hpp::corbaserver::Problem Interface Reference

To define and solve a path planning problem. More...

import"/home/jmirabel/devel/demo/src/hpp-corbaserver/idl/hpp/corbaserver/problem.idl";

Public Member Functions
void	setRandomSeed (in long seed) raises (Error)
	Set random seed of random number generator. More...
void	setMaxNumThreads (in unsigned short n) raises (Error)
	Set the maximum number of threads. More...
unsigned short	getMaxNumThreads () raises (Error)
	Get the maximum number of concurrent access to the device (in thread safe areas). More...
Names_t	getAvailable (in string type) raises (Error)
	Return a list of available elements of type type. More...
Names_t	getSelected (in string type) raises (Error)
	Return a list of selected elements of type type. More...
void	setParameter (in string name, in any value) raises (Error)
	Set a parameter. More...
any	getParameter (in string name) raises (Error)
	Get parameter with given name raise an exception when the parameter is not found. More...
string	getParameterDoc (in string name) raises (Error)
	Get parameter documentation raise an exception when the parameter is not found. More...
boolean	selectProblem (in string name) raises (Error)
	Select a problem by its name. More...
void	resetProblem () raises (Error)
	Reset the current problem. More...
boolean	loadPlugin (in string pluginName) raises (Error)
	Load a plugin into the current ProblemSolver. More...
void	movePathToProblem (in unsigned long pathId, in string problemName, in Names_t jointNames) raises (Error)
	Move a path from the current problem to another problem. More...
Initial and goal configurations
void	setInitialConfig (in floatSeq dofArray) raises (Error)
	Set initial configuration of specified problem. More...
floatSeq	getInitialConfig () raises (Error)
	Get initial configuration of specified problem. More...
void	addGoalConfig (in floatSeq dofArray) raises (Error)
	Add goal configuration to specified problem. More...
floatSeqSeq	getGoalConfigs () raises (Error)
	Get goal configurations of specified problem. More...
void	resetGoalConfigs () raises (Error)
	Reset goal configurations. More...
Constraints
boolean	applyConstraints (in floatSeq input, out floatSeq output, out double residualError) raises (Error)
	Apply constaints to a configuration. More...
boolean	optimize (in floatSeq input, out floatSeq output, out floatSeq residualError) raises (Error)
	Find a local minimum of the least priority constraints. More...
void	computeValueAndJacobian (in floatSeq config, out floatSeq value, out floatSeqSeq jacobian) raises (Error)
	Compute value and Jacobian of numerical constraints. More...
boolean	generateValidConfig (in unsigned long maxIter, out floatSeq output, out double residualError) raises (Error)
	Generate random configuration and apply constaints to a configuration. More...
void	createOrientationConstraint (in string constraintName, in string joint1Name, in string joint2Name, in Quaternion_ p, in boolSeq mask) raises (Error)
	Create orientation constraint between two joints. More...
void	createTransformationConstraint (in string constraintName, in string joint1Name, in string joint2Name, in Transform_ ref, in boolSeq mask) raises (Error)
	Create transformation constraint between two joints. More...
void	createTransformationSE3Constraint (in string constraintName, in string joint1Name, in string joint2Name, in Transform_ frame1, in Transform_ frame2, in boolSeq mask) raises (Error)
	Create transformation constraint between two joints. More...
void	createTransformationConstraint2 (in string constraintName, in string joint1Name, in string joint2Name, in Transform_ frame1, in Transform_ frame2, in boolSeq mask) raises (Error)
	Create transformation constraint between two joints. More...
void	createLockedJoint (in string lockedJointName, in string jointName, in floatSeq value) raises (Error)
	Create a LockedJoint constraint with given value. More...
void	createLockedExtraDof (in string lockedDofName, in unsigned long index, in floatSeq value) raises (Error)
	Create a locked extradof hpp::manipulation::ProblemSolver map. More...
void	createManipulability (in string name, in string function) raises (Error)
	Create a manipulatibility constraint. More...
void	createComBeetweenFeet (in string constraintName, in string comName, in string jointLName, in string jointRName, in floatSeq pointL, in floatSeq pointR, in string jointRefName, in floatSeq pointRef, in boolSeq mask) raises (Error)
	Create ComBeetweenFeet constraint between two joints. More...
void	createRelativeComConstraint (in string constraintName, in string comName, in string jointLName, in floatSeq point, in boolSeq mask) raises (Error)
	Create RelativeCom constraint between two joints. More...
void	createConvexShapeContactConstraint (in string constraintName, in Names_t floorJoints, in Names_t objectJoints, in floatSeqSeq pts, in intSeqSeq objectTriangles, in intSeqSeq floorTriangles) raises (Error)
void	createStaticStabilityConstraint (in string constraintName, in Names_t jointNames, in floatSeqSeq points, in floatSeqSeq normals, in string comRootJointName) raises (Error)
void	createPositionConstraint (in string constraintName, in string joint1Name, in string joint2Name, in floatSeq point1, in floatSeq point2, in boolSeq mask) raises (Error)
	Create position constraint between two joints. More...
void	createConfigurationConstraint (in string constraintName, in floatSeq goal, in floatSeq weights) raises (Error)
void	createDistanceBetweenJointConstraint (in string constraintName, in string joint1Name, in string joint2Name, in double distance) raises (Error)
	Create distance constraint between robot objects. More...
void	createDistanceBetweenJointAndObjects (in string constraintName, in string joint1Name, in Names_t objects, in double distance) raises (Error)
	Create distance constraint between robot and environment objects. More...
void	createIdentityConstraint (in string constraintName, in Names_t inJoints, in Names_t outJoints) raises (Error)
	Create identity constraint between several joints. More...
void	resetConstraints () raises (Error)
	Reset constraints. More...
void	resetConstraintMap () raises (Error)
	Delete all the constraint in the ProblemSolver map. More...
void	addPassiveDofs (in string constraintName, in Names_t jointNames) raises (Error)
	Add vector of passive dofs into the ProblemSolver local map. More...
void	getConstraintDimensions (in string constraintName, out unsigned long inputSize, out unsigned long inputDerivativeSize, out unsigned long outputSize, out unsigned long outputDerivativeSize) raises (Error)
	Get constraint dimensions. More...
void	setConstantRightHandSide (in string constraintName, in boolean constant) raises (Error)
	(Dis-)Allow to modify right hand side of a numerical constraint More...
boolean	getConstantRightHandSide (in string constraintName) raises (Error)
	Get whether right hand side of a numerical constraint is constant. More...
floatSeq	getRightHandSide () raises (Error)
	Get right hand side of constraints in config projector. More...
void	setRightHandSide (in floatSeq rhs) raises (Error)
	Set right hand side of constraints in config projector. More...
void	setRightHandSideFromConfig (in floatSeq config) raises (Error)
	Set right hand side of constraints in config projector. More...
void	setRightHandSideByName (in string constraintName, in floatSeq rhs) raises (Error)
	Set right hand side of given constraint in config projector. More...
