UShort	getMaxNumThreads ()
Names_t *	getAvailable (const char *type)
Names_t *	getSelected (const char *type)
void	setParameter (const char *name, const ::CORBA::Any &value)
::CORBA::Any *	getParameter (const char *name)
char *	getParameterDoc (const char *name)
::CORBA::Boolean	selectProblem (const char *name)
void	resetProblem ()
::CORBA::Boolean	loadPlugin (const char *pluginName)
void	movePathToProblem (::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)
void	setInitialConfig (const ::hpp::floatSeq &dofArray)
floatSeq *	getInitialConfig ()
void	addGoalConfig (const ::hpp::floatSeq &dofArray)
floatSeqSeq *	getGoalConfigs ()
void	resetGoalConfigs ()
void	setGoalConstraints (const ::hpp::Names_t &constraints)
void	resetGoalConstraints ()
::CORBA::Boolean	applyConstraints (const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)
::CORBA::Boolean	optimize (const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)
void	computeValueAndJacobian (const ::hpp::floatSeq &config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)
::CORBA::Boolean	generateValidConfig (::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)
void	createOrientationConstraint (const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq &mask)
void	createTransformationConstraint (const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &mask)
void	createTransformationR3xSO3Constraint (const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)
void	createTransformationConstraint2 (const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)
void	createLockedJoint (const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value)
void	createLockedJointWithComp (const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value, const ::hpp::ComparisonTypes_t &comp)
void	createLockedExtraDof (const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &value)
void	createManipulability (const char *name, const char *function)
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)
void	createRelativeComConstraint (const char *constraintName, const char *comName, const char *jointLName, const ::hpp::floatSeq &point, const ::hpp::boolSeq &mask)
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)
void	createPositionConstraint (const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::floatSeq &point1, const ::hpp::floatSeq &point2, const ::hpp::boolSeq &mask)
void	createConfigurationConstraint (const char *constraintName, const ::hpp::floatSeq &goal, const ::hpp::floatSeq &weights)
void	createDistanceBetweenJointConstraint (const char *constraintName, const char *joint1Name, const char *joint2Name, ::CORBA::Double distance)
void	createDistanceBetweenJointAndObjects (const char *constraintName, const char *joint1Name, const ::hpp::Names_t &objects, ::CORBA::Double distance)
void	createIdentityConstraint (const char *constraintName, const ::hpp::Names_t &inJoints, const ::hpp::Names_t &outJoints)
void	resetConstraints ()
void	resetConstraintMap ()
void	addPassiveDofs (const char *constraintName, const ::hpp::Names_t &jointNames)
void	getConstraintDimensions (const char *constraintName, ::CORBA::ULong &inputSize, ::CORBA::ULong &inputDerivativeSize, ::CORBA::ULong &outputSize, ::CORBA::ULong &outputDerivativeSize)
void	setConstantRightHandSide (const char *constraintName, ::CORBA::Boolean constant)
::CORBA::Boolean	getConstantRightHandSide (const char *constraintName)
floatSeq *	getRightHandSide ()
void	setRightHandSide (const ::hpp::floatSeq &rhs)
void	setRightHandSideFromConfig (const ::hpp::floatSeq &config)
void	setRightHandSideByName (const char *constraintName, const ::hpp::floatSeq &rhs)
