hpp-corbaserver  6.0.0
Corba server for Humanoid Path Planner applications
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__
27 #include <hpp/constraints_idl/constraints-idl.hh>
28 #endif
29 #ifndef __distances_hh_EXTERNAL_GUARD__
30 #define __distances_hh_EXTERNAL_GUARD__
31 #include <hpp/core_idl/distances-idl.hh>
32 #endif
33 #ifndef __paths_hh_EXTERNAL_GUARD__
34 #define __paths_hh_EXTERNAL_GUARD__
35 #include <hpp/core_idl/paths-idl.hh>
36 #endif
37 #ifndef ____constraints_hh_EXTERNAL_GUARD__
38 #define ____constraints_hh_EXTERNAL_GUARD__
39 #include <hpp/core_idl/_constraints-idl.hh>
40 #endif
41 #ifndef __steering__methods_hh_EXTERNAL_GUARD__
42 #define __steering__methods_hh_EXTERNAL_GUARD__
43 #include <hpp/core_idl/steering_methods-idl.hh>
44 #endif
45 #ifndef __path__planners_hh_EXTERNAL_GUARD__
46 #define __path__planners_hh_EXTERNAL_GUARD__
47 #include <hpp/core_idl/path_planners-idl.hh>
48 #endif
49 #ifndef __path__projectors_hh_EXTERNAL_GUARD__
50 #define __path__projectors_hh_EXTERNAL_GUARD__
51 #include <hpp/core_idl/path_projectors-idl.hh>
52 #endif
53 #ifndef __path__validations_hh_EXTERNAL_GUARD__
54 #define __path__validations_hh_EXTERNAL_GUARD__
55 #include <hpp/core_idl/path_validations-idl.hh>
56 #endif
57 #ifndef ____problem_hh_EXTERNAL_GUARD__
58 #define ____problem_hh_EXTERNAL_GUARD__
59 #include <hpp/core_idl/_problem-idl.hh>
60 #endif
61 #ifndef __robots_hh_EXTERNAL_GUARD__
62 #define __robots_hh_EXTERNAL_GUARD__
63 #include <hpp/pinocchio_idl/robots-idl.hh>
64 #endif
65 #ifndef __configuration__shooters_hh_EXTERNAL_GUARD__
66 #define __configuration__shooters_hh_EXTERNAL_GUARD__
67 #include <hpp/core_idl/configuration_shooters-idl.hh>
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 
117  typedef _objref_Problem* Problem_ptr;
118  typedef Problem_ptr ProblemRef;
119 
120  class Problem_Helper {
121  public:
122  typedef Problem_ptr _ptr_type;
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.
141  typedef Problem_ptr _ptr_type;
142  typedef Problem_var _var_type;
143 
144  static _ptr_type _duplicate(_ptr_type);
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 
173  class _objref_Problem :
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);
188  void resetProblem();
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);
192  floatSeq* getInitialConfig();
193  void addGoalConfig(const ::hpp::floatSeq& dofArray);
194  floatSeqSeq* getGoalConfigs();
195  void resetGoalConfigs();
196  void setGoalConstraints(const ::hpp::Names_t& constraints);
197  void resetGoalConstraints();
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);
218  void resetConstraints();
219  void resetConstraintMap();
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);
224  floatSeq* getRightHandSide();
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);
232  char* displayConstraints();
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);
243  void filterCollisionPairs();
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);
249  void clearPathOptimizers();
250  void addConfigValidation(const char* configValidationType);
251  void clearConfigValidations();
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();
256  void finishSolveStepByStep();
257  intSeq* solve();
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);
273  void interruptPathPlanning();
274  floatSeqSeq* nodes();
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);
281  ::CORBA::Long numberConnectedComponents();
282  floatSeqSeq* nodesConnectedComponent(::CORBA::ULong connectedComponentId);
283  floatSeq* getNearestConfig(const ::hpp::floatSeq& config, ::CORBA::Long connectedComponentId, ::CORBA::Double& distance);
284  void clearRoadmap();
285  void resetRoadmap();
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:
321  virtual ~_objref_Problem();
322 
323 
324  private:
325  virtual void* _ptrToObjRef(const char*);
326 
327  _objref_Problem(const _objref_Problem&);
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 
343  class _impl_Problem :
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;
362  virtual floatSeq* getInitialConfig() = 0;
363  virtual void addGoalConfig(const ::hpp::floatSeq& dofArray) = 0;
364  virtual floatSeqSeq* getGoalConfigs() = 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;
394  virtual floatSeq* getRightHandSide() = 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 
545 inline void
546 hpp::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 
_constraints-idl.hh
Constraint_ptr
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
_problem-idl.hh
Distance_ptr
_objref_Distance * Distance_ptr
Definition: _problem-idl.hh:165
ConfigValidation_ptr
_objref_ConfigValidation * ConfigValidation_ptr
Definition: _problem-idl.hh:217