void	setRightHandSideFromConfigByName (in string constraintName, in floatSeq config) raises (Error)
	Set right hand side of given constraint in config projector. More...
void	addNumericalConstraints (in string configProjName, in Names_t constraintNames, in intSeq priorities) raises (Error)
	Add numerical constraints by names in ConfigProjector. More...
void	setNumericalConstraintsLastPriorityOptional (in boolean optional) raises (Error)
	Declare last priority order as optional in the numerical constraints. More...
void	addLockedJointConstraints (in string configProjName, in Names_t lockedJointNames) raises (Error)
	Add locked joints by names in ConfigProjector. More...
string	displayConstraints () raises (Error)
	Display the constraint in the ConfigProjector. More...
double	getErrorThreshold () raises (Error)
	Get error threshold in numerical constraint resolution. More...
void	setErrorThreshold (in double threshold) raises (Error)
	Set error threshold in numerical constraint resolution. More...
void	setDefaultLineSearchType (in string type) raises (Error)
unsigned long	getMaxIterProjection () raises (Error)
	Set maximal number of iterations in numerical constraint resolution. More...
void	setMaxIterProjection (in unsigned long iterations) raises (Error)
	Set maximal number of iterations in numerical constraint resolution. More...
unsigned long	getMaxIterPathPlanning () raises (Error)
	Get maximal number of iterations in path planning. More...
void	setMaxIterPathPlanning (in unsigned long iterations) raises (Error)
	Set maximal number of iterations in path planning. More...
Symbolic calculus
void	scCreateScalarMultiply (in string outName, in double scalar, in string inName) raises (Error)
	See hpp::constraints::ScalarMultiply. More...
double	getTimeOutPathPlanning () raises (Error)
	Get time out in path planning (in seconds) More...
void	setTimeOutPathPlanning (in double timeOut) raises (Error)
	Set time out in path planning (in seconds) More...
Collision checking
void	filterCollisionPairs () raises (Error)
	Build matrix of relative motions between joints. More...
Solve problem and get paths
void	selectPathPlanner (in string pathPlannerType) raises (Error)
	Select path planner type. More...
void	selectConfigurationShooter (in string configurationShooterType) raises (Error)
	Select configuration shooter type. More...
void	selectDistance (in string distanceType) raises (Error)
	Select distance type. More...
void	selectSteeringMethod (in string steeringMethodType) raises (Error)
	Select steering method type. More...
void	addPathOptimizer (in string pathOptimizerType) raises (Error)
	Add a path optimizer. More...
void	clearPathOptimizers () raises (Error)
	Clear the vector of path optimizers. More...
void	addConfigValidation (in string configValidationType) raises (Error)
	Add a config validation. More...
void	clearConfigValidations () raises (Error)
	Clear the vector of config validations. More...
void	selectPathValidation (in string pathValidationType, in double tolerance) raises (Error)
	Select path validation method. More...
void	selectPathProjector (in string pathProjectorType, in double tolerance) raises (Error)
	Select path projector method. More...
boolean	prepareSolveStepByStep () raises (Error)
	Prepare the solver for a step by step planning. More...
boolean	executeOneStep () raises (Error)
	Execute one step of the planner. More...
void	finishSolveStepByStep () raises (Error)
	Finish the step-by-step planning. More...
intSeq	solve () raises (Error)
	Solve the problem. More...
boolean	directPath (in floatSeq startConfig, in floatSeq endConfig, in boolean validate, out unsigned long pathId, out string report) raises (Error)
	Make direct connection between two configurations. More...
boolean	reversePath (in unsigned long pathId, out unsigned long reversedPathId) raises (Error)
	Reverse a path. More...
void	addConfigToRoadmap (in floatSeq config) raises (Error)
	add a configuration to a roadmap More...
void	addEdgeToRoadmap (in floatSeq config1, in floatSeq config2, in unsigned long pathId, in boolean bothEdges) raises (Error)
	Add an edge to the roadmap. More...
void	appendDirectPath (in unsigned long pathId, in floatSeq config, in boolean validate) raises (Error)
	Append a path to an existing path. More...
void	concatenatePath (in unsigned long startId, in unsigned long endId) raises (Error)
	Concatenate path endId at the end of startId. More...
void	extractPath (in unsigned long pathId, in double start, in double end) raises (Error)
	extract path pathId from param start to end More...
void	erasePath (in unsigned long pathId) raises (Error)
	Erase path pathId from stored. More...
boolean	projectPath (in unsigned long patId) raises (Error)
	Apply the path projector method to the path. More...
long	numberPaths () raises (Error)
	Get Number of paths. More...
intSeq	optimizePath (in unsigned long inPathId) raises (Error)
	Optimize a given path. More...
double	pathLength (in unsigned long inPathId) raises (Error)
	Get length of path. More...
floatSeq	configAtParam (in unsigned long inPathId, in double atDistance) raises (Error)
	Get the robot config at param on a path. More...
floatSeq	derivativeAtParam (in unsigned long inPathId, in unsigned long orderId, in double atDistance) raises (Error)
	Get the robot velocity at param on a path. More...
floatSeqSeq	getWaypoints (in unsigned long pathId, out floatSeq times) raises (Error)
	Get way points of a path. More...
Interruption of a path planning request
void	interruptPathPlanning () raises (Error)
	Interrupt path planning activity. More...
exploring the roadmap
floatSeqSeq	nodes () raises (Error)
	Nodes of the roadmap. More...
long	numberNodes () raises (Error)
floatSeq	node (in unsigned long nodeId) raises (Error)
long	connectedComponentOfEdge (in unsigned long edgeId) raises (Error)
	return the connected component index of the edge More...
long	connectedComponentOfNode (in unsigned long nodeId) raises (Error)
	return the connected component index of the node More...
long	numberEdges () raises (Error)
	Number of edges. More...
void	edge (in unsigned long edgeId, out floatSeq q1, out floatSeq q2) raises (Error)
	Edge at given rank. More...
long	numberConnectedComponents ()
	Number of connected components. More...
floatSeqSeq	nodesConnectedComponent (in unsigned long connectedComponentId) raises (Error)
	Nodes of a connected component. More...
floatSeq	getNearestConfig (in floatSeq config, in long connectedComponentId, out double distance) raises (Error)
	Return nearest neighbour of given input configuration. More...
void	clearRoadmap () raises (Error)
	Clear the roadmap. More...
void	resetRoadmap () raises (Error)
	Reset the roadmap This should be done when joints bounds are modified because the KDTree must be resized. More...
void	saveRoadmap (in string filename) raises (Error)
	Save the current roadmap in a file. More...
void	readRoadmap (in string filename) raises (Error)
	Read a roadmap from a file. More...
core_idl::Distance	getDistance () raises (Error)
void	setDistance (in core_idl::Distance distance) raises (Error)
core_idl::Path	getPath (in unsigned long pathId) raises (Error)
unsigned long	addPath (in core_idl::PathVector _path) raises (Error)
core_idl::SteeringMethod	getSteeringMethod () raises (Error)
core_idl::PathValidation	getPathValidation () raises (Error)
core_idl::PathPlanner	getPathPlanner () raises (Error)
core_idl::Problem	getProblem () raises (Error)
constraints_idl::Implicit	getConstraint (in string constraintName) raises (Error)