void	setRightHandSideFromConfigByName (const char *constraintName, const ::hpp::floatSeq &config)
void	addNumericalConstraints (const char *configProjName, const ::hpp::Names_t &constraintNames, const ::hpp::intSeq &priorities)
void	setNumericalConstraintsLastPriorityOptional (::CORBA::Boolean optional)
void	addLockedJointConstraints (const char *configProjName, const ::hpp::Names_t &lockedJointNames)
char *	displayConstraints ()
::CORBA::Double	getErrorThreshold ()
void	setErrorThreshold (::CORBA::Double threshold)
void	setDefaultLineSearchType (const char *type)
::CORBA::ULong	getMaxIterProjection ()
void	setMaxIterProjection (::CORBA::ULong iterations)
::CORBA::ULong	getMaxIterPathPlanning ()
void	setMaxIterPathPlanning (::CORBA::ULong iterations)
void	scCreateScalarMultiply (const char *outName, ::CORBA::Double scalar, const char *inName)
::CORBA::Double	getTimeOutPathPlanning ()
void	setTimeOutPathPlanning (::CORBA::Double timeOut)
void	filterCollisionPairs ()
void	selectPathPlanner (const char *pathPlannerType)
void	selectConfigurationShooter (const char *configurationShooterType)
void	selectDistance (const char *distanceType)
void	selectSteeringMethod (const char *steeringMethodType)
void	addPathOptimizer (const char *pathOptimizerType)
void	clearPathOptimizers ()
void	addConfigValidation (const char *configValidationType)
void	clearConfigValidations ()
void	selectPathValidation (const char *pathValidationType, ::CORBA::Double tolerance)
void	selectPathProjector (const char *pathProjectorType, ::CORBA::Double tolerance)
::CORBA::Boolean	prepareSolveStepByStep ()
::CORBA::Boolean	executeOneStep ()
void	finishSolveStepByStep ()
intSeq *	solve ()
::CORBA::Boolean	directPath (const ::hpp::floatSeq &startConfig, const ::hpp::floatSeq &endConfig, ::CORBA::Boolean validate, ::CORBA::ULong &pathId, ::CORBA::String_out report)
::CORBA::Boolean	reversePath (::CORBA::ULong pathId, ::CORBA::ULong &reversedPathId)
void	addConfigToRoadmap (const ::hpp::floatSeq &config)
void	addEdgeToRoadmap (const ::hpp::floatSeq &config1, const ::hpp::floatSeq &config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)
void	appendDirectPath (::CORBA::ULong pathId, const ::hpp::floatSeq &config, ::CORBA::Boolean validate)
void	concatenatePath (::CORBA::ULong startId, ::CORBA::ULong endId)
void	extractPath (::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)
void	erasePath (::CORBA::ULong pathId)
::CORBA::Boolean	projectPath (::CORBA::ULong patId)
::CORBA::Long	numberPaths ()
intSeq *	optimizePath (::CORBA::ULong inPathId)
::CORBA::Double	pathLength (::CORBA::ULong inPathId)
floatSeq *	configAtParam (::CORBA::ULong inPathId, ::CORBA::Double atDistance)
floatSeq *	derivativeAtParam (::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)
floatSeqSeq *	getWaypoints (::CORBA::ULong pathId, ::hpp::floatSeq_out times)
void	interruptPathPlanning ()
floatSeqSeq *	nodes ()
::CORBA::Long	numberNodes ()
floatSeq *	node (::CORBA::ULong nodeId)
::CORBA::Long	connectedComponentOfEdge (::CORBA::ULong edgeId)
::CORBA::Long	connectedComponentOfNode (::CORBA::ULong nodeId)
::CORBA::Long	numberEdges ()
void	edge (::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)
::CORBA::Long	numberConnectedComponents ()
floatSeqSeq *	nodesConnectedComponent (::CORBA::ULong connectedComponentId)
floatSeq *	getNearestConfig (const ::hpp::floatSeq &config, ::CORBA::Long connectedComponentId, ::CORBA::Double &distance)
void	clearRoadmap ()
void	resetRoadmap ()
void	saveRoadmap (const char *filename)
void	loadRoadmap (const char *filename)
core_idl::Distance_ptr	getDistance ()