PathValidation_ptr
_objref_PathValidation * PathValidation_ptr
Definition: _problem-idl.hh:269
ConfigurationShooter_ptr
_objref_ConfigurationShooter * ConfigurationShooter_ptr
Definition: _problem-idl.hh:295
Device_ptr
_objref_Device * Device_ptr
Definition: _problem-idl.hh:107
PathProjector_ptr
_objref_PathProjector * PathProjector_ptr
Definition: _problem-idl.hh:243
CollisionObject_ptr
_objref_CollisionObject * CollisionObject_ptr
Definition: _problem-idl.hh:133
SteeringMethod_ptr
_objref_SteeringMethod * SteeringMethod_ptr
Definition: _problem-idl.hh:191
Names_t
Definition: common-idl.hh:78
Problem_Helper
Definition: problem-idl.hh:120
Problem_Helper::unmarshalObjRef
static _ptr_type unmarshalObjRef(cdrStream &)
Problem_Helper::is_nil
static _CORBA_Boolean is_nil(_ptr_type)
Problem_Helper::_nil
static _ptr_type _nil()
Problem_Helper::_ptr_type
Problem_ptr _ptr_type
Definition: problem-idl.hh:122
Problem_Helper::release
static void release(_ptr_type)
Problem_Helper::duplicate
static void duplicate(_ptr_type)
Problem_Helper::marshalObjRef
static void marshalObjRef(_ptr_type, cdrStream &)
Problem
Definition: problem-idl.hh:138
Problem::_this
inline ::hpp::corbaserver::Problem_ptr _this()
Definition: problem-idl.hh:515
Problem::_ptr_type
Problem_ptr _ptr_type
Definition: problem-idl.hh:141
Problem::_duplicate
static _ptr_type _duplicate(_ptr_type)
Problem::_PD_repoId
static _core_attr const char * _PD_repoId
Definition: problem-idl.hh:167
Problem::_nil
static _ptr_type _nil()
Problem::_fromObjRef
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: problem-idl.hh:160
Problem::_narrow
static _ptr_type _narrow(::CORBA::Object_ptr)
Problem::_var_type
Problem_var _var_type
Definition: problem-idl.hh:142
Problem::_unmarshalObjRef
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: problem-idl.hh:152
Problem::_marshalObjRef
static void _marshalObjRef(_ptr_type, cdrStream &)
Problem::~Problem
virtual ~Problem()
Problem::_unchecked_narrow
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
_impl_Problem
Definition: problem-idl.hh:345
_impl_Problem::createRoadmap
virtual core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot)=0
_impl_Problem::directPath
virtual ::CORBA::Boolean directPath(const ::hpp::floatSeq &startConfig, const ::hpp::floatSeq &endConfig, ::CORBA::Boolean validate, ::CORBA::ULong &pathId, ::CORBA::String_out report)=0
_impl_Problem::selectSteeringMethod
virtual void selectSteeringMethod(const char *steeringMethodType)=0
_impl_Problem::createLockedJoint
virtual void createLockedJoint(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value)=0
_impl_Problem::executeOneStep
virtual ::CORBA::Boolean executeOneStep()=0
_impl_Problem::getMaxIterProjection
virtual ::CORBA::ULong getMaxIterProjection()=0
_impl_Problem::resetProblem
virtual void resetProblem()=0
_impl_Problem::createOrientationConstraint
virtual void createOrientationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq &mask)=0
_impl_Problem::createConvexShapeContactConstraint
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
_impl_Problem::setTimeOutPathPlanning
virtual void setTimeOutPathPlanning(::CORBA::Double timeOut)=0
_impl_Problem::createSteeringMethod
virtual core_idl::SteeringMethod_ptr createSteeringMethod(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
_impl_Problem::getConstraintDimensions
virtual void getConstraintDimensions(const char *constraintName, ::CORBA::ULong &inputSize, ::CORBA::ULong &inputDerivativeSize, ::CORBA::ULong &outputSize, ::CORBA::ULong &outputDerivativeSize)=0
_impl_Problem::getConstantRightHandSide
virtual ::CORBA::Boolean getConstantRightHandSide(const char *constraintName)=0
_impl_Problem::resetConstraints
virtual void resetConstraints()=0
_impl_Problem::createConfigurationConstraint
virtual void createConfigurationConstraint(const char *constraintName, const ::hpp::floatSeq &goal, const ::hpp::floatSeq &weights)=0
_impl_Problem::savePath
virtual void savePath(::hpp::core_idl::Path_ptr path, const char *filename)=0
_impl_Problem::addConfigValidation
virtual void addConfigValidation(const char *configValidationType)=0
_impl_Problem::node
virtual floatSeq * node(::CORBA::ULong nodeId)=0
_impl_Problem::createRelativeComConstraint
virtual void createRelativeComConstraint(const char *constraintName, const char *comName, const char *jointLName, const ::hpp::floatSeq &point, const ::hpp::boolSeq &mask)=0
_impl_Problem::connectedComponentOfNode
virtual ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId)=0
_impl_Problem::addPassiveDofs
virtual void addPassiveDofs(const char *constraintName, const ::hpp::Names_t &jointNames)=0
_impl_Problem::createLockedExtraDof
virtual void createLockedExtraDof(const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &value)=0