Detailed Description

To define and solve a path planning problem.

Member Function Documentation

void hpp::corbaserver::Problem::addConfigToRoadmap	(	in floatSeq	config	)
raises	(	Error
	)

add a configuration to a roadmap

Parameters

config

Configuration to add

A node is created if necessary.

void hpp::corbaserver::Problem::addConfigValidation	(	in string	configValidationType	)
raises	(	Error
	)

Add a config validation.

Parameters

Name	of the config validation type, either "CollisionValidation" or "JointBoundValidation" or any type added by core::ProblemSolver::addConfigValidationType

void hpp::corbaserver::Problem::addEdgeToRoadmap	(	in floatSeq	config1,
		in floatSeq	config2,
		in unsigned long	pathId,
		in boolean	bothEdges
	)
raises	(	Error
	)

Add an edge to the roadmap.

Parameters

config1	configuration of start node,
config2	configuration of destination node,
pathId	index of the path to store in the edge in the path vector,
bothEdges	whether to also insert edge from destination node to start node.

See also

hpp::core::ProblemSolver::addEdgeToRoadmap.

void hpp::corbaserver::Problem::addGoalConfig	(	in floatSeq	dofArray	)
raises	(	Error
	)

Add goal configuration to specified problem.

Parameters

dofArray

Array of degrees of freedom

Exceptions

Error.

void hpp::corbaserver::Problem::addLockedJointConstraints	(	in string	configProjName,
		in Names_t	lockedJointNames
	)
raises	(	Error
	)

Add locked joints by names in ConfigProjector.

Parameters

configProjName	Name of the config projector if created by this method,
lockedJointNames	names of the locked joints,

Locked joints should have been added in the ProblemSolver local map.

void hpp::corbaserver::Problem::addNumericalConstraints	(	in string	configProjName,
		in Names_t	constraintNames,
		in intSeq	priorities
	)
raises	(	Error
	)

Add numerical constraints by names in ConfigProjector.

Parameters

configProjName	Name of the config projector if created by this method,
constraintNames	names of the constraints to apply,

Constraints should have been added in the ProblemSolver local map.

void hpp::corbaserver::Problem::addPassiveDofs	(	in string	constraintName,
		in Names_t	jointNames
	)
raises	(	Error
	)

Add vector of passive dofs into the ProblemSolver local map.

Parameters

constraintName	Name of the vector of passive dofs,
jointNames	a sequence of joint names.

unsigned long hpp::corbaserver::Problem::addPath	(	in core_idl::PathVector	_path	)
raises	(	Error
	)

void hpp::corbaserver::Problem::addPathOptimizer	(	in string	pathOptimizerType	)
raises	(	Error
	)

Add a path optimizer.