void	setDistance (::hpp::core_idl::Distance_ptr distance)
core_idl::Path_ptr	getPath (::CORBA::ULong pathId)
::CORBA::ULong	addPath (::hpp::core_idl::PathVector_ptr path)
void	savePath (::hpp::core_idl::Path_ptr path, const char *filename)
core_idl::Path_ptr	loadPath (const char *filename)
core_idl::SteeringMethod_ptr	getSteeringMethod ()
core_idl::PathValidation_ptr	getPathValidation ()
core_idl::PathPlanner_ptr	getPathPlanner ()
core_idl::Problem_ptr	getProblem ()
constraints_idl::Implicit_ptr	getConstraint (const char *constraintName)
void	setRobot (::hpp::pinocchio_idl::Device_ptr robot)
pinocchio_idl::CollisionObject_ptr	getObstacle (const char *name)
core_idl::Problem_ptr	createProblem (::hpp::pinocchio_idl::Device_ptr robot)
core_idl::Roadmap_ptr	createRoadmap (::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot)
core_idl::Roadmap_ptr	readRoadmap (const char *filename, ::hpp::pinocchio_idl::Device_ptr robot)
void	writeRoadmap (const char *filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot)
core_idl::PathPlanner_ptr	createPathPlanner (const char *type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap)
core_idl::PathOptimizer_ptr	createPathOptimizer (const char *type, ::hpp::core_idl::Problem_ptr problem)
core_idl::ConfigValidation_ptr	createConfigValidation (const char *type, ::hpp::pinocchio_idl::Device_ptr robot)
core_idl::PathValidation_ptr	createPathValidation (const char *type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter)
core_idl::PathProjector_ptr	createPathProjector (const char *type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter)
core_idl::ConfigurationShooter_ptr	createConfigurationShooter (const char *type, ::hpp::core_idl::Problem_ptr problem)
core_idl::Distance_ptr	createDistance (const char *type, ::hpp::core_idl::Problem_ptr problem)
core_idl::SteeringMethod_ptr	createSteeringMethod (const char *type, ::hpp::core_idl::Problem_ptr problem)
core_idl::Constraint_ptr	createConstraintSet (::hpp::pinocchio_idl::Device_ptr robot, const char *name)
core_idl::Constraint_ptr	createConfigProjector (::hpp::pinocchio_idl::Device_ptr robot, const char *name, ::CORBA::Double threshold, ::CORBA::ULong iterations)
	_objref_Problem ()
	_objref_Problem (omniIOR *, omniIdentity *)
void	deleteThis ()
::CORBA::Boolean	deleteIfExpired ()
void	persistantStorage (::CORBA::Boolean persistant)
pinocchio_idl::Device_ptr	robot ()
void	setInitConfig (const ::hpp::floatSeq &init)
floatSeq *	getInitConfig ()
void	addGoalConfig (const ::hpp::floatSeq &goal)
void	resetGoalConfigs ()
Constraint_ptr	getConstraints ()
void	setConstraints (::hpp::core_idl::Constraint_ptr constraints)
Distance_ptr	getDistance ()
void	setDistance (::hpp::core_idl::Distance_ptr d)
SteeringMethod_ptr	getSteeringMethod ()
void	setSteeringMethod (::hpp::core_idl::SteeringMethod_ptr d)
PathValidation_ptr	getPathValidation ()
void	setPathValidation (::hpp::core_idl::PathValidation_ptr d)
PathProjector_ptr	getPathProjector ()
void	setPathProjector (::hpp::core_idl::PathProjector_ptr p)
ConfigValidation_ptr	getConfigValidations ()
void	clearConfigValidations ()
void	addConfigValidation (::hpp::core_idl::ConfigValidation_ptr cfgValidation)
ConfigurationShooter_ptr	getConfigurationShooter ()
void	setConfigurationShooter (::hpp::core_idl::ConfigurationShooter_ptr d)
void	filterCollisionPairs ()
void	setSecurityMargins (const ::hpp::floatSeqSeq &margins)
void	addObstacle (::hpp::pinocchio_idl::CollisionObject_ptr object)
void	setParameter (const char *name, const ::CORBA::Any &value)
::CORBA::Any *	getParameter (const char *name)
	_objref_Problem ()
	_objref_Problem (omniIOR *, omniIdentity *)

