hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
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problem-idl.hh
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1// This file is generated by omniidl (C++ backend)- omniORB_4_3. Do not edit.
2#ifndef __problem_hh__
3#define __problem_hh__
4
5#ifndef __CORBA_H_EXTERNAL_GUARD__
6#include <omniORB4/CORBA.h>
7#endif
8
9#ifndef USE_stub_in_nt_dll
10# define USE_stub_in_nt_dll_NOT_DEFINED_problem
11#endif
12#ifndef USE_core_stub_in_nt_dll
13# define USE_core_stub_in_nt_dll_NOT_DEFINED_problem
14#endif
15#ifndef USE_dyn_stub_in_nt_dll
16# define USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
17#endif
18
19
20
21#ifndef __common_hh_EXTERNAL_GUARD__
22#define __common_hh_EXTERNAL_GUARD__
23#include <hpp/common-idl.hh>
24#endif
25#ifndef __constraints_hh_EXTERNAL_GUARD__
26#define __constraints_hh_EXTERNAL_GUARD__
28#endif
29#ifndef __distances_hh_EXTERNAL_GUARD__
30#define __distances_hh_EXTERNAL_GUARD__
32#endif
33#ifndef __paths_hh_EXTERNAL_GUARD__
34#define __paths_hh_EXTERNAL_GUARD__
36#endif
37#ifndef ____constraints_hh_EXTERNAL_GUARD__
38#define ____constraints_hh_EXTERNAL_GUARD__
40#endif
41#ifndef __steering__methods_hh_EXTERNAL_GUARD__
42#define __steering__methods_hh_EXTERNAL_GUARD__
44#endif
45#ifndef __path__planners_hh_EXTERNAL_GUARD__
46#define __path__planners_hh_EXTERNAL_GUARD__
48#endif
49#ifndef __path__projectors_hh_EXTERNAL_GUARD__
50#define __path__projectors_hh_EXTERNAL_GUARD__
52#endif
53#ifndef __path__validations_hh_EXTERNAL_GUARD__
54#define __path__validations_hh_EXTERNAL_GUARD__
56#endif
57#ifndef ____problem_hh_EXTERNAL_GUARD__
58#define ____problem_hh_EXTERNAL_GUARD__
60#endif
61#ifndef __robots_hh_EXTERNAL_GUARD__
62#define __robots_hh_EXTERNAL_GUARD__
64#endif
65#ifndef __configuration__shooters_hh_EXTERNAL_GUARD__
66#define __configuration__shooters_hh_EXTERNAL_GUARD__
68#endif
69
70
71
72#ifdef USE_stub_in_nt_dll
73# ifndef USE_core_stub_in_nt_dll
74# define USE_core_stub_in_nt_dll
75# endif
76# ifndef USE_dyn_stub_in_nt_dll
77# define USE_dyn_stub_in_nt_dll
78# endif
79#endif
80
81#ifdef _core_attr
82# error "A local CPP macro _core_attr has already been defined."
83#else
84# ifdef USE_core_stub_in_nt_dll
85# define _core_attr _OMNIORB_NTDLL_IMPORT
86# else
87# define _core_attr
88# endif
89#endif
90
91#ifdef _dyn_attr
92# error "A local CPP macro _dyn_attr has already been defined."
93#else
94# ifdef USE_dyn_stub_in_nt_dll
95# define _dyn_attr _OMNIORB_NTDLL_IMPORT
96# else
97# define _dyn_attr
98# endif
99#endif
100
101
102
103_CORBA_MODULE hpp
104
105_CORBA_MODULE_BEG
106
107 _CORBA_MODULE corbaserver
108
109 _CORBA_MODULE_BEG
110
111#ifndef __hpp_mcorbaserver_mProblem__
112#define __hpp_mcorbaserver_mProblem__
113 class Problem;
114 class _objref_Problem;
115 class _impl_Problem;
116
119
121 public:
123
124 static _ptr_type _nil();
125 static _CORBA_Boolean is_nil(_ptr_type);
126 static void release(_ptr_type);
127 static void duplicate(_ptr_type);
128 static void marshalObjRef(_ptr_type, cdrStream&);
129 static _ptr_type unmarshalObjRef(cdrStream&);
130 };
131
132 typedef _CORBA_ObjRef_Var<_objref_Problem, Problem_Helper> Problem_var;
133 typedef _CORBA_ObjRef_OUT_arg<_objref_Problem,Problem_Helper > Problem_out;
134
135#endif
136
137 // interface Problem
138 class Problem {
139 public:
140 // Declarations for this interface type.
143
145 static _ptr_type _narrow(::CORBA::Object_ptr);
146 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
147
148 static _ptr_type _nil();
149
150 static inline void _marshalObjRef(_ptr_type, cdrStream&);
151
152 static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
153 omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
154 if (o)
155 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
156 else
157 return _nil();
158 }
159
160 static inline _ptr_type _fromObjRef(omniObjRef* o) {
161 if (o)
162 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
163 else
164 return _nil();
165 }
166
167 static _core_attr const char* _PD_repoId;
168
169 // Other IDL defined within this scope.