Parameters

Name	of the path optimizer type, either "RandomShortcut" or any type added by core::ProblemSolver::addPathOptimizerType

void hpp::corbaserver::Problem::appendDirectPath	(	in unsigned long	pathId,
		in floatSeq	config,
		in boolean	validate
	)
raises	(	Error
	)

Append a path to an existing path.

Parameters

pathId	Id of the path in this problem,
config	end configuration of the new path.

Exceptions

Error

if steering method fails to create a direct path of if direct path is not valid Call steering method between end of path and input config and append direct path in case of success.

boolean hpp::corbaserver::Problem::applyConstraints	(	in floatSeq	input,
		out floatSeq	output,
		out double	residualError
	)
raises	(	Error
	)

Apply constaints to a configuration.

constraints are stored in ProblemSolver object

Parameters

input

input configuration,

Return values

output	output configuration,
error	norm of the residual error.

void hpp::corbaserver::Problem::clearConfigValidations	(		)
raises	(	Error
	)

Clear the vector of config validations.

void hpp::corbaserver::Problem::clearPathOptimizers	(		)
raises	(	Error
	)

Clear the vector of path optimizers.

void hpp::corbaserver::Problem::clearRoadmap	(		)
raises	(	Error
	)

Clear the roadmap.

void hpp::corbaserver::Problem::computeValueAndJacobian	(	in floatSeq	config,
		out floatSeq	value,
		out floatSeqSeq	jacobian
	)
raises	(	Error
	)

Compute value and Jacobian of numerical constraints.

Parameters

config

input configuration

Return values

value	values of the numerical constraints stacked in a unique vector,
Jacobian	of the numerical constraints stacked in a unique matrix.

Columns of the Jacobian corresponding to locked joints are omitted, columns corresponding to passive dofs are set to 0.

void hpp::corbaserver::Problem::concatenatePath	(	in unsigned long	startId,
		in unsigned long	endId
	)
raises	(	Error
	)

Concatenate path endId at the end of startId.

Note

No path are created. The resulting path is at rank startId.

floatSeq hpp::corbaserver::Problem::configAtParam	(	in unsigned long	inPathId,
		in double	atDistance
	)
raises	(	Error
	)

Get the robot config at param on a path.

Parameters

inPathId	rank of the path in the problem
atDistance	: the user parameter choice

Returns

floatSeq : the config at param

long hpp::corbaserver::Problem::connectedComponentOfEdge	(	in unsigned long	edgeId	)
raises	(	Error
	)

return the connected component index of the edge

long hpp::corbaserver::Problem::connectedComponentOfNode	(	in unsigned long	nodeId	)
raises	(	Error
	)

return the connected component index of the node

void hpp::corbaserver::Problem::createComBeetweenFeet	(	in string	constraintName,
		in string	comName,
		in string	jointLName,
		in string	jointRName,
		in floatSeq	pointL,
		in floatSeq	pointR,
		in string	jointRefName,
		in floatSeq	pointRef,
		in boolSeq	mask
	)
raises	(	Error
	)

Create ComBeetweenFeet constraint between two joints.

Parameters

constraintName	name of the constraint created,
comName	name of a partial com computation object in problem solver map. Set "" for a full COM computation.
jointLName	name of first joint
jointRName	name of second joint
pointL	point in local frame of jointL.
pointR	point in local frame of jointR.
jointRefName	name of second joint
pointRef	point in local frame of jointRef
mask	Select axis to be constrained. If jointRef is "", the global frame is used. Constraints are stored in ProblemSolver object

void hpp::corbaserver::Problem::createConfigurationConstraint	(	in string	constraintName,
		in floatSeq	goal,
		in floatSeq	weights
	)
raises	(	Error
	)

Parameters

goal	configuration
weights	vector of weights on each DoF

void hpp::corbaserver::Problem::createConvexShapeContactConstraint	(	in string	constraintName,
		in Names_t	floorJoints,
		in Names_t	objectJoints,
		in floatSeqSeq	pts,
		in intSeqSeq	objectTriangles,
		in intSeqSeq	floorTriangles
	)
raises	(	Error
	)

void hpp::corbaserver::Problem::createDistanceBetweenJointAndObjects	(	in string	constraintName,
		in string	joint1Name,
		in Names_t	objects,
		in double	distance
	)
raises	(	Error
	)

Create distance constraint between robot and environment objects.

Parameters

constraintName	name of the constraint created,
joint1Name	name of first joint,
objects	names of environment objects,
distance	desired distance between joint bodies. Constraints are stored in ProblemSolver object

void hpp::corbaserver::Problem::createDistanceBetweenJointConstraint	(	in string	constraintName,
		in string	joint1Name,
		in string	joint2Name,
		in double	distance
	)
raises	(	Error
	)

Create distance constraint between robot objects.

Parameters

constraintName	name of the constraint created,
joint1Name	name of first joint,
joint2Name	name of second joint,
distance	desired distance between joint bodies. Constraints are stored in ProblemSolver object

void hpp::corbaserver::Problem::createIdentityConstraint	(	in string	constraintName,
		in Names_t	inJoints,
		in Names_t	outJoints
	)
raises	(	Error
	)

Create identity constraint between several joints.

Parameters

constraintName	name of the constraint created,
inJoints	name of the input joints,
outJoints	name of the output joints, Constraints are stored in ProblemSolver object

See also

hpp::constraints::Identity

void hpp::corbaserver::Problem::createLockedExtraDof	(	in string	lockedDofName,
		in unsigned long	index,
		in floatSeq	value
	)
raises	(	Error
	)

Create a locked extradof hpp::manipulation::ProblemSolver map.