Protected Member Functions
virtual	~_objref_Problem ()
virtual	~_objref_Problem ()

Friends
class	Problem

Constructor & Destructor Documentation

_objref_Problem() [1/4]

_objref_Problem::_objref_Problem ( )

inline

_objref_Problem() [2/4]

_objref_Problem::_objref_Problem	(	omniIOR *	,
		omniIdentity *
	)

~_objref_Problem() [1/2]

virtual _objref_Problem::~_objref_Problem ( )

protectedvirtual

_objref_Problem() [3/4]

_objref_Problem::_objref_Problem ( )

inline

_objref_Problem() [4/4]

_objref_Problem::_objref_Problem	(	omniIOR *	,
		omniIdentity *
	)

~_objref_Problem() [2/2]

virtual _objref_Problem::~_objref_Problem ( )

protectedvirtual

Member Function Documentation

addConfigToRoadmap()

void _objref_Problem::addConfigToRoadmap

(

const ::hpp::floatSeq &

config

)

addConfigValidation() [1/2]

void _objref_Problem::addConfigValidation

(

::hpp::core_idl::ConfigValidation_ptr

cfgValidation

)

addConfigValidation() [2/2]

void _objref_Problem::addConfigValidation

(

const char *

configValidationType

)

addEdgeToRoadmap()

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

addGoalConfig() [1/2]

void _objref_Problem::addGoalConfig

(

const ::hpp::floatSeq &

dofArray

)

addGoalConfig() [2/2]

void _objref_Problem::addGoalConfig

(

const ::hpp::floatSeq &

goal

)

addLockedJointConstraints()

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

addNumericalConstraints()

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

addObstacle()

void _objref_Problem::addObstacle

(

::hpp::pinocchio_idl::CollisionObject_ptr

object

)

addPassiveDofs()

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

addPath()

::CORBA::ULong _objref_Problem::addPath

(

::hpp::core_idl::PathVector_ptr

path

)

addPathOptimizer()

void _objref_Problem::addPathOptimizer

(

const char *

pathOptimizerType

)

appendDirectPath()

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

applyConstraints()

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

clearConfigValidations() [1/2]

void _objref_Problem::clearConfigValidations

(

)

clearConfigValidations() [2/2]

void _objref_Problem::clearConfigValidations

(

)

clearPathOptimizers()

void _objref_Problem::clearPathOptimizers

(

)

clearRoadmap()

void _objref_Problem::clearRoadmap

(

)

computeValueAndJacobian()

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

concatenatePath()

void _objref_Problem::concatenatePath	(	::CORBA::ULong	startId,
		::CORBA::ULong	endId
	)

configAtParam()

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

connectedComponentOfEdge()

::CORBA::Long _objref_Problem::connectedComponentOfEdge

(

::CORBA::ULong

edgeId

)

connectedComponentOfNode()

::CORBA::Long _objref_Problem::connectedComponentOfNode

(

::CORBA::ULong

nodeId

)

createComBeetweenFeet()

void _objref_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
	)

createConfigProjector()

core_idl::Constraint_ptr _objref_Problem::createConfigProjector	(	::hpp::pinocchio_idl::Device_ptr	robot,
		const char *	name,
		::CORBA::Double	threshold,
		::CORBA::ULong	iterations
	)

createConfigurationConstraint()

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

createConfigurationShooter()

core_idl::ConfigurationShooter_ptr _objref_Problem::createConfigurationShooter	(	const char *	type,
		::hpp::core_idl::Problem_ptr	problem
	)

createConfigValidation()

core_idl::ConfigValidation_ptr _objref_Problem::createConfigValidation	(	const char *	type,
		::hpp::pinocchio_idl::Device_ptr	robot
	)

createConstraintSet()

core_idl::Constraint_ptr _objref_Problem::createConstraintSet	(	::hpp::pinocchio_idl::Device_ptr	robot,
		const char *	name
	)

createConvexShapeContactConstraint()

void _objref_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
	)

createDistance()

core_idl::Distance_ptr _objref_Problem::createDistance	(	const char *	type,
		::hpp::core_idl::Problem_ptr	problem
	)

createDistanceBetweenJointAndObjects()

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

createDistanceBetweenJointConstraint()

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

createIdentityConstraint()

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

createLockedExtraDof()

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

createLockedJoint()

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

createLockedJointWithComp()

void _objref_Problem::createLockedJointWithComp	(	const char *	lockedJointName,
		const char *	jointName,
		const ::hpp::floatSeq &	value,
		const ::hpp::ComparisonTypes_t &	comp
	)

createManipulability()

void _objref_Problem::createManipulability	(	const char *	name,
		const char *	function
	)

createOrientationConstraint()

