Implement CORBA interface ``Problem''. More...

#include <problem.impl.hh>

Inheritance diagram for hpp::corbaServer::impl::Problem:

Collaboration diagram for hpp::corbaServer::impl::Problem:

Public Member Functions
	Problem ()

void	setServer (ServerPlugin *server)

virtual Names_t *	getAvailable (const char *what) throw (hpp::Error)

virtual Names_t *	getSelected (const char *what) throw (hpp::Error)

virtual void	setParameter (const char *name, const Any &value) throw (Error)

virtual Any *	getParameter (const char *name) throw (Error)

virtual char *	getParameterDoc (const char *name) throw (Error)

virtual bool	selectProblem (const char *problemName) throw (hpp::Error)

virtual void	resetProblem () throw (hpp::Error)

virtual bool	loadPlugin (const char *pluginName) throw (hpp::Error)

virtual void	movePathToProblem (ULong pathId, const char *problemName, const Names_t &jointNames) throw (hpp::Error)

virtual void	setMaxNumThreads (UShort n) throw (Error)

virtual UShort	getMaxNumThreads () throw (Error)

virtual void	setRandomSeed (const Long seed) throw (hpp::Error)

virtual void	setInitialConfig (const hpp::floatSeq &dofArray) throw (hpp::Error)

virtual hpp::floatSeq *	getInitialConfig () throw (hpp::Error)

virtual void	addGoalConfig (const hpp::floatSeq &dofArray) throw (hpp::Error)

virtual hpp::floatSeqSeq *	getGoalConfigs () throw (hpp::Error)

virtual void	resetGoalConfigs () throw (hpp::Error)

virtual void	createOrientationConstraint (const char constraintName, const char joint1Name, const char joint2Name, const Double p, const hpp::boolSeq &mask) throw (hpp::Error)

virtual void	createTransformationConstraint (const char constraintName, const char joint1Name, const char *joint2Name, const Transform_ p, const hpp::boolSeq &mask) throw (hpp::Error)

virtual void	createTransformationConstraint2 (const char constraintName, const char joint1Name, const char *joint2Name, const Transform_ frame1, const Transform_ frame2, const hpp::boolSeq &mask) throw (hpp::Error)

virtual void	createTransformationSE3Constraint (const char constraintName, const char joint1Name, const char *joint2Name, const Transform_ frame1, const Transform_ frame2, const hpp::boolSeq &mask) throw (hpp::Error)

virtual void	createLockedJoint (const char lockedJointName, const char jointName, const hpp::floatSeq &value) throw (hpp::Error)

virtual void	createLockedExtraDof (const char *lockedDofName, ULong index, const hpp::floatSeq &value) throw (hpp::Error)

virtual void	createManipulability (const char name, const char function) throw (hpp::Error)

void	createRelativeComConstraint (const char constraintName, const char comn, const char *jointName, const floatSeq &point, const hpp::boolSeq &mask) throw (hpp::Error)

void	createComBeetweenFeet (const char constraintName, const char comn, const char jointLName, const char jointRName, const floatSeq &pointL, const floatSeq &pointR, const char *jointRefName, const floatSeq &pRef, const hpp::boolSeq &mask) throw (hpp::Error)

virtual void	createConvexShapeContactConstraint (const char *constraintName, const Names_t &floorJoints, const Names_t &objectJoints, const hpp::floatSeqSeq &points, const hpp::intSeqSeq &objTriangles, const hpp::intSeqSeq &floorTriangles) throw (hpp::Error)

void	createStaticStabilityConstraint (const char constraintName, const hpp::Names_t &jointNames, const hpp::floatSeqSeq &points, const hpp::floatSeqSeq &normals, const char comRootJointName) throw (hpp::Error)

virtual void	createPositionConstraint (const char constraintName, const char joint1Name, const char *joint2Name, const hpp::floatSeq &point1, const hpp::floatSeq &point2, const hpp::boolSeq &mask) throw (hpp::Error)

virtual void	createConfigurationConstraint (const char *constraintName, const hpp::floatSeq &goal, const hpp::floatSeq &weights) throw (hpp::Error)

virtual void	createDistanceBetweenJointConstraint (const char constraintName, const char joint1Name, const char *joint2Name, Double distance) throw (Error)

virtual void	createDistanceBetweenJointAndObjects (const char constraintName, const char joint1Name, const hpp::Names_t &objects, Double distance) throw (Error)

virtual void	createIdentityConstraint (const char *constraintName, const Names_t &inJoints, const hpp::Names_t &outJoints) throw (Error)

virtual bool	applyConstraints (const hpp::floatSeq &input, hpp::floatSeq_out output, Double &residualError) throw (hpp::Error)

virtual bool	optimize (const hpp::floatSeq &input, hpp::floatSeq_out output, hpp::floatSeq_out residualError) throw (hpp::Error)

virtual void	computeValueAndJacobian (const hpp::floatSeq &config, hpp::floatSeq_out value, hpp::floatSeqSeq_out jacobian) throw (hpp::Error)