170
171 };
172
174 public virtual ::CORBA::Object,
175 public virtual omniObjRef
176 {
177 public:
178 // IDL operations
179 void setRandomSeed(::CORBA::Long seed);
180 void setMaxNumThreads(::CORBA::UShort n);
181 ::CORBA::UShort getMaxNumThreads();
182 Names_t* getAvailable(const char* type);
183 Names_t* getSelected(const char* type);
184 void setParameter(const char* name, const ::CORBA::Any& value);
185 ::CORBA::Any* getParameter(const char* name);
186 char* getParameterDoc(const char* name);
187 ::CORBA::Boolean selectProblem(const char* name);
189 ::CORBA::Boolean loadPlugin(const char* pluginName);
190 void movePathToProblem(::CORBA::ULong pathId, const char* problemName, const ::hpp::Names_t& jointNames);
191 void setInitialConfig(const ::hpp::floatSeq& dofArray);
193 void addGoalConfig(const ::hpp::floatSeq& dofArray);
196 void setGoalConstraints(const ::hpp::Names_t& constraints);
198 ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError);
199 ::CORBA::Boolean optimize(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError);
200 void computeValueAndJacobian(const ::hpp::floatSeq& config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian);
201 ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError);
202 void createOrientationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq& mask);
203 void createTransformationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq& mask);
204 void createTransformationR3xSO3Constraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask);
205 void createTransformationConstraint2(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask);
206 void createLockedJoint(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value);
207 void createLockedJointWithComp(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value, const ::hpp::ComparisonTypes_t& comp);
208 void createLockedExtraDof(const char* lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq& value);
209 void createManipulability(const char* name, const char* function);
210 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);
211 void createRelativeComConstraint(const char* constraintName, const char* comName, const char* jointLName, const ::hpp::floatSeq& point, const ::hpp::boolSeq& mask);
212 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);
213 void createPositionConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::floatSeq& point1, const ::hpp::floatSeq& point2, const ::hpp::boolSeq& mask);
214 void createConfigurationConstraint(const char* constraintName, const ::hpp::floatSeq& goal, const ::hpp::floatSeq& weights);
215 void createDistanceBetweenJointConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, ::CORBA::Double distance);
216 void createDistanceBetweenJointAndObjects(const char* constraintName, const char* joint1Name, const ::hpp::Names_t& objects, ::CORBA::Double distance);
217 void createIdentityConstraint(const char* constraintName, const ::hpp::Names_t& inJoints, const ::hpp::Names_t& outJoints);
220 void addPassiveDofs(const char* constraintName, const ::hpp::Names_t& jointNames);
221 void getConstraintDimensions(const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize);
222 void setConstantRightHandSide(const char* constraintName, ::CORBA::Boolean constant);
223 ::CORBA::Boolean getConstantRightHandSide(const char* constraintName);
225 void setRightHandSide(const ::hpp::floatSeq& rhs);
226 void setRightHandSideFromConfig(const ::hpp::floatSeq& config);
227 void setRightHandSideByName(const char* constraintName, const ::hpp::floatSeq& rhs);
228 void setRightHandSideFromConfigByName(const char* constraintName, const ::hpp::floatSeq& config);
229 void addNumericalConstraints(const char* configProjName, const ::hpp::Names_t& constraintNames, const ::hpp::intSeq& priorities);
230 void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional);
231 void addLockedJointConstraints(const char* configProjName, const ::hpp::Names_t& lockedJointNames);
233 ::CORBA::Double getErrorThreshold();
234 void setErrorThreshold(::CORBA::Double threshold);
235 void setDefaultLineSearchType(const char* type);
236 ::CORBA::ULong getMaxIterProjection();
237 void setMaxIterProjection(::CORBA::ULong iterations);
238 ::CORBA::ULong getMaxIterPathPlanning();
239 void setMaxIterPathPlanning(::CORBA::ULong iterations);
240 void scCreateScalarMultiply(const char* outName, ::CORBA::Double scalar, const char* inName);
241 ::CORBA::Double getTimeOutPathPlanning();
242 void setTimeOutPathPlanning(::CORBA::Double timeOut);
244 void selectPathPlanner(const char* pathPlannerType);
245 void selectConfigurationShooter(const char* configurationShooterType);
246 void selectDistance(const char* distanceType);
247 void selectSteeringMethod(const char* steeringMethodType);
248 void addPathOptimizer(const char* pathOptimizerType);
250 void addConfigValidation(const char* configValidationType);
252 void selectPathValidation(const char* pathValidationType, ::CORBA::Double tolerance);
253 void selectPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance);
254 ::CORBA::Boolean prepareSolveStepByStep();
255 ::CORBA::Boolean executeOneStep();
258 ::CORBA::Boolean directPath(const ::hpp::floatSeq& startConfig, const ::hpp::floatSeq& endConfig, ::CORBA::Boolean validate, ::CORBA::ULong& pathId, ::CORBA::String_out report);
259 ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId);
260 void addConfigToRoadmap(const ::hpp::floatSeq& config);
261 void addEdgeToRoadmap(const ::hpp::floatSeq& config1, const ::hpp::floatSeq& config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges);
262 void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq& config, ::CORBA::Boolean validate);
263 void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId);
264 void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end);
265 void erasePath(::CORBA::ULong pathId);
266 ::CORBA::Boolean projectPath(::CORBA::ULong patId);
267 ::CORBA::Long numberPaths();
268 intSeq* optimizePath(::CORBA::ULong inPathId);
269 ::CORBA::Double pathLength(::CORBA::ULong inPathId);
270 floatSeq* configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance);
271 floatSeq* derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance);
