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// This file is generated by omniidl (C++ backend)- omniORB_4_3. Do not edit. |
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#ifndef __problem_hh__ |
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#define __problem_hh__ |
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#ifndef __CORBA_H_EXTERNAL_GUARD__ |
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#include <omniORB4/CORBA.h> |
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#endif |
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#ifndef USE_stub_in_nt_dll |
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# define USE_stub_in_nt_dll_NOT_DEFINED_problem |
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#endif |
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#ifndef USE_core_stub_in_nt_dll |
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# define USE_core_stub_in_nt_dll_NOT_DEFINED_problem |
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#endif |
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#ifndef USE_dyn_stub_in_nt_dll |
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# define USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem |
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#endif |
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#ifndef __common_hh_EXTERNAL_GUARD__ |
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#define __common_hh_EXTERNAL_GUARD__ |
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#include <hpp/common-idl.hh> |
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#endif |
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#ifndef __constraints_hh_EXTERNAL_GUARD__ |
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#define __constraints_hh_EXTERNAL_GUARD__ |
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#include <hpp/constraints_idl/constraints-idl.hh> |
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#endif |
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#ifndef __distances_hh_EXTERNAL_GUARD__ |
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#define __distances_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/distances-idl.hh> |
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#endif |
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#ifndef __paths_hh_EXTERNAL_GUARD__ |
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#define __paths_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/paths-idl.hh> |
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#endif |
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#ifndef ____constraints_hh_EXTERNAL_GUARD__ |
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#define ____constraints_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/_constraints-idl.hh> |
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#endif |
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#ifndef __steering__methods_hh_EXTERNAL_GUARD__ |
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#define __steering__methods_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/steering_methods-idl.hh> |
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#endif |
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#ifndef __path__planners_hh_EXTERNAL_GUARD__ |
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#define __path__planners_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/path_planners-idl.hh> |
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#endif |
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#ifndef __path__projectors_hh_EXTERNAL_GUARD__ |
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#define __path__projectors_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/path_projectors-idl.hh> |
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#endif |
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#ifndef __path__validations_hh_EXTERNAL_GUARD__ |
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#define __path__validations_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/path_validations-idl.hh> |
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#endif |
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#ifndef ____problem_hh_EXTERNAL_GUARD__ |
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#define ____problem_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/_problem-idl.hh> |
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#endif |
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#ifndef __robots_hh_EXTERNAL_GUARD__ |
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#define __robots_hh_EXTERNAL_GUARD__ |
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#include <hpp/pinocchio_idl/robots-idl.hh> |
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#endif |
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#ifndef __configuration__shooters_hh_EXTERNAL_GUARD__ |
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#define __configuration__shooters_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/configuration_shooters-idl.hh> |
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#endif |
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#ifdef USE_stub_in_nt_dll |
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# ifndef USE_core_stub_in_nt_dll |
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# define USE_core_stub_in_nt_dll |
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# endif |
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# ifndef USE_dyn_stub_in_nt_dll |
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# define USE_dyn_stub_in_nt_dll |
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# endif |
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#endif |
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#ifdef _core_attr |
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# error "A local CPP macro _core_attr has already been defined." |
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#else |
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# ifdef USE_core_stub_in_nt_dll |
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# define _core_attr _OMNIORB_NTDLL_IMPORT |
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# else |
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# define _core_attr |
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# endif |
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#endif |
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#ifdef _dyn_attr |
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# error "A local CPP macro _dyn_attr has already been defined." |
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#else |
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# ifdef USE_dyn_stub_in_nt_dll |
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# define _dyn_attr _OMNIORB_NTDLL_IMPORT |
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# else |
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# define _dyn_attr |
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# endif |
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#endif |
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_CORBA_MODULE hpp |
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_CORBA_MODULE_BEG |
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_CORBA_MODULE corbaserver |
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_CORBA_MODULE_BEG |
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#ifndef __hpp_mcorbaserver_mProblem__ |
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#define __hpp_mcorbaserver_mProblem__ |
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class Problem; |
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class _objref_Problem; |
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class _impl_Problem; |
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typedef _objref_Problem* Problem_ptr; |
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typedef Problem_ptr ProblemRef; |
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class Problem_Helper { |
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public: |
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typedef Problem_ptr _ptr_type; |
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static _ptr_type _nil(); |
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static _CORBA_Boolean is_nil(_ptr_type); |
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static void release(_ptr_type); |
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static void duplicate(_ptr_type); |
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static void marshalObjRef(_ptr_type, cdrStream&); |
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static _ptr_type unmarshalObjRef(cdrStream&); |
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}; |