_impl_Problem::_dispatch
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
_impl_Problem::setErrorThreshold
virtual void setErrorThreshold(::CORBA::Double threshold)=0
_impl_Problem::addGoalConfig
virtual void addGoalConfig(const ::hpp::floatSeq &dofArray)=0
_impl_Problem::resetGoalConstraints
virtual void resetGoalConstraints()=0
_impl_Problem::getSelected
virtual Names_t * getSelected(const char *type)=0
_impl_Problem::nodes
virtual floatSeqSeq * nodes()=0
_impl_Problem::clearRoadmap
virtual void clearRoadmap()=0
_impl_Problem::configAtParam
virtual floatSeq * configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance)=0
_impl_Problem::setGoalConstraints
virtual void setGoalConstraints(const ::hpp::Names_t &constraints)=0
_impl_Problem::createLockedJointWithComp
virtual void createLockedJointWithComp(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value, const ::hpp::ComparisonTypes_t &comp)=0
_impl_Problem::setMaxIterPathPlanning
virtual void setMaxIterPathPlanning(::CORBA::ULong iterations)=0
_impl_Problem::nodesConnectedComponent
virtual floatSeqSeq * nodesConnectedComponent(::CORBA::ULong connectedComponentId)=0
_impl_Problem::scCreateScalarMultiply
virtual void scCreateScalarMultiply(const char *outName, ::CORBA::Double scalar, const char *inName)=0
_impl_Problem::getObstacle
virtual pinocchio_idl::CollisionObject_ptr getObstacle(const char *name)=0
_impl_Problem::getGoalConfigs
virtual floatSeqSeq * getGoalConfigs()=0
_impl_Problem::setRightHandSideFromConfig
virtual void setRightHandSideFromConfig(const ::hpp::floatSeq &config)=0
_impl_Problem::getParameter
virtual ::CORBA::Any * getParameter(const char *name)=0
_impl_Problem::addNumericalConstraints
virtual void addNumericalConstraints(const char *configProjName, const ::hpp::Names_t &constraintNames, const ::hpp::intSeq &priorities)=0
_impl_Problem::setRightHandSideByName
virtual void setRightHandSideByName(const char *constraintName, const ::hpp::floatSeq &rhs)=0
_impl_Problem::selectConfigurationShooter
virtual void selectConfigurationShooter(const char *configurationShooterType)=0
_impl_Problem::selectProblem
virtual ::CORBA::Boolean selectProblem(const char *name)=0
_impl_Problem::resetGoalConfigs
virtual void resetGoalConfigs()=0
_impl_Problem::createPositionConstraint
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
_impl_Problem::createPathPlanner
virtual core_idl::PathPlanner_ptr createPathPlanner(const char *type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap)=0
_impl_Problem::createPathValidation
virtual core_idl::PathValidation_ptr createPathValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter)=0
_impl_Problem::~_impl_Problem
virtual ~_impl_Problem()
_impl_Problem::selectPathProjector
virtual void selectPathProjector(const char *pathProjectorType, ::CORBA::Double tolerance)=0
_impl_Problem::selectPathPlanner
virtual void selectPathPlanner(const char *pathPlannerType)=0
_impl_Problem::getSteeringMethod
virtual core_idl::SteeringMethod_ptr getSteeringMethod()=0
_impl_Problem::generateValidConfig
virtual ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)=0
_impl_Problem::clearPathOptimizers
virtual void clearPathOptimizers()=0
_impl_Problem::setRightHandSideFromConfigByName
virtual void setRightHandSideFromConfigByName(const char *constraintName, const ::hpp::floatSeq &config)=0
_impl_Problem::getRightHandSide
virtual floatSeq * getRightHandSide()=0
_impl_Problem::createManipulability
virtual void createManipulability(const char *name, const char *function)=0
_impl_Problem::projectPath
virtual ::CORBA::Boolean projectPath(::CORBA::ULong patId)=0
_impl_Problem::createTransformationR3xSO3Constraint
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
_impl_Problem::prepareSolveStepByStep
virtual ::CORBA::Boolean prepareSolveStepByStep()=0
_impl_Problem::movePathToProblem
virtual void movePathToProblem(::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)=0
_impl_Problem::createProblem
virtual core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot)=0
_impl_Problem::getPath
virtual core_idl::Path_ptr getPath(::CORBA::ULong pathId)=0
_impl_Problem::derivativeAtParam
virtual floatSeq * derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)=0
_impl_Problem::optimize
virtual ::CORBA::Boolean optimize(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)=0
_impl_Problem::resetConstraintMap
virtual void resetConstraintMap()=0
_impl_Problem::computeValueAndJacobian
virtual void computeValueAndJacobian(const ::hpp::floatSeq &config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)=0
_impl_Problem::getNearestConfig
virtual floatSeq * getNearestConfig(const ::hpp::floatSeq &config, ::CORBA::Long connectedComponentId, ::CORBA::Double &distance)=0