272 floatSeqSeq* getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times);
275 ::CORBA::Long numberNodes();
276 floatSeq* node(::CORBA::ULong nodeId);
277 ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId);
278 ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId);
279 ::CORBA::Long numberEdges();
280 void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2);
282 floatSeqSeq* nodesConnectedComponent(::CORBA::ULong connectedComponentId);
283 floatSeq* getNearestConfig(const ::hpp::floatSeq& config, ::CORBA::Long connectedComponentId, ::CORBA::Double& distance);
286 void saveRoadmap(const char* filename);
287 void loadRoadmap(const char* filename);
288 core_idl::Distance_ptr getDistance();
289 void setDistance(::hpp::core_idl::Distance_ptr distance);
290 core_idl::Path_ptr getPath(::CORBA::ULong pathId);
291 ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path);
292 void savePath(::hpp::core_idl::Path_ptr path, const char* filename);
293 core_idl::Path_ptr loadPath(const char* filename);
294 core_idl::SteeringMethod_ptr getSteeringMethod();
295 core_idl::PathValidation_ptr getPathValidation();
296 core_idl::PathPlanner_ptr getPathPlanner();
297 core_idl::Problem_ptr getProblem();
298 constraints_idl::Implicit_ptr getConstraint(const char* constraintName);
299 void setRobot(::hpp::pinocchio_idl::Device_ptr robot);
300 pinocchio_idl::CollisionObject_ptr getObstacle(const char* name);
301 core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot);
302 core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot);
303 core_idl::Roadmap_ptr readRoadmap(const char* filename, ::hpp::pinocchio_idl::Device_ptr robot);
304 void writeRoadmap(const char* filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot);
305 core_idl::PathPlanner_ptr createPathPlanner(const char* type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap);
306 core_idl::PathOptimizer_ptr createPathOptimizer(const char* type, ::hpp::core_idl::Problem_ptr problem);
307 core_idl::ConfigValidation_ptr createConfigValidation(const char* type, ::hpp::pinocchio_idl::Device_ptr robot);
308 core_idl::PathValidation_ptr createPathValidation(const char* type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter);
309 core_idl::PathProjector_ptr createPathProjector(const char* type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter);
310 core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char* type, ::hpp::core_idl::Problem_ptr problem);
311 core_idl::Distance_ptr createDistance(const char* type, ::hpp::core_idl::Problem_ptr problem);
312 core_idl::SteeringMethod_ptr createSteeringMethod(const char* type, ::hpp::core_idl::Problem_ptr problem);
313 core_idl::Constraint_ptr createConstraintSet(::hpp::pinocchio_idl::Device_ptr robot, const char* name);
314 core_idl::Constraint_ptr createConfigProjector(::hpp::pinocchio_idl::Device_ptr robot, const char* name, ::CORBA::Double threshold, ::CORBA::ULong iterations);
315
316 // Constructors
317 inline _objref_Problem() { _PR_setobj(0); } // nil
318 _objref_Problem(omniIOR*, omniIdentity*);
319
320 protected:
322
323
324 private:
325 virtual void* _ptrToObjRef(const char*);
326
328 _objref_Problem& operator = (const _objref_Problem&);
329 // not implemented
330
331 friend class Problem;
332 };
333
334 class _pof_Problem : public _OMNI_NS(proxyObjectFactory) {
335 public:
336 inline _pof_Problem() : _OMNI_NS(proxyObjectFactory)(Problem::_PD_repoId) {}
337 virtual ~_pof_Problem();
338
339 virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
340 virtual _CORBA_Boolean is_a(const char*) const;
341 };
342
344 public virtual omniServant
345 {
346 public:
347 virtual ~_impl_Problem();
348
349 virtual void setRandomSeed(::CORBA::Long seed) = 0;
350 virtual void setMaxNumThreads(::CORBA::UShort n) = 0;
351 virtual ::CORBA::UShort getMaxNumThreads() = 0;
352 virtual Names_t* getAvailable(const char* type) = 0;
353 virtual Names_t* getSelected(const char* type) = 0;
354 virtual void setParameter(const char* name, const ::CORBA::Any& value) = 0;
355 virtual ::CORBA::Any* getParameter(const char* name) = 0;
356 virtual char* getParameterDoc(const char* name) = 0;
357 virtual ::CORBA::Boolean selectProblem(const char* name) = 0;
358 virtual void resetProblem() = 0;
359 virtual ::CORBA::Boolean loadPlugin(const char* pluginName) = 0;
360 virtual void movePathToProblem(::CORBA::ULong pathId, const char* problemName, const ::hpp::Names_t& jointNames) = 0;
361 virtual void setInitialConfig(const ::hpp::floatSeq& dofArray) = 0;
363 virtual void addGoalConfig(const ::hpp::floatSeq& dofArray) = 0;
365 virtual void resetGoalConfigs() = 0;
366 virtual void setGoalConstraints(const ::hpp::Names_t& constraints) = 0;
367 virtual void resetGoalConstraints() = 0;
368 virtual ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0;
369 virtual ::CORBA::Boolean optimize(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError) = 0;
370 virtual void computeValueAndJacobian(const ::hpp::floatSeq& config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian) = 0;
371 virtual ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0;
372 virtual void createOrientationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq& mask) = 0;
373 virtual void createTransformationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq& mask) = 0;
374 virtual void createTransformationR3xSO3Constraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask) = 0;
375 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;
376 virtual void createLockedJoint(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value) = 0;
377 virtual void createLockedJointWithComp(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value, const ::hpp::ComparisonTypes_t& comp) = 0;
378 virtual void createLockedExtraDof(const char* lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq& value) = 0;
379 virtual void createManipulability(const char* name, const char* function) = 0;
380 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;
381 virtual void createRelativeComConstraint(const char* constraintName, const char* comName, const char* jointLName, const ::hpp::floatSeq& point, const ::hpp::boolSeq& mask) = 0;