Parameters

lockedDofName	key of the constraint in the Problem Solver map
index	index of the extra dof (0 means the first extra dof)
value	value of the extra dof configuration. The size of this vector defines the size of the constraints.

void hpp::corbaserver::Problem::createLockedJoint	(	in string	lockedJointName,
		in string	jointName,
		in floatSeq	value
	)
raises	(	Error
	)

Create a LockedJoint constraint with given value.

Parameters

lockedJointName	key of the constraint in the ProblemSolver map,
jointName	name of the joint,
value	value of the joint configuration,

void hpp::corbaserver::Problem::createManipulability	(	in string	name,
		in string	function
	)
raises	(	Error
	)

Create a manipulatibility constraint.

Parameters

name	key of the constraint in the Problem Solver map
function	name of the function used to get the Jacobian matrix.

void hpp::corbaserver::Problem::createOrientationConstraint	(	in string	constraintName,
		in string	joint1Name,
		in string	joint2Name,
		in Quaternion_	p,
		in boolSeq	mask
	)
raises	(	Error
	)

Create orientation constraint between two joints.

Parameters

constraintName	name of the constraint created,
joint1Name	name of first joint
joint2Name	name of second joint
p	quaternion representing the desired orientation of joint2 in the frame of joint1.
mask	Select which axis to be constrained. If joint1 of joint2 is "", the corresponding joint is replaced by the global frame. constraints are stored in ProblemSolver object

void hpp::corbaserver::Problem::createPositionConstraint	(	in string	constraintName,
		in string	joint1Name,
		in string	joint2Name,
		in floatSeq	point1,
		in floatSeq	point2,
		in boolSeq	mask
	)
raises	(	Error
	)

Create position constraint between two joints.

Parameters

constraintName	name of the constraint created,
joint1Name	name of first joint
joint2Name	name of second joint
point1	point in local frame of joint1,
point2	point in local frame of joint2.
mask	Select which axis to be constrained. If joint1 of joint2 is "", the corresponding joint is replaced by the global frame. constraints are stored in ProblemSolver object

void hpp::corbaserver::Problem::createRelativeComConstraint	(	in string	constraintName,
		in string	comName,
		in string	jointLName,
		in floatSeq	point,
		in boolSeq	mask
	)
raises	(	Error
	)

Create RelativeCom constraint between two joints.

Parameters

constraintName	name of the constraint created,
comName	name of CenterOfMassComputation
jointName	name of joint
point	point in local frame of joint.
mask	Select axis to be constrained. If jointName is "", the robot root joint is used. Constraints are stored in ProblemSolver object

void hpp::corbaserver::Problem::createStaticStabilityConstraint	(	in string	constraintName,
		in Names_t	jointNames,
		in floatSeqSeq	points,
		in floatSeqSeq	normals,
		in string	comRootJointName
	)
raises	(	Error
	)

void hpp::corbaserver::Problem::createTransformationConstraint	(	in string	constraintName,
		in string	joint1Name,
		in string	joint2Name,
		in Transform_	ref,
		in boolSeq	mask
	)
raises	(	Error
	)

Create transformation constraint between two joints.

Parameters

constraintName	name of the constraint created,
joint1Name	name of first joint
joint2Name	name of second joint
ref	desired transformation of joint2 in the frame of joint1.
mask	Select which axis to be constrained. If joint1 of joint2 is "", the corresponding joint is replaced by the global frame. constraints are stored in ProblemSolver object with key constraintName

void hpp::corbaserver::Problem::createTransformationConstraint2	(	in string	constraintName,
		in string	joint1Name,
		in string	joint2Name,
		in Transform_	frame1,
		in Transform_	frame2,
		in boolSeq	mask
	)
raises	(	Error
	)

Create transformation constraint between two joints.

Parameters

constraintName	name of the constraint created,
joint1Name	name of first joint
joint2Name	name of second joint
frame1	desired frame in joint1
frame2	desired frame in joint2
mask	Select which axis to be constrained. If joint1 of joint2 is "", the corresponding joint is replaced by the global frame. constraints are stored in ProblemSolver object with key constraintName

void hpp::corbaserver::Problem::createTransformationSE3Constraint	(	in string	constraintName,
		in string	joint1Name,
		in string	joint2Name,
		in Transform_	frame1,
		in Transform_	frame2,
		in boolSeq	mask
	)
raises	(	Error
	)

Create transformation constraint between two joints.

Parameters

constraintName	name of the constraint created,
joint1Name	name of first joint
joint2Name	name of second joint
frame1	desired frame in joint1
frame2	desired frame in joint2
mask	Select which axis to be constrained. If joint1 of joint2 is "", the corresponding joint is replaced by the global frame. constraints are stored in ProblemSolver object with key constraintName

Note

the function outputs an element of SE3

floatSeq hpp::corbaserver::Problem::derivativeAtParam	(	in unsigned long	inPathId,
		in unsigned long	orderId,
		in double	atDistance
	)
raises	(	Error
	)

Get the robot velocity at param on a path.

Parameters

inPathId	rank of the path in the problem
orderId	order of the derivative
atDistance	: the user parameter choice

Returns

floatSeq : the velocity at param

boolean hpp::corbaserver::Problem::directPath	(	in floatSeq	startConfig,
		in floatSeq	endConfig,
		in boolean	validate,
		out unsigned long	pathId,
		out string	report
	)
raises	(	Error
	)

Make direct connection between two configurations.

