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// Copyright (c) 2014 CNRS |
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// Author: Florent Lamiraux |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_MANIPULATION_CORBA_PROBLEM_IMPL_HH |
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#define HPP_MANIPULATION_CORBA_PROBLEM_IMPL_HH |
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#include <hpp/corbaserver/manipulation/fwd.hh> |
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#include <hpp/manipulation/problem-solver.hh> |
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#include "hpp/corbaserver/manipulation/problem-idl.hh" |
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#include "hpp/manipulation_idl/_graph-idl.hh" |
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#include "hpp/manipulation_idl/_path_planners-idl.hh" |
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namespace hpp { |
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namespace manipulation { |
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namespace impl { |
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using CORBA::Double; |
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using CORBA::Short; |
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using CORBA::String_out; |
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using CORBA::ULong; |
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using CORBA::UShort; |
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class Problem : public virtual POA_hpp::corbaserver::manipulation::Problem { |
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public: |
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Problem(); |
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void setServer(Server* server) { server_ = server; } |
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virtual bool selectProblem(const char* name); |
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virtual void resetProblem(); |
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virtual Names_t* getAvailable(const char* what); |
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virtual Names_t* getSelected(const char* what); |
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virtual void loadRoadmap(const char* filename); |
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virtual void createGrasp(const char* graspName, const char* gripperName, |
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const char* handleName); |
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virtual void createPreGrasp(const char* graspName, const char* gripperName, |
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const char* handleName); |
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virtual Names_t* getEnvironmentContactNames(); |
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virtual Names_t* getRobotContactNames(); |
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virtual Names_t* getEnvironmentContact(const char* name, intSeq_out indexes, |
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floatSeqSeq_out points); |
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virtual Names_t* getRobotContact(const char* name, intSeq_out indexes, |
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floatSeqSeq_out points); |
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virtual void createPlacementConstraint(const char* placName, |
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const Names_t& shapeName, |
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const Names_t& envContactName); |
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virtual void createPrePlacementConstraint(const char* placName, |
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const Names_t& shapeName, |
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const Names_t& envContactName, |
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CORBA::Double width); |
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virtual void createQPStabilityConstraint(const char* constraintName, |
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const char* comRootJointName, |
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const Names_t& shapesName); |
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virtual bool setConstraints(hpp::ID id, bool target); |
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virtual void registerConstraints(const char* constraint, |
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const char* complement, const char* both); |
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virtual bool applyConstraints(hpp::ID id, const hpp::floatSeq& input, |
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hpp::floatSeq_out output, |
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double& residualError); |
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virtual bool applyConstraintsWithOffset(hpp::ID IDedge, |
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const hpp::floatSeq& qnear, |
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const hpp::floatSeq& input, |
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hpp::floatSeq_out output, |
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double& residualError); |
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virtual bool buildAndProjectPath(hpp::ID IDedge, const hpp::floatSeq& qb, |
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const hpp::floatSeq& qe, |
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CORBA::Long& indexNotProj, |
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CORBA::Long& indexProj); |
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virtual void setTargetState(hpp::ID IDstate); |
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virtual ID edgeAtParam(ULong pathId, Double param, String_out name); |
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hpp::manipulation_idl::graph_idl::Validation_ptr createGraphValidation(); |
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core_idl::Roadmap_ptr readRoadmap( |
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const char* filename, pinocchio_idl::Device_ptr robot, |
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manipulation_idl::graph_idl::Graph_ptr graph); |
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void writeRoadmap(const char* filename, core_idl::Roadmap_ptr roadmap, |
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pinocchio_idl::Device_ptr robot, |
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manipulation_idl::graph_idl::Graph_ptr graph); |
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core_idl::Roadmap_ptr createRoadmap(core_idl::Distance_ptr distance, |
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pinocchio_idl::Device_ptr robot); |
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virtual hpp::core_idl::PathPlanner_ptr createTransitionPlanner(); |
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private: |
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ProblemSolverPtr_t problemSolver(); |
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graph::GraphPtr_t graph(bool throwIfNull = true); |
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Server* server_; |
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}; // class Problem |
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} // namespace impl |
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} // namespace manipulation |
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} // namespace hpp |
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#endif // HPP_MANIPULATION_CORBA_PROBLEM_IMPL_HH |
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