_impl_Problem::setRobot
virtual void setRobot(::hpp::pinocchio_idl::Device_ptr robot)=0
_impl_Problem::setParameter
virtual void setParameter(const char *name, const ::CORBA::Any &value)=0
_impl_Problem::resetRoadmap
virtual void resetRoadmap()=0
_impl_Problem::createConfigurationShooter
virtual core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
_impl_Problem::addConfigToRoadmap
virtual void addConfigToRoadmap(const ::hpp::floatSeq &config)=0
_impl_Problem::optimizePath
virtual intSeq * optimizePath(::CORBA::ULong inPathId)=0
_impl_Problem::createDistance
virtual core_idl::Distance_ptr createDistance(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
_impl_Problem::numberEdges
virtual ::CORBA::Long numberEdges()=0
_impl_Problem::addPathOptimizer
virtual void addPathOptimizer(const char *pathOptimizerType)=0
_impl_Problem::getDistance
virtual core_idl::Distance_ptr getDistance()=0
_impl_Problem::selectPathValidation
virtual void selectPathValidation(const char *pathValidationType, ::CORBA::Double tolerance)=0
_impl_Problem::reversePath
virtual ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong &reversedPathId)=0
_impl_Problem::getMaxNumThreads
virtual ::CORBA::UShort getMaxNumThreads()=0
_impl_Problem::getWaypoints
virtual floatSeqSeq * getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times)=0
_impl_Problem::setDefaultLineSearchType
virtual void setDefaultLineSearchType(const char *type)=0
_impl_Problem::getTimeOutPathPlanning
virtual ::CORBA::Double getTimeOutPathPlanning()=0
_impl_Problem::clearConfigValidations
virtual void clearConfigValidations()=0
_impl_Problem::getParameterDoc
virtual char * getParameterDoc(const char *name)=0
_impl_Problem::createIdentityConstraint
virtual void createIdentityConstraint(const char *constraintName, const ::hpp::Names_t &inJoints, const ::hpp::Names_t &outJoints)=0
_impl_Problem::loadPlugin
virtual ::CORBA::Boolean loadPlugin(const char *pluginName)=0
_impl_Problem::appendDirectPath
virtual void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq &config, ::CORBA::Boolean validate)=0
_impl_Problem::createPathProjector
virtual core_idl::PathProjector_ptr createPathProjector(const char *type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter)=0
_impl_Problem::createConstraintSet
virtual core_idl::Constraint_ptr createConstraintSet(::hpp::pinocchio_idl::Device_ptr robot, const char *name)=0
_impl_Problem::addLockedJointConstraints
virtual void addLockedJointConstraints(const char *configProjName, const ::hpp::Names_t &lockedJointNames)=0
_impl_Problem::setConstantRightHandSide
virtual void setConstantRightHandSide(const char *constraintName, ::CORBA::Boolean constant)=0
_impl_Problem::numberNodes
virtual ::CORBA::Long numberNodes()=0
_impl_Problem::loadRoadmap
virtual void loadRoadmap(const char *filename)=0
_impl_Problem::finishSolveStepByStep
virtual void finishSolveStepByStep()=0
_impl_Problem::loadPath
virtual core_idl::Path_ptr loadPath(const char *filename)=0
_impl_Problem::addEdgeToRoadmap
virtual void addEdgeToRoadmap(const ::hpp::floatSeq &config1, const ::hpp::floatSeq &config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)=0
_impl_Problem::robot
virtual pinocchio_idl::Device_ptr robot()=0
_impl_Problem::extractPath
virtual void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)=0
_impl_Problem::getErrorThreshold
virtual ::CORBA::Double getErrorThreshold()=0
_impl_Problem::interruptPathPlanning
virtual void interruptPathPlanning()=0
_impl_Problem::getProblem
virtual core_idl::Problem_ptr getProblem()=0
_impl_Problem::pathLength
virtual ::CORBA::Double pathLength(::CORBA::ULong inPathId)=0
_impl_Problem::getMaxIterPathPlanning
virtual ::CORBA::ULong getMaxIterPathPlanning()=0
_impl_Problem::createDistanceBetweenJointConstraint
virtual void createDistanceBetweenJointConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, ::CORBA::Double distance)=0
_impl_Problem::setDistance
virtual void setDistance(::hpp::core_idl::Distance_ptr distance)=0
_impl_Problem::createConfigValidation
virtual core_idl::ConfigValidation_ptr createConfigValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot)=0
_impl_Problem::edge
virtual void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)=0
_impl_Problem::readRoadmap
virtual core_idl::Roadmap_ptr readRoadmap(const char *filename, ::hpp::pinocchio_idl::Device_ptr robot)=0
_impl_Problem::applyConstraints
virtual ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)=0
_impl_Problem::createTransformationConstraint2
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
_impl_Problem::setMaxIterProjection
virtual void setMaxIterProjection(::CORBA::ULong iterations)=0
_impl_Problem::solve
virtual intSeq * solve()=0
_impl_Problem::erasePath
virtual void erasePath(::CORBA::ULong pathId)=0