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

createPathOptimizer()

core_idl::PathOptimizer_ptr _objref_Problem::createPathOptimizer	(	const char *	type,
		::hpp::core_idl::Problem_ptr	problem
	)

createPathPlanner()

core_idl::PathPlanner_ptr _objref_Problem::createPathPlanner	(	const char *	type,
		::hpp::core_idl::Problem_ptr	problem,
		::hpp::core_idl::Roadmap_ptr	roadmap
	)

createPathProjector()

core_idl::PathProjector_ptr _objref_Problem::createPathProjector	(	const char *	type,
		::hpp::core_idl::Problem_ptr	robot,
		::hpp::value_type	parameter
	)

createPathValidation()

core_idl::PathValidation_ptr _objref_Problem::createPathValidation	(	const char *	type,
		::hpp::pinocchio_idl::Device_ptr	robot,
		::hpp::value_type	parameter
	)

createPositionConstraint()

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

createProblem()

core_idl::Problem_ptr _objref_Problem::createProblem

(

::hpp::pinocchio_idl::Device_ptr

robot

)

createRelativeComConstraint()

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

createRoadmap()

core_idl::Roadmap_ptr _objref_Problem::createRoadmap	(	::hpp::core_idl::Distance_ptr	distance,
		::hpp::pinocchio_idl::Device_ptr	robot
	)

createSteeringMethod()

core_idl::SteeringMethod_ptr _objref_Problem::createSteeringMethod	(	const char *	type,
		::hpp::core_idl::Problem_ptr	problem
	)

createTransformationConstraint()

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

createTransformationConstraint2()

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

createTransformationR3xSO3Constraint()

void _objref_Problem::createTransformationR3xSO3Constraint	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const ::hpp::Transform_	frame1,
		const ::hpp::Transform_	frame2,
		const ::hpp::boolSeq &	mask
	)

deleteIfExpired()

::CORBA::Boolean _objref_Problem::deleteIfExpired

(

)

deleteThis()

void _objref_Problem::deleteThis

(

)

derivativeAtParam()

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

directPath()

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

displayConstraints()

char* _objref_Problem::displayConstraints

(

)

edge()

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

erasePath()

void _objref_Problem::erasePath

(

::CORBA::ULong

pathId

)

executeOneStep()

::CORBA::Boolean _objref_Problem::executeOneStep

(

)

extractPath()

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

filterCollisionPairs() [1/2]

void _objref_Problem::filterCollisionPairs

(

)

filterCollisionPairs() [2/2]

void _objref_Problem::filterCollisionPairs

(

)

finishSolveStepByStep()

void _objref_Problem::finishSolveStepByStep

(

)

generateValidConfig()

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

getAvailable()

Names_t* _objref_Problem::getAvailable

(

const char *

type

)

getConfigurationShooter()

ConfigurationShooter_ptr _objref_Problem::getConfigurationShooter

(

)

getConfigValidations()

ConfigValidation_ptr _objref_Problem::getConfigValidations

(

)

getConstantRightHandSide()

::CORBA::Boolean _objref_Problem::getConstantRightHandSide

(

const char *

constraintName

)

getConstraint()

constraints_idl::Implicit_ptr _objref_Problem::getConstraint

(

const char *

constraintName

)

getConstraintDimensions()

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

getConstraints()

Constraint_ptr _objref_Problem::getConstraints

(

)

getDistance() [1/2]

core_idl::Distance_ptr _objref_Problem::getDistance

(

)

getDistance() [2/2]

Distance_ptr _objref_Problem::getDistance

(

)

getErrorThreshold()

::CORBA::Double _objref_Problem::getErrorThreshold

(

)

getGoalConfigs()

floatSeqSeq* _objref_Problem::getGoalConfigs

(

)

getInitConfig()

floatSeq* _objref_Problem::getInitConfig

(

)

getInitialConfig()

floatSeq* _objref_Problem::getInitialConfig

(

)

getMaxIterPathPlanning()

::CORBA::ULong _objref_Problem::getMaxIterPathPlanning

(

)

getMaxIterProjection()

::CORBA::ULong _objref_Problem::getMaxIterProjection

(

)

getMaxNumThreads()

::CORBA::UShort _objref_Problem::getMaxNumThreads

(

)

getNearestConfig()

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

getObstacle()

pinocchio_idl::CollisionObject_ptr _objref_Problem::getObstacle

(

const char *

name

)

getParameter() [1/2]

::CORBA::Any* _objref_Problem::getParameter

(

const char *

name

)

getParameter() [2/2]