382 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;
383 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;
384 virtual void createConfigurationConstraint(const char* constraintName, const ::hpp::floatSeq& goal, const ::hpp::floatSeq& weights) = 0;
385 virtual void createDistanceBetweenJointConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, ::CORBA::Double distance) = 0;
386 virtual void createDistanceBetweenJointAndObjects(const char* constraintName, const char* joint1Name, const ::hpp::Names_t& objects, ::CORBA::Double distance) = 0;
387 virtual void createIdentityConstraint(const char* constraintName, const ::hpp::Names_t& inJoints, const ::hpp::Names_t& outJoints) = 0;
388 virtual void resetConstraints() = 0;
389 virtual void resetConstraintMap() = 0;
390 virtual void addPassiveDofs(const char* constraintName, const ::hpp::Names_t& jointNames) = 0;
391 virtual void getConstraintDimensions(const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize) = 0;
392 virtual void setConstantRightHandSide(const char* constraintName, ::CORBA::Boolean constant) = 0;
393 virtual ::CORBA::Boolean getConstantRightHandSide(const char* constraintName) = 0;
395 virtual void setRightHandSide(const ::hpp::floatSeq& rhs) = 0;
396 virtual void setRightHandSideFromConfig(const ::hpp::floatSeq& config) = 0;
397 virtual void setRightHandSideByName(const char* constraintName, const ::hpp::floatSeq& rhs) = 0;
398 virtual void setRightHandSideFromConfigByName(const char* constraintName, const ::hpp::floatSeq& config) = 0;
399 virtual void addNumericalConstraints(const char* configProjName, const ::hpp::Names_t& constraintNames, const ::hpp::intSeq& priorities) = 0;
400 virtual void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional) = 0;
401 virtual void addLockedJointConstraints(const char* configProjName, const ::hpp::Names_t& lockedJointNames) = 0;
402 virtual char* displayConstraints() = 0;
403 virtual ::CORBA::Double getErrorThreshold() = 0;
404 virtual void setErrorThreshold(::CORBA::Double threshold) = 0;
405 virtual void setDefaultLineSearchType(const char* type) = 0;
406 virtual ::CORBA::ULong getMaxIterProjection() = 0;
407 virtual void setMaxIterProjection(::CORBA::ULong iterations) = 0;
408 virtual ::CORBA::ULong getMaxIterPathPlanning() = 0;
409 virtual void setMaxIterPathPlanning(::CORBA::ULong iterations) = 0;
410 virtual void scCreateScalarMultiply(const char* outName, ::CORBA::Double scalar, const char* inName) = 0;
411 virtual ::CORBA::Double getTimeOutPathPlanning() = 0;
412 virtual void setTimeOutPathPlanning(::CORBA::Double timeOut) = 0;
413 virtual void filterCollisionPairs() = 0;
414 virtual void selectPathPlanner(const char* pathPlannerType) = 0;
415 virtual void selectConfigurationShooter(const char* configurationShooterType) = 0;
416 virtual void selectDistance(const char* distanceType) = 0;
417 virtual void selectSteeringMethod(const char* steeringMethodType) = 0;
418 virtual void addPathOptimizer(const char* pathOptimizerType) = 0;
419 virtual void clearPathOptimizers() = 0;
420 virtual void addConfigValidation(const char* configValidationType) = 0;
421 virtual void clearConfigValidations() = 0;
422 virtual void selectPathValidation(const char* pathValidationType, ::CORBA::Double tolerance) = 0;
423 virtual void selectPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance) = 0;
424 virtual ::CORBA::Boolean prepareSolveStepByStep() = 0;
425 virtual ::CORBA::Boolean executeOneStep() = 0;
426 virtual void finishSolveStepByStep() = 0;
427 virtual intSeq* solve() = 0;
428 virtual ::CORBA::Boolean directPath(const ::hpp::floatSeq& startConfig, const ::hpp::floatSeq& endConfig, ::CORBA::Boolean validate, ::CORBA::ULong& pathId, ::CORBA::String_out report) = 0;
429 virtual ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId) = 0;
430 virtual void addConfigToRoadmap(const ::hpp::floatSeq& config) = 0;
431 virtual void addEdgeToRoadmap(const ::hpp::floatSeq& config1, const ::hpp::floatSeq& config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges) = 0;
432 virtual void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq& config, ::CORBA::Boolean validate) = 0;
433 virtual void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId) = 0;
434 virtual void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end) = 0;
435 virtual void erasePath(::CORBA::ULong pathId) = 0;
436 virtual ::CORBA::Boolean projectPath(::CORBA::ULong patId) = 0;
437 virtual ::CORBA::Long numberPaths() = 0;
438 virtual intSeq* optimizePath(::CORBA::ULong inPathId) = 0;
439 virtual ::CORBA::Double pathLength(::CORBA::ULong inPathId) = 0;
440 virtual floatSeq* configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance) = 0;
441 virtual floatSeq* derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance) = 0;
442 virtual floatSeqSeq* getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times) = 0;
443 virtual void interruptPathPlanning() = 0;
444 virtual floatSeqSeq* nodes() = 0;
445 virtual ::CORBA::Long numberNodes() = 0;
446 virtual floatSeq* node(::CORBA::ULong nodeId) = 0;
447 virtual ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId) = 0;
448 virtual ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId) = 0;
449 virtual ::CORBA::Long numberEdges() = 0;
450 virtual void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2) = 0;
451 virtual ::CORBA::Long numberConnectedComponents() = 0;
452 virtual floatSeqSeq* nodesConnectedComponent(::CORBA::ULong connectedComponentId) = 0;
453 virtual floatSeq* getNearestConfig(const ::hpp::floatSeq& config, ::CORBA::Long connectedComponentId, ::CORBA::Double& distance) = 0;
454 virtual void clearRoadmap() = 0;
455 virtual void resetRoadmap() = 0;
456 virtual void saveRoadmap(const char* filename) = 0;
457 virtual void loadRoadmap(const char* filename) = 0;
458 virtual core_idl::Distance_ptr getDistance() = 0;
459 virtual void setDistance(::hpp::core_idl::Distance_ptr distance) = 0;
460 virtual core_idl::Path_ptr getPath(::CORBA::ULong pathId) = 0;
461 virtual ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path) = 0;
462 virtual void savePath(::hpp::core_idl::Path_ptr path, const char* filename) = 0;
463 virtual core_idl::Path_ptr loadPath(const char* filename) = 0;