Parameters

startConfig,endConfig	the configurations to link.
validate	whether path should be validated. If true, path validation is called and only valid part of path is inserted in the path vector.

Return values

pathId	returns index of copmuted path in path vector.
report	the reason why the config is not valid.

Returns

TRUE if created path is fully valid.

string hpp::corbaserver::Problem::displayConstraints	(		)
raises	(	Error
	)

Display the constraint in the ConfigProjector.

void hpp::corbaserver::Problem::edge	(	in unsigned long	edgeId,
		out floatSeq	q1,
		out floatSeq	q2
	)
raises	(	Error
	)

Edge at given rank.

void hpp::corbaserver::Problem::erasePath	(	in unsigned long	pathId	)
raises	(	Error
	)

Erase path pathId from stored.

boolean hpp::corbaserver::Problem::executeOneStep	(		)
raises	(	Error
	)

Execute one step of the planner.

Returns

True if a path has been found.

Note

This won't check if a solution has been found before doing one step. The decision to stop planning is let to the user.

void hpp::corbaserver::Problem::extractPath	(	in unsigned long	pathId,
		in double	start,
		in double	end
	)
raises	(	Error
	)

extract path pathId from param start to end

Note

a New path is added to problem-solver

void hpp::corbaserver::Problem::filterCollisionPairs	(		)
raises	(	Error
	)

Build matrix of relative motions between joints.

See hpp::core::Problem::filterCollisionPairs.

void hpp::corbaserver::Problem::finishSolveStepByStep	(		)
raises	(	Error
	)

Finish the step-by-step planning.

The path optimizer is not called

boolean hpp::corbaserver::Problem::generateValidConfig	(	in unsigned long	maxIter,
		out floatSeq	output,
		out double	residualError
	)
raises	(	Error
	)

Generate random configuration and apply constaints to a configuration.

constraints are stored in ProblemSolver object The class hpp::core::BasicConfigurationShooter is used for random generation of configuration.

Parameters

maxIter

maximum number of tries,

Return values

output	output configuration,
error	norm of the residual error.

Names_t hpp::corbaserver::Problem::getAvailable	(	in string	type	)
raises	(	Error
	)

Return a list of available elements of type type.

Parameters

type	enter "type" to know what types I know of. This is case insensitive.

boolean hpp::corbaserver::Problem::getConstantRightHandSide	(	in string	constraintName	)
raises	(	Error
	)

Get whether right hand side of a numerical constraint is constant.

Parameters

constraintName

Name of the numerical constraint,

Returns

whether right hand side is constant

constraints_idl::Implicit hpp::corbaserver::Problem::getConstraint	(	in string	constraintName	)
raises	(	Error
	)

void hpp::corbaserver::Problem::getConstraintDimensions	(	in string	constraintName,
		out unsigned long	inputSize,
		out unsigned long	inputDerivativeSize,
		out unsigned long	outputSize,
		out unsigned long	outputDerivativeSize
	)
raises	(	Error
	)

Get constraint dimensions.

core_idl::Distance hpp::corbaserver::Problem::getDistance	(		)
raises	(	Error
	)

double hpp::corbaserver::Problem::getErrorThreshold	(		)
raises	(	Error
	)

Get error threshold in numerical constraint resolution.

floatSeqSeq hpp::corbaserver::Problem::getGoalConfigs	(		)
raises	(	Error
	)

Get goal configurations of specified problem.

Returns

Array of degrees of freedom

floatSeq hpp::corbaserver::Problem::getInitialConfig	(		)
raises	(	Error
	)

Get initial configuration of specified problem.

Returns

Array of degrees of freedom

unsigned long hpp::corbaserver::Problem::getMaxIterPathPlanning	(		)
raises	(	Error
	)

Get maximal number of iterations in path planning.

unsigned long hpp::corbaserver::Problem::getMaxIterProjection	(		)
raises	(	Error
	)

Set maximal number of iterations in numerical constraint resolution.

unsigned short hpp::corbaserver::Problem::getMaxNumThreads	(		)
raises	(	Error
	)

Get the maximum number of concurrent access to the device (in thread safe areas).

floatSeq hpp::corbaserver::Problem::getNearestConfig	(	in floatSeq	config,
		in long	connectedComponentId,
		out double	distance
	)
raises	(	Error
	)

Return nearest neighbour of given input configuration.

Parameters

connectedComponentId	is the index of a connected component in the roadmap. If connectedComponentId is negative, function goes through all connected components looking for the nearest node (configuration).
distance	returns the one-dimensional distance between
config	and computed nearest node (configuration).

any hpp::corbaserver::Problem::getParameter	(	in string	name	)
raises	(	Error
	)

Get parameter with given name raise an exception when the parameter is not found.

string hpp::corbaserver::Problem::getParameterDoc	(	in string	name	)
raises	(	Error
	)

Get parameter documentation raise an exception when the parameter is not found.

core_idl::Path hpp::corbaserver::Problem::getPath	(	in unsigned long	pathId	)
raises	(	Error
	)

core_idl::PathPlanner hpp::corbaserver::Problem::getPathPlanner	(		)
raises	(	Error
	)

core_idl::PathValidation hpp::corbaserver::Problem::getPathValidation	(		)
raises	(	Error
	)

core_idl::Problem hpp::corbaserver::Problem::getProblem	(		)
raises	(	Error
	)

floatSeq hpp::corbaserver::Problem::getRightHandSide	(		)
raises	(	Error
	)

Get right hand side of constraints in config projector.

Names_t hpp::corbaserver::Problem::getSelected	(	in string	type	)
raises	(	Error
	)

Return a list of selected elements of type type.

Parameters

type	enter "type" to know what types I know of. This is case insensitive.