::CORBA::Any* _objref_Problem::getParameter

(

const char *

name

)

getParameterDoc()

char* _objref_Problem::getParameterDoc

(

const char *

name

)

getPath()

core_idl::Path_ptr _objref_Problem::getPath

(

::CORBA::ULong

pathId

)

getPathPlanner()

core_idl::PathPlanner_ptr _objref_Problem::getPathPlanner

(

)

getPathProjector()

PathProjector_ptr _objref_Problem::getPathProjector

(

)

getPathValidation() [1/2]

core_idl::PathValidation_ptr _objref_Problem::getPathValidation

(

)

getPathValidation() [2/2]

PathValidation_ptr _objref_Problem::getPathValidation

(

)

getProblem()

core_idl::Problem_ptr _objref_Problem::getProblem

(

)

getRightHandSide()

floatSeq* _objref_Problem::getRightHandSide

(

)

getSelected()

Names_t* _objref_Problem::getSelected

(

const char *

type

)

getSteeringMethod() [1/2]

core_idl::SteeringMethod_ptr _objref_Problem::getSteeringMethod

(

)

getSteeringMethod() [2/2]

SteeringMethod_ptr _objref_Problem::getSteeringMethod

(

)

getTimeOutPathPlanning()

::CORBA::Double _objref_Problem::getTimeOutPathPlanning

(

)

getWaypoints()

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

interruptPathPlanning()

void _objref_Problem::interruptPathPlanning

(

)

loadPath()

core_idl::Path_ptr _objref_Problem::loadPath

(

const char *

filename

)

loadPlugin()

::CORBA::Boolean _objref_Problem::loadPlugin

(

const char *

pluginName

)

loadRoadmap()

void _objref_Problem::loadRoadmap

(

const char *

filename

)

movePathToProblem()

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

node()

floatSeq* _objref_Problem::node

(

::CORBA::ULong

nodeId

)

nodes()

floatSeqSeq* _objref_Problem::nodes

(

)

nodesConnectedComponent()

floatSeqSeq* _objref_Problem::nodesConnectedComponent

(

::CORBA::ULong

connectedComponentId

)

numberConnectedComponents()

::CORBA::Long _objref_Problem::numberConnectedComponents

(

)

numberEdges()

::CORBA::Long _objref_Problem::numberEdges

(

)

numberNodes()

::CORBA::Long _objref_Problem::numberNodes

(

)

numberPaths()

::CORBA::Long _objref_Problem::numberPaths

(

)

optimize()

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

optimizePath()

intSeq* _objref_Problem::optimizePath

(

::CORBA::ULong

inPathId

)

pathLength()

::CORBA::Double _objref_Problem::pathLength

(

::CORBA::ULong

inPathId

)

persistantStorage()

void _objref_Problem::persistantStorage

(

::CORBA::Boolean

persistant

)

prepareSolveStepByStep()

::CORBA::Boolean _objref_Problem::prepareSolveStepByStep

(

)

projectPath()

::CORBA::Boolean _objref_Problem::projectPath

(

::CORBA::ULong

patId

)

readRoadmap()

core_idl::Roadmap_ptr _objref_Problem::readRoadmap	(	const char *	filename,
		::hpp::pinocchio_idl::Device_ptr	robot
	)

resetConstraintMap()

void _objref_Problem::resetConstraintMap

(

)

resetConstraints()

void _objref_Problem::resetConstraints

(

)

resetGoalConfigs() [1/2]

void _objref_Problem::resetGoalConfigs

(

)

resetGoalConfigs() [2/2]

void _objref_Problem::resetGoalConfigs

(

)

resetGoalConstraints()

void _objref_Problem::resetGoalConstraints

(

)

resetProblem()

void _objref_Problem::resetProblem

(

)

resetRoadmap()

void _objref_Problem::resetRoadmap

(

)

reversePath()

::CORBA::Boolean _objref_Problem::reversePath	(	::CORBA::ULong	pathId,
		::CORBA::ULong &	reversedPathId
	)

robot()

pinocchio_idl::Device_ptr _objref_Problem::robot

(

)

savePath()

void _objref_Problem::savePath	(	::hpp::core_idl::Path_ptr	path,
		const char *	filename
	)

saveRoadmap()

void _objref_Problem::saveRoadmap

(

const char *

filename

)

scCreateScalarMultiply()