464 virtual core_idl::SteeringMethod_ptr getSteeringMethod() = 0;
465 virtual core_idl::PathValidation_ptr getPathValidation() = 0;
466 virtual core_idl::PathPlanner_ptr getPathPlanner() = 0;
467 virtual core_idl::Problem_ptr getProblem() = 0;
468 virtual constraints_idl::Implicit_ptr getConstraint(const char* constraintName) = 0;
469 virtual void setRobot(::hpp::pinocchio_idl::Device_ptr robot) = 0;
470 virtual pinocchio_idl::CollisionObject_ptr getObstacle(const char* name) = 0;
471 virtual core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot) = 0;
472 virtual core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
473 virtual core_idl::Roadmap_ptr readRoadmap(const char* filename, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
474 virtual void writeRoadmap(const char* filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
475 virtual core_idl::PathPlanner_ptr createPathPlanner(const char* type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap) = 0;
476 virtual core_idl::PathOptimizer_ptr createPathOptimizer(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
477 virtual core_idl::ConfigValidation_ptr createConfigValidation(const char* type, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
478 virtual core_idl::PathValidation_ptr createPathValidation(const char* type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter) = 0;
479 virtual core_idl::PathProjector_ptr createPathProjector(const char* type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter) = 0;
480 virtual core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
481 virtual core_idl::Distance_ptr createDistance(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
482 virtual core_idl::SteeringMethod_ptr createSteeringMethod(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
483 virtual core_idl::Constraint_ptr createConstraintSet(::hpp::pinocchio_idl::Device_ptr robot, const char* name) = 0;
484 virtual core_idl::Constraint_ptr createConfigProjector(::hpp::pinocchio_idl::Device_ptr robot, const char* name, ::CORBA::Double threshold, ::CORBA::ULong iterations) = 0;
485
486 public: // Really protected, workaround for xlC
487 virtual _CORBA_Boolean _dispatch(omniCallHandle&);
488
489 private:
490 virtual void* _ptrToInterface(const char*);
491 virtual const char* _mostDerivedRepoId();
492
493 };
494
495
496 _CORBA_MODULE_END
497
498_CORBA_MODULE_END
499
500
501
502_CORBA_MODULE POA_hpp
503_CORBA_MODULE_BEG
504
505 _CORBA_MODULE corbaserver
506 _CORBA_MODULE_BEG
507
508 class Problem :
509 public virtual hpp::corbaserver::_impl_Problem,
510 public virtual ::PortableServer::ServantBase
511 {
512 public:
513 virtual ~Problem();
514
515 inline ::hpp::corbaserver::Problem_ptr _this() {
516 return (::hpp::corbaserver::Problem_ptr) _do_this(::hpp::corbaserver::Problem::_PD_repoId);
517 }
518 };
519
520 _CORBA_MODULE_END
521
522_CORBA_MODULE_END
523
524
525
526_CORBA_MODULE OBV_hpp
527_CORBA_MODULE_BEG
528
529 _CORBA_MODULE corbaserver
530 _CORBA_MODULE_BEG
531
532 _CORBA_MODULE_END
533
534_CORBA_MODULE_END
535
536
537
538
539
540#undef _core_attr
541#undef _dyn_attr
542
543
544
545inline void
546hpp::corbaserver::Problem::_marshalObjRef(::hpp::corbaserver::Problem_ptr obj, cdrStream& s) {
547 omniObjRef::_marshal(obj->_PR_getobj(),s);
548}
549
550
551
552#ifdef USE_stub_in_nt_dll_NOT_DEFINED_problem
553# undef USE_stub_in_nt_dll
554# undef USE_stub_in_nt_dll_NOT_DEFINED_problem
555#endif
556#ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_problem
557# undef USE_core_stub_in_nt_dll
558# undef USE_core_stub_in_nt_dll_NOT_DEFINED_problem
559#endif
560#ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
561# undef USE_dyn_stub_in_nt_dll
562# undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
563#endif
564
565#endif // __problem_hh__
566
_CORBA_ObjRef_Var< _objref_Problem, Problem_Helper > Problem_var
Definition _problem-idl.hh:390
#define _core_attr
Definition _problem-idl.hh:79
Definition common-idl.hh:78
Definition problem-idl.hh:120
static _ptr_type unmarshalObjRef(cdrStream &)
static _CORBA_Boolean is_nil(_ptr_type)
static _ptr_type _nil()
Problem_ptr _ptr_type
Definition problem-idl.hh:122
static void release(_ptr_type)
static void duplicate(_ptr_type)
static void marshalObjRef(_ptr_type, cdrStream &)
Definition problem-idl.hh:138
inline ::hpp::corbaserver::Problem_ptr _this()
Definition problem-idl.hh:515
Problem_ptr _ptr_type
Definition problem-idl.hh:141
static _ptr_type _duplicate(_ptr_type)
static _core_attr const char * _PD_repoId
Definition problem-idl.hh:167
static _ptr_type _nil()
static _ptr_type _fromObjRef(omniObjRef *o)
Definition problem-idl.hh:160
static _ptr_type _narrow(::CORBA::Object_ptr)
Problem_var _var_type
Definition problem-idl.hh:142
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition problem-idl.hh:152
static void _marshalObjRef(_ptr_type, cdrStream &)
virtual ~Problem()
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
Definition problem-idl.hh:345
virtual core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot)=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 void selectSteeringMethod(const char *steeringMethodType)=0
virtual void createLockedJoint(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value)=0
virtual ::CORBA::Boolean executeOneStep()=0
virtual ::CORBA::ULong getMaxIterProjection()=0
virtual void resetProblem()=0
virtual void createOrientationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, 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 setTimeOutPathPlanning(::CORBA::Double timeOut)=0
virtual core_idl::SteeringMethod_ptr createSteeringMethod(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
virtual void getConstraintDimensions(const char *constraintName, ::CORBA::ULong &inputSize, ::CORBA::ULong &inputDerivativeSize, ::CORBA::ULong &outputSize, ::CORBA::ULong &outputDerivativeSize)=0
virtual ::CORBA::Boolean getConstantRightHandSide(const char *constraintName)=0
virtual intSeq * solve()=0
virtual void resetConstraints()=0
virtual void createConfigurationConstraint(const char *constraintName, const ::hpp::floatSeq &goal, const ::hpp::floatSeq &weights)=0
virtual void savePath(::hpp::core_idl::Path_ptr path, const char *filename)=0