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typedef _CORBA_ObjRef_Var<_objref_Problem, Problem_Helper> Problem_var; |
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typedef _CORBA_ObjRef_OUT_arg<_objref_Problem,Problem_Helper > Problem_out; |
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#endif |
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// interface Problem |
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class Problem { |
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public: |
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// Declarations for this interface type. |
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typedef Problem_ptr _ptr_type; |
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typedef Problem_var _var_type; |
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static _ptr_type _duplicate(_ptr_type); |
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static _ptr_type _narrow(::CORBA::Object_ptr); |
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static _ptr_type _unchecked_narrow(::CORBA::Object_ptr); |
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static _ptr_type _nil(); |
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static inline void _marshalObjRef(_ptr_type, cdrStream&); |
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static inline _ptr_type _unmarshalObjRef(cdrStream& s) { |
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omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s); |
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if (o) |
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return (_ptr_type) o->_ptrToObjRef(_PD_repoId); |
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else |
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return _nil(); |
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} |
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static inline _ptr_type _fromObjRef(omniObjRef* o) { |
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if (o) |
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return (_ptr_type) o->_ptrToObjRef(_PD_repoId); |
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else |
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return _nil(); |
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} |
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static _core_attr const char* _PD_repoId; |
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// Other IDL defined within this scope. |
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}; |
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class _objref_Problem : |
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public virtual ::CORBA::Object, |
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public virtual omniObjRef |
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{ |
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public: |
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// IDL operations |
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void setRandomSeed(::CORBA::Long seed); |
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void setMaxNumThreads(::CORBA::UShort n); |
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::CORBA::UShort getMaxNumThreads(); |
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Names_t* getAvailable(const char* type); |
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Names_t* getSelected(const char* type); |
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void setParameter(const char* name, const ::CORBA::Any& value); |
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::CORBA::Any* getParameter(const char* name); |
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char* getParameterDoc(const char* name); |
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::CORBA::Boolean selectProblem(const char* name); |
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void resetProblem(); |
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::CORBA::Boolean loadPlugin(const char* pluginName); |
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void movePathToProblem(::CORBA::ULong pathId, const char* problemName, const ::hpp::Names_t& jointNames); |
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void setInitialConfig(const ::hpp::floatSeq& dofArray); |
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floatSeq* getInitialConfig(); |
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void addGoalConfig(const ::hpp::floatSeq& dofArray); |
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floatSeqSeq* getGoalConfigs(); |
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void resetGoalConfigs(); |
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void setGoalConstraints(const ::hpp::Names_t& constraints); |
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void resetGoalConstraints(); |
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::CORBA::Boolean applyConstraints(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError); |
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::CORBA::Boolean optimize(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError); |
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void computeValueAndJacobian(const ::hpp::floatSeq& config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian); |
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::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError); |
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void createOrientationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq& mask); |
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void createTransformationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq& mask); |
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void createTransformationR3xSO3Constraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask); |
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void createTransformationConstraint2(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask); |
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void createLockedJoint(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value); |
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void createLockedJointWithComp(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value, const ::hpp::ComparisonTypes_t& comp); |
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void createLockedExtraDof(const char* lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq& value); |
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void createManipulability(const char* name, const char* function); |
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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); |
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void createRelativeComConstraint(const char* constraintName, const char* comName, const char* jointLName, const ::hpp::floatSeq& point, const ::hpp::boolSeq& mask); |
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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); |
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void createPositionConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::floatSeq& point1, const ::hpp::floatSeq& point2, const ::hpp::boolSeq& mask); |
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void createConfigurationConstraint(const char* constraintName, const ::hpp::floatSeq& goal, const ::hpp::floatSeq& weights); |
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void createDistanceBetweenJointConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, ::CORBA::Double distance); |
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void createDistanceBetweenJointAndObjects(const char* constraintName, const char* joint1Name, const ::hpp::Names_t& objects, ::CORBA::Double distance); |
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void createIdentityConstraint(const char* constraintName, const ::hpp::Names_t& inJoints, const ::hpp::Names_t& outJoints); |
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void resetConstraints(); |
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void resetConstraintMap(); |
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void addPassiveDofs(const char* constraintName, const ::hpp::Names_t& jointNames); |
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void getConstraintDimensions(const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize); |
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void setConstantRightHandSide(const char* constraintName, ::CORBA::Boolean constant); |
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::CORBA::Boolean getConstantRightHandSide(const char* constraintName); |
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floatSeq* getRightHandSide(); |