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

selectConfigurationShooter()

void _objref_Problem::selectConfigurationShooter

(

const char *

configurationShooterType

)

selectDistance()

void _objref_Problem::selectDistance

(

const char *

distanceType

)

selectPathPlanner()

void _objref_Problem::selectPathPlanner

(

const char *

pathPlannerType

)

selectPathProjector()

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

selectPathValidation()

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

selectProblem()

::CORBA::Boolean _objref_Problem::selectProblem

(

const char *

name

)

selectSteeringMethod()

void _objref_Problem::selectSteeringMethod

(

const char *

steeringMethodType

)

setConfigurationShooter()

void _objref_Problem::setConfigurationShooter

(

::hpp::core_idl::ConfigurationShooter_ptr

d

)

setConstantRightHandSide()

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

setConstraints()

void _objref_Problem::setConstraints

(

::hpp::core_idl::Constraint_ptr

constraints

)

setDefaultLineSearchType()

void _objref_Problem::setDefaultLineSearchType

(

const char *

type

)

setDistance() [1/2]

void _objref_Problem::setDistance

(

::hpp::core_idl::Distance_ptr

d

)

setDistance() [2/2]

void _objref_Problem::setDistance

(

::hpp::core_idl::Distance_ptr

distance

)

setErrorThreshold()

void _objref_Problem::setErrorThreshold

(

::CORBA::Double

threshold

)

setGoalConstraints()

void _objref_Problem::setGoalConstraints

(

const ::hpp::Names_t &

constraints

)

setInitConfig()

void _objref_Problem::setInitConfig

(

const ::hpp::floatSeq &

init

)

setInitialConfig()

void _objref_Problem::setInitialConfig

(

const ::hpp::floatSeq &

dofArray

)

setMaxIterPathPlanning()

void _objref_Problem::setMaxIterPathPlanning

(

::CORBA::ULong

iterations

)

setMaxIterProjection()

void _objref_Problem::setMaxIterProjection

(

::CORBA::ULong

iterations

)

setMaxNumThreads()

void _objref_Problem::setMaxNumThreads

(

::CORBA::UShort

n

)

setNumericalConstraintsLastPriorityOptional()

void _objref_Problem::setNumericalConstraintsLastPriorityOptional

(

::CORBA::Boolean

optional

)

setParameter() [1/2]

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

setParameter() [2/2]

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

setPathProjector()

void _objref_Problem::setPathProjector

(

::hpp::core_idl::PathProjector_ptr

p

)

setPathValidation()

void _objref_Problem::setPathValidation

(

::hpp::core_idl::PathValidation_ptr

d

)

setRandomSeed()

void _objref_Problem::setRandomSeed

(

::CORBA::Long

seed

)

setRightHandSide()

void _objref_Problem::setRightHandSide

(

const ::hpp::floatSeq &

rhs

)

setRightHandSideByName()

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

setRightHandSideFromConfig()

void _objref_Problem::setRightHandSideFromConfig

(

const ::hpp::floatSeq &

config

)

setRightHandSideFromConfigByName()

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

setRobot()

void _objref_Problem::setRobot

(

::hpp::pinocchio_idl::Device_ptr

robot

)

setSecurityMargins()

void _objref_Problem::setSecurityMargins

(

const ::hpp::floatSeqSeq &

margins

)

setSteeringMethod()

void _objref_Problem::setSteeringMethod

(

::hpp::core_idl::SteeringMethod_ptr

d

)

setTimeOutPathPlanning()

void _objref_Problem::setTimeOutPathPlanning

(

::CORBA::Double

timeOut

)

solve()

intSeq* _objref_Problem::solve

(

)

writeRoadmap()

void _objref_Problem::writeRoadmap	(	const char *	filename,
		::hpp::core_idl::Roadmap_ptr	roadmap,
		::hpp::pinocchio_idl::Device_ptr	robot
	)

Friends And Related Function Documentation

Problem

Problem

friend

---

The documentation for this class was generated from the following files:

• src/hpp/corbaserver/problem-idl.hh
• src/hpp/core_idl/_problem-idl.hh