virtual void addConfigValidation(const char *configValidationType)=0
virtual void createRelativeComConstraint(const char *constraintName, const char *comName, const char *jointLName, const ::hpp::floatSeq &point, const ::hpp::boolSeq &mask)=0
virtual ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId)=0
virtual void addPassiveDofs(const char *constraintName, const ::hpp::Names_t &jointNames)=0
virtual floatSeqSeq * nodes()=0
virtual void createLockedExtraDof(const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &value)=0
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
virtual void setErrorThreshold(::CORBA::Double threshold)=0
virtual void addGoalConfig(const ::hpp::floatSeq &dofArray)=0
virtual void resetGoalConstraints()=0
virtual Names_t * getSelected(const char *type)=0
virtual void clearRoadmap()=0
virtual void setGoalConstraints(const ::hpp::Names_t &constraints)=0
virtual void createLockedJointWithComp(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value, const ::hpp::ComparisonTypes_t &comp)=0
virtual void setMaxIterPathPlanning(::CORBA::ULong iterations)=0
virtual void scCreateScalarMultiply(const char *outName, ::CORBA::Double scalar, const char *inName)=0
virtual pinocchio_idl::CollisionObject_ptr getObstacle(const char *name)=0
virtual floatSeq * getInitialConfig()=0
virtual char * getParameterDoc(const char *name)=0
virtual void setRightHandSideFromConfig(const ::hpp::floatSeq &config)=0
virtual void addNumericalConstraints(const char *configProjName, const ::hpp::Names_t &constraintNames, const ::hpp::intSeq &priorities)=0
virtual void setRightHandSideByName(const char *constraintName, const ::hpp::floatSeq &rhs)=0
virtual void selectConfigurationShooter(const char *configurationShooterType)=0
virtual ::CORBA::Boolean selectProblem(const char *name)=0
virtual void resetGoalConfigs()=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 core_idl::PathPlanner_ptr createPathPlanner(const char *type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap)=0
virtual core_idl::PathValidation_ptr createPathValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter)=0
virtual ~_impl_Problem()
virtual void selectPathProjector(const char *pathProjectorType, ::CORBA::Double tolerance)=0
virtual void selectPathPlanner(const char *pathPlannerType)=0
virtual core_idl::SteeringMethod_ptr getSteeringMethod()=0
virtual ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)=0
virtual void clearPathOptimizers()=0
virtual void setRightHandSideFromConfigByName(const char *constraintName, const ::hpp::floatSeq &config)=0
virtual void createManipulability(const char *name, const char *function)=0
virtual ::CORBA::Boolean projectPath(::CORBA::ULong patId)=0
virtual void createTransformationR3xSO3Constraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)=0
virtual ::CORBA::Boolean prepareSolveStepByStep()=0
virtual void movePathToProblem(::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)=0
virtual core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot)=0
virtual core_idl::Path_ptr getPath(::CORBA::ULong pathId)=0
virtual ::CORBA::Boolean optimize(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)=0
virtual void resetConstraintMap()=0
virtual void computeValueAndJacobian(const ::hpp::floatSeq &config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)=0
virtual floatSeq * getRightHandSide()=0
virtual void setRobot(::hpp::pinocchio_idl::Device_ptr robot)=0
virtual void setParameter(const char *name, const ::CORBA::Any &value)=0
virtual floatSeq * getNearestConfig(const ::hpp::floatSeq &config, ::CORBA::Long connectedComponentId, ::CORBA::Double &distance)=0
virtual void resetRoadmap()=0
virtual core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
virtual void addConfigToRoadmap(const ::hpp::floatSeq &config)=0
virtual core_idl::Distance_ptr createDistance(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
virtual ::CORBA::Long numberEdges()=0
virtual void addPathOptimizer(const char *pathOptimizerType)=0
virtual core_idl::Distance_ptr getDistance()=0
virtual void selectPathValidation(const char *pathValidationType, ::CORBA::Double tolerance)=0
virtual ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong &reversedPathId)=0
virtual ::CORBA::UShort getMaxNumThreads()=0
virtual void setDefaultLineSearchType(const char *type)=0
virtual ::CORBA::Double getTimeOutPathPlanning()=0
virtual void clearConfigValidations()=0
virtual floatSeqSeq * getGoalConfigs()=0
virtual void createIdentityConstraint(const char *constraintName, const ::hpp::Names_t &inJoints, const ::hpp::Names_t &outJoints)=0
virtual char * displayConstraints()=0
virtual ::CORBA::Boolean loadPlugin(const char *pluginName)=0
virtual void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq &config, ::CORBA::Boolean validate)=0
virtual core_idl::PathProjector_ptr createPathProjector(const char *type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter)=0
virtual core_idl::Constraint_ptr createConstraintSet(::hpp::pinocchio_idl::Device_ptr robot, const char *name)=0
virtual void addLockedJointConstraints(const char *configProjName, const ::hpp::Names_t &lockedJointNames)=0
virtual void setConstantRightHandSide(const char *constraintName, ::CORBA::Boolean constant)=0
virtual floatSeq * derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)=0
virtual ::CORBA::Long numberNodes()=0
virtual void loadRoadmap(const char *filename)=0
virtual void finishSolveStepByStep()=0
virtual core_idl::Path_ptr loadPath(const char *filename)=0
virtual void addEdgeToRoadmap(const ::hpp::floatSeq &config1, const ::hpp::floatSeq &config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)=0
virtual pinocchio_idl::Device_ptr robot()=0
virtual void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)=0
virtual ::CORBA::Double getErrorThreshold()=0
virtual void interruptPathPlanning()=0
virtual core_idl::Problem_ptr getProblem()=0
virtual ::CORBA::Double pathLength(::CORBA::ULong inPathId)=0
virtual ::CORBA::ULong getMaxIterPathPlanning()=0
virtual void createDistanceBetweenJointConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, ::CORBA::Double distance)=0
virtual void setDistance(::hpp::core_idl::Distance_ptr distance)=0