_impl_Problem::setNumericalConstraintsLastPriorityOptional
virtual void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional)=0
_impl_Problem::getConstraint
virtual constraints_idl::Implicit_ptr getConstraint(const char *constraintName)=0
_impl_Problem::concatenatePath
virtual void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId)=0
_impl_Problem::getPathPlanner
virtual core_idl::PathPlanner_ptr getPathPlanner()=0
_impl_Problem::createComBeetweenFeet
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
_impl_Problem::writeRoadmap
virtual void writeRoadmap(const char *filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot)=0
_impl_Problem::setRightHandSide
virtual void setRightHandSide(const ::hpp::floatSeq &rhs)=0
_impl_Problem::setInitialConfig
virtual void setInitialConfig(const ::hpp::floatSeq &dofArray)=0
_impl_Problem::selectDistance
virtual void selectDistance(const char *distanceType)=0
_impl_Problem::connectedComponentOfEdge
virtual ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId)=0
_impl_Problem::filterCollisionPairs
virtual void filterCollisionPairs()=0
_impl_Problem::saveRoadmap
virtual void saveRoadmap(const char *filename)=0
_impl_Problem::createPathOptimizer
virtual core_idl::PathOptimizer_ptr createPathOptimizer(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
_impl_Problem::numberConnectedComponents
virtual ::CORBA::Long numberConnectedComponents()=0
_impl_Problem::setRandomSeed
virtual void setRandomSeed(::CORBA::Long seed)=0
_impl_Problem::getInitialConfig
virtual floatSeq * getInitialConfig()=0
_impl_Problem::addPath
virtual ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path)=0
_impl_Problem::createConfigProjector
virtual core_idl::Constraint_ptr createConfigProjector(::hpp::pinocchio_idl::Device_ptr robot, const char *name, ::CORBA::Double threshold, ::CORBA::ULong iterations)=0
_impl_Problem::getPathValidation
virtual core_idl::PathValidation_ptr getPathValidation()=0
_impl_Problem::createDistanceBetweenJointAndObjects
virtual void createDistanceBetweenJointAndObjects(const char *constraintName, const char *joint1Name, const ::hpp::Names_t &objects, ::CORBA::Double distance)=0
_impl_Problem::displayConstraints
virtual char * displayConstraints()=0
_impl_Problem::getAvailable
virtual Names_t * getAvailable(const char *type)=0
_impl_Problem::numberPaths
virtual ::CORBA::Long numberPaths()=0
_impl_Problem::setMaxNumThreads
virtual void setMaxNumThreads(::CORBA::UShort n)=0
_impl_Problem::createTransformationConstraint
virtual void createTransformationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &mask)=0
_objref_Problem
Definition: problem-idl.hh:176
_objref_Problem::createPathValidation
core_idl::PathValidation_ptr createPathValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter)
_objref_Problem::createOrientationConstraint
void createOrientationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq &mask)
_objref_Problem::getConstraint
constraints_idl::Implicit_ptr getConstraint(const char *constraintName)
_objref_Problem::executeOneStep
::CORBA::Boolean executeOneStep()
_objref_Problem::createConfigurationShooter
core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char *type, ::hpp::core_idl::Problem_ptr problem)
_objref_Problem::numberNodes
::CORBA::Long numberNodes()
_objref_Problem::createDistanceBetweenJointAndObjects
void createDistanceBetweenJointAndObjects(const char *constraintName, const char *joint1Name, const ::hpp::Names_t &objects, ::CORBA::Double distance)
_objref_Problem::addLockedJointConstraints
void addLockedJointConstraints(const char *configProjName, const ::hpp::Names_t &lockedJointNames)
_objref_Problem::movePathToProblem
void movePathToProblem(::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)
_objref_Problem::resetGoalConstraints
void resetGoalConstraints()
_objref_Problem::displayConstraints
char * displayConstraints()
_objref_Problem::_objref_Problem
_objref_Problem()
Definition: problem-idl.hh:317
_objref_Problem::getMaxIterPathPlanning
::CORBA::ULong getMaxIterPathPlanning()
_objref_Problem::createSteeringMethod
core_idl::SteeringMethod_ptr createSteeringMethod(const char *type, ::hpp::core_idl::Problem_ptr problem)
_objref_Problem::getPath
core_idl::Path_ptr getPath(::CORBA::ULong pathId)
_objref_Problem::createConfigProjector
core_idl::Constraint_ptr createConfigProjector(::hpp::pinocchio_idl::Device_ptr robot, const char *name, ::CORBA::Double threshold, ::CORBA::ULong iterations)
_objref_Problem::setMaxIterProjection
void setMaxIterProjection(::CORBA::ULong iterations)
_objref_Problem::getSelected
Names_t * getSelected(const char *type)
_objref_Problem::getMaxNumThreads
::CORBA::UShort getMaxNumThreads()
_objref_Problem::loadPath