Note

For most of the types, the list will contain only one element.

core_idl::SteeringMethod hpp::corbaserver::Problem::getSteeringMethod	(		)
raises	(	Error
	)

double hpp::corbaserver::Problem::getTimeOutPathPlanning	(		)
raises	(	Error
	)

Get time out in path planning (in seconds)

floatSeqSeq hpp::corbaserver::Problem::getWaypoints	(	in unsigned long	pathId,
		out floatSeq	times
	)
raises	(	Error
	)

Get way points of a path.

Parameters

pathId

rank of the path in the problem

void hpp::corbaserver::Problem::interruptPathPlanning	(		)
raises	(	Error
	)

Interrupt path planning activity.

Note

this request is effective only when multi-thread policy is used by CORBA server. See constructor of class Server for details.

boolean hpp::corbaserver::Problem::loadPlugin	(	in string	pluginName	)
raises	(	Error
	)

Load a plugin into the current ProblemSolver.

Parameters

pluginName

either an absolute filename or a filename relative to <a_path_in_LD_LIBRARY_PATH>/hppPlugins.

Note

This is reset each time resetProblem is called.

void hpp::corbaserver::Problem::movePathToProblem	(	in unsigned long	pathId,
		in string	problemName,
		in Names_t	jointNames
	)
raises	(	Error
	)

Move a path from the current problem to another problem.

Parameters

problemName	the destination problem
jointNames	a list of joint names representing the subchain to extract from the original path.

Todo:

the configuration parameter can be selected but not reorganized.

floatSeq hpp::corbaserver::Problem::node	(	in unsigned long	nodeId	)
raises	(	Error
	)

floatSeqSeq hpp::corbaserver::Problem::nodes	(		)
raises	(	Error
	)

Nodes of the roadmap.

floatSeqSeq hpp::corbaserver::Problem::nodesConnectedComponent	(	in unsigned long	connectedComponentId	)
raises	(	Error
	)

Nodes of a connected component.

Parameters

connectedComponentId

index of connected component in roadmap

Returns

list of nodes of the connected component.

long hpp::corbaserver::Problem::numberConnectedComponents

(

)

Number of connected components.

long hpp::corbaserver::Problem::numberEdges	(		)
raises	(	Error
	)

Number of edges.

long hpp::corbaserver::Problem::numberNodes	(		)
raises	(	Error
	)

long hpp::corbaserver::Problem::numberPaths	(		)
raises	(	Error
	)

Get Number of paths.

boolean hpp::corbaserver::Problem::optimize	(	in floatSeq	input,
		out floatSeq	output,
		out floatSeq	residualError
	)
raises	(	Error
	)

Find a local minimum of the least priority constraints.

while respecting the other priorities.

Parameters

input

input configuration,

Return values

output	output configuration,
residualError.

intSeq hpp::corbaserver::Problem::optimizePath	(	in unsigned long	inPathId	)
raises	(	Error
	)

Optimize a given path.

Parameters

inPathId

Id of the path in this problem.

Returns

the running time as 4 integers repectively representing the number of hours, minutes, seconds, microseconds.

Exceptions

Error.

double hpp::corbaserver::Problem::pathLength	(	in unsigned long	inPathId	)
raises	(	Error
	)

Get length of path.

Parameters

inPathId

rank of the path in the problem

Returns

length of path if path exists.

boolean hpp::corbaserver::Problem::prepareSolveStepByStep	(		)
raises	(	Error
	)

Prepare the solver for a step by step planning.

and try to make direct connections (call PathPlanner::tryDirectPath)

Returns

True if a direct connection has been found.

boolean hpp::corbaserver::Problem::projectPath	(	in unsigned long	patId	)
raises	(	Error
	)

Apply the path projector method to the path.

Returns

true in case of success.

void hpp::corbaserver::Problem::readRoadmap	(	in string	filename	)
raises	(	Error
	)

Read a roadmap from a file.

Parameters

filename

name of the file from which the roadmap is read.

void hpp::corbaserver::Problem::resetConstraintMap	(		)
raises	(	Error
	)

Delete all the constraint in the ProblemSolver map.

It erases both the numerical and locked joint constraints This does not resetConstraints of the problem to be solved.

void hpp::corbaserver::Problem::resetConstraints	(		)
raises	(	Error
	)

Reset constraints.

void hpp::corbaserver::Problem::resetGoalConfigs	(		)
raises	(	Error
	)

Reset goal configurations.

void hpp::corbaserver::Problem::resetProblem	(		)
raises	(	Error
	)

Reset the current problem.

void hpp::corbaserver::Problem::resetRoadmap	(		)
raises	(	Error
	)

Reset the roadmap This should be done when joints bounds are modified because the KDTree must be resized.

boolean hpp::corbaserver::Problem::reversePath	(	in unsigned long	pathId,
		out unsigned long	reversedPathId
	)
raises	(	Error
	)

Reverse a path.

Returns

TRUE if created path is fully valid.

void hpp::corbaserver::Problem::saveRoadmap	(	in string	filename	)
raises	(	Error
	)

Save the current roadmap in a file.

Parameters

filename

name of the file where the roadmap is saved

void hpp::corbaserver::Problem::scCreateScalarMultiply	(	in string	outName,
		in double	scalar,
		in string	inName
	)
raises	(	Error
	)

See hpp::constraints::ScalarMultiply.

void hpp::corbaserver::Problem::selectConfigurationShooter	(	in string	configurationShooterType	)
raises	(	Error
	)

Select configuration shooter type.