virtual core_idl::ConfigValidation_ptr createConfigValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot)=0
virtual void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)=0
virtual core_idl::Roadmap_ptr readRoadmap(const char *filename, ::hpp::pinocchio_idl::Device_ptr robot)=0
virtual ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)=0
virtual Names_t * getAvailable(const char *type)=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 setMaxIterProjection(::CORBA::ULong iterations)=0
virtual void erasePath(::CORBA::ULong pathId)=0
virtual void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional)=0
virtual constraints_idl::Implicit_ptr getConstraint(const char *constraintName)=0
virtual floatSeqSeq * getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times)=0
virtual void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId)=0
virtual floatSeqSeq * nodesConnectedComponent(::CORBA::ULong connectedComponentId)=0
virtual core_idl::PathPlanner_ptr getPathPlanner()=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 writeRoadmap(const char *filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot)=0
virtual void setRightHandSide(const ::hpp::floatSeq &rhs)=0
virtual ::CORBA::Any * getParameter(const char *name)=0
virtual void setInitialConfig(const ::hpp::floatSeq &dofArray)=0
virtual void selectDistance(const char *distanceType)=0
virtual ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId)=0
virtual void filterCollisionPairs()=0
virtual void saveRoadmap(const char *filename)=0
virtual core_idl::PathOptimizer_ptr createPathOptimizer(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
virtual floatSeq * node(::CORBA::ULong nodeId)=0
virtual ::CORBA::Long numberConnectedComponents()=0
virtual void setRandomSeed(::CORBA::Long seed)=0
virtual floatSeq * configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance)=0
virtual ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path)=0
virtual core_idl::Constraint_ptr createConfigProjector(::hpp::pinocchio_idl::Device_ptr robot, const char *name, ::CORBA::Double threshold, ::CORBA::ULong iterations)=0
virtual core_idl::PathValidation_ptr getPathValidation()=0
virtual void createDistanceBetweenJointAndObjects(const char *constraintName, const char *joint1Name, const ::hpp::Names_t &objects, ::CORBA::Double distance)=0
virtual intSeq * optimizePath(::CORBA::ULong inPathId)=0
virtual ::CORBA::Long numberPaths()=0
virtual void setMaxNumThreads(::CORBA::UShort n)=0
virtual void createTransformationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &mask)=0
Definition problem-idl.hh:176
core_idl::PathValidation_ptr createPathValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter)
void createOrientationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq &mask)
constraints_idl::Implicit_ptr getConstraint(const char *constraintName)
::CORBA::Boolean executeOneStep()
core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char *type, ::hpp::core_idl::Problem_ptr problem)
::CORBA::Long numberNodes()
Names_t * getSelected(const char *type)
void createDistanceBetweenJointAndObjects(const char *constraintName, const char *joint1Name, const ::hpp::Names_t &objects, ::CORBA::Double distance)
void addLockedJointConstraints(const char *configProjName, const ::hpp::Names_t &lockedJointNames)
void movePathToProblem(::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)
void resetGoalConstraints()
_objref_Problem()
Definition problem-idl.hh:317
::CORBA::ULong getMaxIterPathPlanning()
core_idl::SteeringMethod_ptr createSteeringMethod(const char *type, ::hpp::core_idl::Problem_ptr problem)
core_idl::Path_ptr getPath(::CORBA::ULong pathId)
core_idl::Constraint_ptr createConfigProjector(::hpp::pinocchio_idl::Device_ptr robot, const char *name, ::CORBA::Double threshold, ::CORBA::ULong iterations)
void setMaxIterProjection(::CORBA::ULong iterations)
::CORBA::UShort getMaxNumThreads()
core_idl::Path_ptr loadPath(const char *filename)
void addGoalConfig(const ::hpp::floatSeq &dofArray)
void selectSteeringMethod(const char *steeringMethodType)
void setErrorThreshold(::CORBA::Double threshold)
void setRobot(::hpp::pinocchio_idl::Device_ptr robot)
void savePath(::hpp::core_idl::Path_ptr path, const char *filename)
::CORBA::Long numberEdges()
void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)
void computeValueAndJacobian(const ::hpp::floatSeq &config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)
void filterCollisionPairs()
void selectPathPlanner(const char *pathPlannerType)
core_idl::Constraint_ptr createConstraintSet(::hpp::pinocchio_idl::Device_ptr robot, const char *name)
floatSeq * configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance)
void createPositionConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::floatSeq &point1, const ::hpp::floatSeq &point2, const ::hpp::boolSeq &mask)
floatSeqSeq * nodes()
::CORBA::Double pathLength(::CORBA::ULong inPathId)
core_idl::Roadmap_ptr readRoadmap(const char *filename, ::hpp::pinocchio_idl::Device_ptr robot)
void setInitialConfig(const ::hpp::floatSeq &dofArray)
void createLockedExtraDof(const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &value)
floatSeq * getInitialConfig()
void setRightHandSideByName(const char *constraintName, const ::hpp::floatSeq &rhs)
void loadRoadmap(const char *filename)
void saveRoadmap(const char *filename)
void createTransformationConstraint2(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)
void addPassiveDofs(const char *constraintName, const ::hpp::Names_t &jointNames)
floatSeq * derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)
core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot)
void setMaxIterPathPlanning(::CORBA::ULong iterations)
void addConfigToRoadmap(const ::hpp::floatSeq &config)
void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)
_objref_Problem(omniIOR *, omniIdentity *)
void createLockedJointWithComp(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value, const ::hpp::ComparisonTypes_t &comp)
floatSeq * getRightHandSide()
::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path)
::CORBA::Boolean getConstantRightHandSide(const char *constraintName)
void setConstantRightHandSide(const char *constraintName, ::CORBA::Boolean constant)