core_idl::Path_ptr loadPath(const char *filename)
_objref_Problem::addGoalConfig
void addGoalConfig(const ::hpp::floatSeq &dofArray)
_objref_Problem::selectSteeringMethod
void selectSteeringMethod(const char *steeringMethodType)
_objref_Problem::setErrorThreshold
void setErrorThreshold(::CORBA::Double threshold)
_objref_Problem::setRobot
void setRobot(::hpp::pinocchio_idl::Device_ptr robot)
_objref_Problem::savePath
void savePath(::hpp::core_idl::Path_ptr path, const char *filename)
_objref_Problem::numberEdges
::CORBA::Long numberEdges()
_objref_Problem::edge
void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)
_objref_Problem::computeValueAndJacobian
void computeValueAndJacobian(const ::hpp::floatSeq &config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)
_objref_Problem::filterCollisionPairs
void filterCollisionPairs()
_objref_Problem::selectPathPlanner
void selectPathPlanner(const char *pathPlannerType)
_objref_Problem::createConstraintSet
core_idl::Constraint_ptr createConstraintSet(::hpp::pinocchio_idl::Device_ptr robot, const char *name)
_objref_Problem::resetRoadmap
void resetRoadmap()
_objref_Problem::createPositionConstraint
void createPositionConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::floatSeq &point1, const ::hpp::floatSeq &point2, const ::hpp::boolSeq &mask)
_objref_Problem::pathLength
::CORBA::Double pathLength(::CORBA::ULong inPathId)
_objref_Problem::readRoadmap
core_idl::Roadmap_ptr readRoadmap(const char *filename, ::hpp::pinocchio_idl::Device_ptr robot)
_objref_Problem::configAtParam
floatSeq * configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance)
_objref_Problem::setInitialConfig
void setInitialConfig(const ::hpp::floatSeq &dofArray)
_objref_Problem::createLockedExtraDof
void createLockedExtraDof(const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &value)
_objref_Problem::getGoalConfigs
floatSeqSeq * getGoalConfigs()
_objref_Problem::getInitialConfig
floatSeq * getInitialConfig()
_objref_Problem::setRightHandSideByName
void setRightHandSideByName(const char *constraintName, const ::hpp::floatSeq &rhs)
_objref_Problem::loadRoadmap
void loadRoadmap(const char *filename)
_objref_Problem::saveRoadmap
void saveRoadmap(const char *filename)
_objref_Problem::createTransformationConstraint2
void createTransformationConstraint2(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)
_objref_Problem::addPassiveDofs
void addPassiveDofs(const char *constraintName, const ::hpp::Names_t &jointNames)
_objref_Problem::createProblem
core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot)
_objref_Problem::setMaxIterPathPlanning
void setMaxIterPathPlanning(::CORBA::ULong iterations)
_objref_Problem::addConfigToRoadmap
void addConfigToRoadmap(const ::hpp::floatSeq &config)
_objref_Problem::extractPath
void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)
_objref_Problem::_objref_Problem
_objref_Problem(omniIOR *, omniIdentity *)
_objref_Problem::createLockedJointWithComp
void createLockedJointWithComp(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value, const ::hpp::ComparisonTypes_t &comp)
_objref_Problem::addPath
::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path)
_objref_Problem::getConstantRightHandSide
::CORBA::Boolean getConstantRightHandSide(const char *constraintName)
_objref_Problem::setConstantRightHandSide
void setConstantRightHandSide(const char *constraintName, ::CORBA::Boolean constant)
_objref_Problem::getDistance
core_idl::Distance_ptr getDistance()
_objref_Problem::resetConstraints
void resetConstraints()
_objref_Problem::createLockedJoint
void createLockedJoint(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value)
_objref_Problem::getSteeringMethod
core_idl::SteeringMethod_ptr getSteeringMethod()
_objref_Problem::createPathOptimizer
core_idl::PathOptimizer_ptr createPathOptimizer(const char *type, ::hpp::core_idl::Problem_ptr problem)
_objref_Problem::getParameterDoc
char * getParameterDoc(const char *name)
_objref_Problem::getConstraintDimensions
void getConstraintDimensions(const char *constraintName, ::CORBA::ULong &inputSize, ::CORBA::ULong &inputDerivativeSize, ::CORBA::ULong &outputSize, ::CORBA::ULong &outputDerivativeSize)
_objref_Problem::selectPathValidation
void selectPathValidation(const char *pathValidationType, ::CORBA::Double tolerance)
_objref_Problem::createManipulability
void createManipulability(const char *name, const char *function)
_objref_Problem::projectPath
::CORBA::Boolean projectPath(::CORBA::ULong patId)
_objref_Problem::selectPathProjector
void selectPathProjector(const char *pathProjectorType, ::CORBA::Double tolerance)
_objref_Problem::reversePath
::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong &reversedPathId)
_objref_Problem::setRightHandSideFromConfig