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void setRightHandSide(const ::hpp::floatSeq& rhs); |
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void setRightHandSideFromConfig(const ::hpp::floatSeq& config); |
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void setRightHandSideByName(const char* constraintName, const ::hpp::floatSeq& rhs); |
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void setRightHandSideFromConfigByName(const char* constraintName, const ::hpp::floatSeq& config); |
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void addNumericalConstraints(const char* configProjName, const ::hpp::Names_t& constraintNames, const ::hpp::intSeq& priorities); |
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void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional); |
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void addLockedJointConstraints(const char* configProjName, const ::hpp::Names_t& lockedJointNames); |
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char* displayConstraints(); |
| 233 |
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::CORBA::Double getErrorThreshold(); |
| 234 |
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void setErrorThreshold(::CORBA::Double threshold); |
| 235 |
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void setDefaultLineSearchType(const char* type); |
| 236 |
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::CORBA::ULong getMaxIterProjection(); |
| 237 |
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void setMaxIterProjection(::CORBA::ULong iterations); |
| 238 |
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::CORBA::ULong getMaxIterPathPlanning(); |
| 239 |
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void setMaxIterPathPlanning(::CORBA::ULong iterations); |
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void scCreateScalarMultiply(const char* outName, ::CORBA::Double scalar, const char* inName); |
| 241 |
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::CORBA::Double getTimeOutPathPlanning(); |
| 242 |
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void setTimeOutPathPlanning(::CORBA::Double timeOut); |
| 243 |
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void filterCollisionPairs(); |
| 244 |
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void selectPathPlanner(const char* pathPlannerType); |
| 245 |
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void selectConfigurationShooter(const char* configurationShooterType); |
| 246 |
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void selectDistance(const char* distanceType); |
| 247 |
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void selectSteeringMethod(const char* steeringMethodType); |
| 248 |
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void addPathOptimizer(const char* pathOptimizerType); |
| 249 |
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void clearPathOptimizers(); |
| 250 |
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void addConfigValidation(const char* configValidationType); |
| 251 |
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void clearConfigValidations(); |
| 252 |
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void selectPathValidation(const char* pathValidationType, ::CORBA::Double tolerance); |
| 253 |
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void selectPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance); |
| 254 |
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::CORBA::Boolean prepareSolveStepByStep(); |
| 255 |
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::CORBA::Boolean executeOneStep(); |
| 256 |
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void finishSolveStepByStep(); |
| 257 |
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intSeq* solve(); |
| 258 |
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::CORBA::Boolean directPath(const ::hpp::floatSeq& startConfig, const ::hpp::floatSeq& endConfig, ::CORBA::Boolean validate, ::CORBA::ULong& pathId, ::CORBA::String_out report); |
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::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId); |
| 260 |
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void addConfigToRoadmap(const ::hpp::floatSeq& config); |
| 261 |
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void addEdgeToRoadmap(const ::hpp::floatSeq& config1, const ::hpp::floatSeq& config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges); |
| 262 |
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void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq& config, ::CORBA::Boolean validate); |
| 263 |
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void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId); |
| 264 |
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void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end); |
| 265 |
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void erasePath(::CORBA::ULong pathId); |
| 266 |
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::CORBA::Boolean projectPath(::CORBA::ULong patId); |
| 267 |
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::CORBA::Long numberPaths(); |
| 268 |
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intSeq* optimizePath(::CORBA::ULong inPathId); |
| 269 |
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::CORBA::Double pathLength(::CORBA::ULong inPathId); |
| 270 |
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floatSeq* configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance); |
| 271 |
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floatSeq* derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance); |
| 272 |
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floatSeqSeq* getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times); |
| 273 |
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void interruptPathPlanning(); |
| 274 |
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floatSeqSeq* nodes(); |
| 275 |
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::CORBA::Long numberNodes(); |
| 276 |
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floatSeq* node(::CORBA::ULong nodeId); |
| 277 |
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::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId); |
| 278 |
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::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId); |
| 279 |
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::CORBA::Long numberEdges(); |
| 280 |
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void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2); |
| 281 |
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::CORBA::Long numberConnectedComponents(); |
| 282 |
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floatSeqSeq* nodesConnectedComponent(::CORBA::ULong connectedComponentId); |
| 283 |
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floatSeq* getNearestConfig(const ::hpp::floatSeq& config, ::CORBA::Long connectedComponentId, ::CORBA::Double& distance); |
| 284 |
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void clearRoadmap(); |
| 285 |
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void resetRoadmap(); |
| 286 |
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void saveRoadmap(const char* filename); |
| 287 |
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void loadRoadmap(const char* filename); |
| 288 |
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core_idl::Distance_ptr getDistance(); |
| 289 |
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void setDistance(::hpp::core_idl::Distance_ptr distance); |
| 290 |
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core_idl::Path_ptr getPath(::CORBA::ULong pathId); |
| 291 |
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::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path); |
| 292 |
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void savePath(::hpp::core_idl::Path_ptr path, const char* filename); |
| 293 |
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core_idl::Path_ptr loadPath(const char* filename); |
| 294 |
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core_idl::SteeringMethod_ptr getSteeringMethod(); |
| 295 |
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core_idl::PathValidation_ptr getPathValidation(); |
| 296 |
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core_idl::PathPlanner_ptr getPathPlanner(); |
| 297 |
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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 |
|
8 |
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 |
|
17 |
inline ::hpp::corbaserver::Problem_ptr _this() { |
| 516 |
|
17 |
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 |
|
|
|
| 567 |
|
|
|