core_idl::Distance_ptr getDistance()
void resetConstraints()
void createLockedJoint(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value)
core_idl::SteeringMethod_ptr getSteeringMethod()
core_idl::PathOptimizer_ptr createPathOptimizer(const char *type, ::hpp::core_idl::Problem_ptr problem)
void getConstraintDimensions(const char *constraintName, ::CORBA::ULong &inputSize, ::CORBA::ULong &inputDerivativeSize, ::CORBA::ULong &outputSize, ::CORBA::ULong &outputDerivativeSize)
intSeq * optimizePath(::CORBA::ULong inPathId)
void selectPathValidation(const char *pathValidationType, ::CORBA::Double tolerance)
void createManipulability(const char *name, const char *function)
::CORBA::Boolean projectPath(::CORBA::ULong patId)
void selectPathProjector(const char *pathProjectorType, ::CORBA::Double tolerance)
::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong &reversedPathId)
void setRightHandSideFromConfig(const ::hpp::floatSeq &config)
void createTransformationR3xSO3Constraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)
void createDistanceBetweenJointConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, ::CORBA::Double distance)
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)
::CORBA::Boolean loadPlugin(const char *pluginName)
pinocchio_idl::Device_ptr robot()
::CORBA::Boolean selectProblem(const char *name)
void addNumericalConstraints(const char *configProjName, const ::hpp::Names_t &constraintNames, const ::hpp::intSeq &priorities)
void addEdgeToRoadmap(const ::hpp::floatSeq &config1, const ::hpp::floatSeq &config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)
::CORBA::Long numberConnectedComponents()
core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot)
::CORBA::Boolean prepareSolveStepByStep()
floatSeqSeq * nodesConnectedComponent(::CORBA::ULong connectedComponentId)
void erasePath(::CORBA::ULong pathId)
void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId)
void resetConstraintMap()
::CORBA::Any * getParameter(const char *name)
core_idl::PathProjector_ptr createPathProjector(const char *type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter)
::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId)
Names_t * getAvailable(const char *type)
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 createTransformationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &mask)
::CORBA::Double getErrorThreshold()
void resetGoalConfigs()
char * getParameterDoc(const char *name)
core_idl::ConfigValidation_ptr createConfigValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot)
void clearConfigValidations()
void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional)
core_idl::PathPlanner_ptr getPathPlanner()
virtual ~_objref_Problem()
core_idl::Distance_ptr createDistance(const char *type, ::hpp::core_idl::Problem_ptr problem)
void setDefaultLineSearchType(const char *type)
void setGoalConstraints(const ::hpp::Names_t &constraints)
void createConfigurationConstraint(const char *constraintName, const ::hpp::floatSeq &goal, const ::hpp::floatSeq &weights)
floatSeq * node(::CORBA::ULong nodeId)
void finishSolveStepByStep()
floatSeqSeq * getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times)
::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)
void selectDistance(const char *distanceType)
::CORBA::Long numberPaths()
::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId)
void setRightHandSideFromConfigByName(const char *constraintName, const ::hpp::floatSeq &config)
void createIdentityConstraint(const char *constraintName, const ::hpp::Names_t &inJoints, const ::hpp::Names_t &outJoints)
void setMaxNumThreads(::CORBA::UShort n)
void interruptPathPlanning()
pinocchio_idl::CollisionObject_ptr getObstacle(const char *name)
void scCreateScalarMultiply(const char *outName, ::CORBA::Double scalar, const char *inName)
::CORBA::Double getTimeOutPathPlanning()
void createRelativeComConstraint(const char *constraintName, const char *comName, const char *jointLName, const ::hpp::floatSeq &point, const ::hpp::boolSeq &mask)
void addConfigValidation(const char *configValidationType)
void setParameter(const char *name, const ::CORBA::Any &value)
core_idl::PathPlanner_ptr createPathPlanner(const char *type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap)
char * displayConstraints()
void setDistance(::hpp::core_idl::Distance_ptr distance)
::CORBA::ULong getMaxIterProjection()
floatSeqSeq * getGoalConfigs()
void setRightHandSide(const ::hpp::floatSeq &rhs)
::CORBA::Boolean optimize(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)
void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq &config, ::CORBA::Boolean validate)
::CORBA::Boolean applyConstraints(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)
void addPathOptimizer(const char *pathOptimizerType)
core_idl::Problem_ptr getProblem()
void clearPathOptimizers()
core_idl::PathValidation_ptr getPathValidation()
::CORBA::Boolean directPath(const ::hpp::floatSeq &startConfig, const ::hpp::floatSeq &endConfig, ::CORBA::Boolean validate, ::CORBA::ULong &pathId, ::CORBA::String_out report)
floatSeq * getNearestConfig(const ::hpp::floatSeq &config, ::CORBA::Long connectedComponentId, ::CORBA::Double &distance)
void setRandomSeed(::CORBA::Long seed)
void writeRoadmap(const char *filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot)
void selectConfigurationShooter(const char *configurationShooterType)
intSeq * solve()
void setTimeOutPathPlanning(::CORBA::Double timeOut)
Definition problem-idl.hh:334
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
_pof_Problem()
Definition problem-idl.hh:336
virtual ~_pof_Problem()
virtual _CORBA_Boolean is_a(const char *) const
Definition common-idl.hh:803
Definition common-idl.hh:689
Definition common-idl.hh:461
Implement CORBA interface `‘Obstacle’'.
Definition client.hh:46
double value_type
Definition common.idl:18
_CORBA_ObjRef_Var< _objref_Problem, Problem_Helper > Problem_var
Definition problem-idl.hh:132
_objref_Problem * Problem_ptr
Definition problem-idl.hh:117
_CORBA_ObjRef_OUT_arg< _objref_Problem, Problem_Helper > Problem_out
Definition problem-idl.hh:133
Problem_ptr ProblemRef
Definition problem-idl.hh:118