void setRightHandSideFromConfig(const ::hpp::floatSeq &config)
_objref_Problem::createTransformationR3xSO3Constraint
void createTransformationR3xSO3Constraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)
_objref_Problem::createDistanceBetweenJointConstraint
void createDistanceBetweenJointConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, ::CORBA::Double distance)
_objref_Problem::createComBeetweenFeet
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)
_objref_Problem::loadPlugin
::CORBA::Boolean loadPlugin(const char *pluginName)
_objref_Problem::getWaypoints
floatSeqSeq * getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times)
_objref_Problem::robot
pinocchio_idl::Device_ptr robot()
_objref_Problem::selectProblem
::CORBA::Boolean selectProblem(const char *name)
_objref_Problem::addNumericalConstraints
void addNumericalConstraints(const char *configProjName, const ::hpp::Names_t &constraintNames, const ::hpp::intSeq &priorities)
_objref_Problem::node
floatSeq * node(::CORBA::ULong nodeId)
_objref_Problem::addEdgeToRoadmap
void addEdgeToRoadmap(const ::hpp::floatSeq &config1, const ::hpp::floatSeq &config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)
_objref_Problem::numberConnectedComponents
::CORBA::Long numberConnectedComponents()
_objref_Problem::clearRoadmap
void clearRoadmap()
_objref_Problem::createRoadmap
core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot)
_objref_Problem::prepareSolveStepByStep
::CORBA::Boolean prepareSolveStepByStep()
_objref_Problem::erasePath
void erasePath(::CORBA::ULong pathId)
_objref_Problem::getNearestConfig
floatSeq * getNearestConfig(const ::hpp::floatSeq &config, ::CORBA::Long connectedComponentId, ::CORBA::Double &distance)
_objref_Problem::concatenatePath
void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId)
_objref_Problem::resetProblem
void resetProblem()
_objref_Problem::resetConstraintMap
void resetConstraintMap()
_objref_Problem::getAvailable
Names_t * getAvailable(const char *type)
_objref_Problem::createPathProjector
core_idl::PathProjector_ptr createPathProjector(const char *type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter)
_objref_Problem::connectedComponentOfEdge
::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId)
_objref_Problem::createConvexShapeContactConstraint
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)
_objref_Problem::createTransformationConstraint
void createTransformationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &mask)
_objref_Problem::getErrorThreshold
::CORBA::Double getErrorThreshold()
_objref_Problem::resetGoalConfigs
void resetGoalConfigs()
_objref_Problem::createConfigValidation
core_idl::ConfigValidation_ptr createConfigValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot)
_objref_Problem::clearConfigValidations
void clearConfigValidations()
_objref_Problem::setNumericalConstraintsLastPriorityOptional
void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional)
_objref_Problem::optimizePath
intSeq * optimizePath(::CORBA::ULong inPathId)
_objref_Problem::getPathPlanner
core_idl::PathPlanner_ptr getPathPlanner()
_objref_Problem::~_objref_Problem
virtual ~_objref_Problem()
_objref_Problem::createDistance
core_idl::Distance_ptr createDistance(const char *type, ::hpp::core_idl::Problem_ptr problem)
_objref_Problem::setDefaultLineSearchType
void setDefaultLineSearchType(const char *type)
_objref_Problem::setGoalConstraints
void setGoalConstraints(const ::hpp::Names_t &constraints)
_objref_Problem::createConfigurationConstraint
void createConfigurationConstraint(const char *constraintName, const ::hpp::floatSeq &goal, const ::hpp::floatSeq &weights)
_objref_Problem::finishSolveStepByStep
void finishSolveStepByStep()
_objref_Problem::generateValidConfig
::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)
_objref_Problem::getParameter
::CORBA::Any * getParameter(const char *name)
_objref_Problem::selectDistance
void selectDistance(const char *distanceType)
_objref_Problem::numberPaths
::CORBA::Long numberPaths()
_objref_Problem::connectedComponentOfNode
::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId)
_objref_Problem::setRightHandSideFromConfigByName
void setRightHandSideFromConfigByName(const char *constraintName, const ::hpp::floatSeq &config)
_objref_Problem::createIdentityConstraint
void createIdentityConstraint(const char *constraintName, const ::hpp::Names_t &inJoints, const ::hpp::Names_t &outJoints)
_objref_Problem::setMaxNumThreads
void setMaxNumThreads(::CORBA::UShort n)
_objref_Problem::interruptPathPlanning
void interruptPathPlanning()
_objref_Problem::getObstacle
pinocchio_idl::CollisionObject_ptr getObstacle(const char *name)
_objref_Problem::scCreateScalarMultiply