Parameters

Name	of the configuration planner type, either "Uniform" or any type added by method core::ProblemSolver::addConfigurationShooterType

void hpp::corbaserver::Problem::selectDistance	(	in string	distanceType	)
raises	(	Error
	)

Select distance type.

Parameters

Name	of the distance type, either "WeighedDistance" or any type added by method core::ProblemSolver::addDistanceType

void hpp::corbaserver::Problem::selectPathPlanner	(	in string	pathPlannerType	)
raises	(	Error
	)

Select path planner type.

Parameters

Name	of the path planner type, either "DiffusingPlanner", "VisibilityPrmPlanner", or any type added by method core::ProblemSolver::addPathPlannerType

void hpp::corbaserver::Problem::selectPathProjector	(	in string	pathProjectorType,
		in double	tolerance
	)
raises	(	Error
	)

Select path projector method.

Parameters

Name	of the path projector method, either "None" "Progressive", "Dichotomy", or any type added by core::ProblemSolver::addPathProjectorType,
tolerance

void hpp::corbaserver::Problem::selectPathValidation	(	in string	pathValidationType,
		in double	tolerance
	)
raises	(	Error
	)

Select path validation method.

Parameters

Name	of the path validation method, either "Discretized" "Progressive", "Dichotomy", or any type added by core::ProblemSolver::addPathValidationType,
tolerance	maximal acceptable penetration.

boolean hpp::corbaserver::Problem::selectProblem	(	in string	name	)
raises	(	Error
	)

Select a problem by its name.

If no problem with this name exists, a new problem is created and selected.

Parameters

name	the problem name.

Returns

true if a new problem was created.

void hpp::corbaserver::Problem::selectSteeringMethod	(	in string	steeringMethodType	)
raises	(	Error
	)

Select steering method type.

Parameters

Name	of the steering method type, either "SteeringMethodStraight" or any type added by method core::ProblemSolver::addSteeringMethodType

void hpp::corbaserver::Problem::setConstantRightHandSide	(	in string	constraintName,
		in boolean	constant
	)
raises	(	Error
	)

(Dis-)Allow to modify right hand side of a numerical constraint

Parameters

constraintName	Name of the numerical constraint,
constant	whether right hand side is constant

Constraints should have been added in the ProblemSolver local map, but not inserted in the config projector.

void hpp::corbaserver::Problem::setDefaultLineSearchType	(	in string	type	)
raises	(	Error
	)

void hpp::corbaserver::Problem::setDistance	(	in core_idl::Distance	distance	)
raises	(	Error
	)

void hpp::corbaserver::Problem::setErrorThreshold	(	in double	threshold	)
raises	(	Error
	)

Set error threshold in numerical constraint resolution.

void hpp::corbaserver::Problem::setInitialConfig	(	in floatSeq	dofArray	)
raises	(	Error
	)

Set initial configuration of specified problem.

Parameters

dofArray

Array of degrees of freedom

Exceptions

Error.

void hpp::corbaserver::Problem::setMaxIterPathPlanning	(	in unsigned long	iterations	)
raises	(	Error
	)

Set maximal number of iterations in path planning.

void hpp::corbaserver::Problem::setMaxIterProjection	(	in unsigned long	iterations	)
raises	(	Error
	)

Set maximal number of iterations in numerical constraint resolution.

void hpp::corbaserver::Problem::setMaxNumThreads	(	in unsigned short	n	)
raises	(	Error
	)

Set the maximum number of threads.

This parameter defines the number of possible concurrent access to the device.

void hpp::corbaserver::Problem::setNumericalConstraintsLastPriorityOptional	(	in boolean	optional	)
raises	(	Error
	)

Declare last priority order as optional in the numerical constraints.

void hpp::corbaserver::Problem::setParameter	(	in string	name,
		in any	value
	)
raises	(	Error
	)

Set a parameter.

Parameters

value

the input type must be long, double, const char*

void hpp::corbaserver::Problem::setRandomSeed	(	in long	seed	)
raises	(	Error
	)

Set random seed of random number generator.

void hpp::corbaserver::Problem::setRightHandSide	(	in floatSeq	rhs	)
raises	(	Error
	)

Set right hand side of constraints in config projector.

Parameters

rhs	right hand side of constraints. Contains only right hand side of non-constant constraints

Note

Locked joints are also considered.

void hpp::corbaserver::Problem::setRightHandSideByName	(	in string	constraintName,
		in floatSeq	rhs
	)
raises	(	Error
	)

Set right hand side of given constraint in config projector.

Parameters

constraintName	name of the numerical constraint or locked joint
rhs	right hand side of constraint. raises an exception if constraint has constant right hand side.

void hpp::corbaserver::Problem::setRightHandSideFromConfig	(	in floatSeq	config	)
raises	(	Error
	)

Set right hand side of constraints in config projector.

Parameters

config

a robot configuration use to compute the right hand side of constraints. Contains only right hand side of non-constant constraints

Note

Locked joints are also considered.

void hpp::corbaserver::Problem::setRightHandSideFromConfigByName	(	in string	constraintName,
		in floatSeq	config
	)
raises	(	Error
	)

Set right hand side of given constraint in config projector.

Parameters

constraintName	name of the numerical constraint or locked joint
config	a robot configuration use to compute the right hand side. raises an exception if constraint has constant right hand side.

void hpp::corbaserver::Problem::setTimeOutPathPlanning	(	in double	timeOut	)
raises	(	Error
	)

Set time out in path planning (in seconds)

intSeq hpp::corbaserver::Problem::solve	(		)
raises	(	Error
	)

Solve the problem.

Returns

the running time as 4 integers repectively representing the number of hours, minutes, seconds, microseconds.

Exceptions

Error.