steering_methods.idl

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// Copyright (C) 2019 by Joseph Mirabel, LAAS-CNRS.
//
// This file is part of the hpp-corbaserver.
//
// This software is provided "as is" without warranty of any kind,
// either expressed or implied, including but not limited to the
// implied warranties of fitness for a particular purpose.
//
// See the COPYING file for more information.
 
#ifndef HPP_CORE_STEERING_METHODS_IDL
#define HPP_CORE_STEERING_METHODS_IDL
#include <hpp/common.idl>
 
#include <hpp/core_idl/paths.idl>
#include <hpp/core_idl/_constraints.idl>
 
module hpp
{
  module core_idl {
 
  interface SteeringMethod
  {
    HPP_EXPOSE_MEMORY_DEALLOCATION(Error)
 
    Path call (in floatSeq q1, in floatSeq q2) raises (Error);
    //-> operator()
 
    void setConstraints (in ConstraintSet constraints) raises (Error);
    //-> constraints
 
    // The return type should be ConstraintSet. At the moment, this causes a bug
    // because because the implementation does not know this inherits from Constraint
    Constraint getConstraints () raises (Error);
    //-> constraints
  }; // interface SteeringMethod
 
  module steeringMethod_idl {
 
    interface SplineBernstein3 : SteeringMethod {
      Path steer(in floatSeq q1, in intSeq order1, in floatSeqSeq derivatives1,
                 in floatSeq q2, in intSeq order2, in floatSeqSeq derivatives2,
                 in float length)
        raises (Error);
    };
 
    interface SplineBernstein5 : SteeringMethod {
      Path steer(in floatSeq q1, in intSeq order1, in floatSeqSeq derivatives1,
                 in floatSeq q2, in intSeq order2, in floatSeqSeq derivatives2,
                 in float length)
        raises (Error);
    };
 
  }; // module steeringMethod
 
  }; // module core
}; // module hpp
//* #include <hpp/corbaserver/steering-method.hh>
//* #include <hpp/core/steering-method.hh>
//* #include <hpp/core_idl/paths.hh>
//* #include <hpp/core_idl/_constraints.hh>
 
#endif // HPP_CORE_STEERING_METHODS_IDL