void scCreateScalarMultiply(const char *outName, ::CORBA::Double scalar, const char *inName)
_objref_Problem::getTimeOutPathPlanning
::CORBA::Double getTimeOutPathPlanning()
_objref_Problem::createRelativeComConstraint
void createRelativeComConstraint(const char *constraintName, const char *comName, const char *jointLName, const ::hpp::floatSeq &point, const ::hpp::boolSeq &mask)
_objref_Problem::derivativeAtParam
floatSeq * derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)
_objref_Problem::addConfigValidation
void addConfigValidation(const char *configValidationType)
_objref_Problem::nodesConnectedComponent
floatSeqSeq * nodesConnectedComponent(::CORBA::ULong connectedComponentId)
_objref_Problem::setParameter
void setParameter(const char *name, const ::CORBA::Any &value)
_objref_Problem::createPathPlanner
core_idl::PathPlanner_ptr createPathPlanner(const char *type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap)
_objref_Problem::setDistance
void setDistance(::hpp::core_idl::Distance_ptr distance)
_objref_Problem::getMaxIterProjection
::CORBA::ULong getMaxIterProjection()
_objref_Problem::solve
intSeq * solve()
_objref_Problem::setRightHandSide
void setRightHandSide(const ::hpp::floatSeq &rhs)
_objref_Problem::optimize
::CORBA::Boolean optimize(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)
_objref_Problem::appendDirectPath
void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq &config, ::CORBA::Boolean validate)
_objref_Problem::applyConstraints
::CORBA::Boolean applyConstraints(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)
_objref_Problem::addPathOptimizer
void addPathOptimizer(const char *pathOptimizerType)
_objref_Problem::getProblem
core_idl::Problem_ptr getProblem()
_objref_Problem::clearPathOptimizers
void clearPathOptimizers()
_objref_Problem::getPathValidation
core_idl::PathValidation_ptr getPathValidation()
_objref_Problem::directPath
::CORBA::Boolean directPath(const ::hpp::floatSeq &startConfig, const ::hpp::floatSeq &endConfig, ::CORBA::Boolean validate, ::CORBA::ULong &pathId, ::CORBA::String_out report)
_objref_Problem::setRandomSeed
void setRandomSeed(::CORBA::Long seed)
_objref_Problem::getRightHandSide
floatSeq * getRightHandSide()
_objref_Problem::writeRoadmap
void writeRoadmap(const char *filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot)
_objref_Problem::selectConfigurationShooter
void selectConfigurationShooter(const char *configurationShooterType)
_objref_Problem::nodes
floatSeqSeq * nodes()
_objref_Problem::setTimeOutPathPlanning
void setTimeOutPathPlanning(::CORBA::Double timeOut)
_pof_Problem
Definition: problem-idl.hh:334
_pof_Problem::newObjRef
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
_pof_Problem::_pof_Problem
_pof_Problem()
Definition: problem-idl.hh:336
_pof_Problem::~_pof_Problem
virtual ~_pof_Problem()
_pof_Problem::is_a
virtual _CORBA_Boolean is_a(const char *) const
floatSeqSeq
Definition: common-idl.hh:803
floatSeq
Definition: common-idl.hh:689
intSeq
Definition: common-idl.hh:461
Quaternion_
::CORBA::Double Quaternion_[4]
Definition: common-idl.hh:1077
Transform_
::CORBA::Double Transform_[7]
Definition: common-idl.hh:915
configuration_shooters-idl.hh
Implicit_ptr
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
hpp
Implement CORBA interface `‘Obstacle’'.
Definition: client.hh:46
hpp::boolSeq
sequence< boolean > boolSeq
Definition: common.idl:30
hpp::floatSeq
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
hpp::intSeqSeq
sequence< intSeq > intSeqSeq
Definition: common.idl:32
hpp::floatSeqSeq
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
hpp::Names_t
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
hpp::value_type
double value_type
Definition: common.idl:18
hpp::ComparisonTypes_t
sequence< ComparisonType > ComparisonTypes_t
Definition: common.idl:50
hpp::intSeq
sequence< long > intSeq
Definition: common.idl:31
path_planners-idl.hh
Path_ptr
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
PathPlanner_ptr
_objref_PathPlanner * PathPlanner_ptr
Definition: path_planners-idl.hh:483
PathOptimizer_ptr
_objref_PathOptimizer * PathOptimizer_ptr
Definition: path_planners-idl.hh:624
Roadmap_ptr
_objref_Roadmap * Roadmap_ptr
Definition: path_planners-idl.hh:342
path_projectors-idl.hh
path_validations-idl.hh
PathVector_ptr
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82
Problem_var
_CORBA_ObjRef_Var< _objref_Problem, Problem_Helper > Problem_var
Definition: problem-idl.hh:132
Problem_ptr
_objref_Problem * Problem_ptr
Definition: problem-idl.hh:115
_core_attr
#define _core_attr
Definition: problem-idl.hh:87
Problem_out
_CORBA_ObjRef_OUT_arg< _objref_Problem, Problem_Helper > Problem_out
Definition: problem-idl.hh:133
ProblemRef
Problem_ptr ProblemRef
Definition: problem-idl.hh:118
steering_methods-idl.hh