virtual bool	generateValidConfig (ULong maxIter, hpp::floatSeq_out output, Double &residualError) throw (hpp::Error)

virtual void	addPassiveDofs (const char *constraintName, const hpp::Names_t &dofName) throw (hpp::Error)

virtual void	getConstraintDimensions (const char *constraintName, ULong &inputSize, ULong &inputDerivativeSize, ULong &outputSize, ULong &outputDerivativeSize) throw (hpp::Error)

virtual void	setConstantRightHandSide (const char *constraintName, CORBA::Boolean constant) throw (hpp::Error)

virtual bool	getConstantRightHandSide (const char *constraintName) throw (hpp::Error)

virtual floatSeq *	getRightHandSide () throw (hpp::Error)

virtual void	setRightHandSide (const hpp::floatSeq &rhs) throw (hpp::Error)

virtual void	setRightHandSideFromConfig (const hpp::floatSeq &config) throw (hpp::Error)

virtual void	setRightHandSideByName (const char *constraintName, const hpp::floatSeq &rhs) throw (hpp::Error)

virtual void	setRightHandSideFromConfigByName (const char *constraintName, const hpp::floatSeq &config) throw (hpp::Error)

virtual void	resetConstraints () throw (hpp::Error)

virtual void	resetConstraintMap () throw (hpp::Error)

virtual void	addNumericalConstraints (const char *constraintName, const hpp::Names_t &constraintNames, const hpp::intSeq &priorities) throw (Error)

virtual void	setNumericalConstraintsLastPriorityOptional (const bool optional) throw (Error)

virtual void	addLockedJointConstraints (const char *configProjName, const hpp::Names_t &lockedJointNames) throw (Error)

virtual char *	displayConstraints () throw (Error)

virtual void	filterCollisionPairs () throw (hpp::Error)

virtual Double	getErrorThreshold () throw (Error)

virtual void	setErrorThreshold (Double threshold) throw (Error)

virtual void	setDefaultLineSearchType (const char *type) throw (Error)

virtual ULong	getMaxIterProjection () throw (Error)

virtual void	setMaxIterProjection (ULong iterations) throw (Error)

virtual ULong	getMaxIterPathPlanning () throw (Error)

virtual void	setMaxIterPathPlanning (ULong iterations) throw (Error)

virtual void	setTimeOutPathPlanning (double timeOut) throw (Error)

virtual double	getTimeOutPathPlanning () throw (Error)

virtual void	addPathOptimizer (const char *pathOptimizerType) throw (Error)

virtual void	clearPathOptimizers () throw (Error)

virtual void	addConfigValidation (const char *configValidationType) throw (Error)

virtual void	clearConfigValidations () throw (Error)

virtual void	selectPathValidation (const char *pathValidationType, Double tolerance) throw (Error)

virtual void	selectPathProjector (const char *pathProjectorType, Double tolerance) throw (Error)

virtual void	selectPathPlanner (const char *pathPlannerType) throw (Error)

virtual void	selectDistance (const char *distanceType) throw (Error)

virtual void	selectSteeringMethod (const char *steeringMethodType) throw (Error)

virtual void	selectConfigurationShooter (const char *configurationShooterType) throw (Error)

virtual bool	prepareSolveStepByStep () throw (hpp::Error)

virtual bool	executeOneStep () throw (hpp::Error)

virtual void	finishSolveStepByStep () throw (hpp::Error)

virtual hpp::intSeq *	solve () throw (hpp::Error)

virtual bool	directPath (const hpp::floatSeq &startConfig, const hpp::floatSeq &endConfig, CORBA::Boolean validate, ULong &pathId, CORBA::String_out report) throw (hpp::Error)

virtual bool	reversePath (ULong pathId, ULong &reversedPathId) throw (hpp::Error)

virtual void	addConfigToRoadmap (const hpp::floatSeq &config) throw (hpp::Error)

virtual void	addEdgeToRoadmap (const hpp::floatSeq &config1, const hpp::floatSeq &config2, ULong pathId, bool bothEdges) throw (hpp::Error)

virtual void	appendDirectPath (ULong pathId, const hpp::floatSeq &config, Boolean validate) throw (hpp::Error)

virtual void	concatenatePath (ULong startId, ULong endId) throw (hpp::Error)

virtual void	extractPath (ULong pathId, Double start, Double end) throw (hpp::Error)

virtual void	erasePath (ULong pathId) throw (hpp::Error)

virtual bool	projectPath (ULong pathId) throw (hpp::Error)

virtual void	interruptPathPlanning () throw (hpp::Error)

virtual Long	numberPaths () throw (hpp::Error)

virtual hpp::intSeq *	optimizePath (ULong pathId) throw (hpp::Error)

virtual Double	pathLength (ULong pathId) throw (hpp::Error)

virtual hpp::floatSeq *	configAtParam (ULong pathId, Double atDistance) throw (hpp::Error)

virtual hpp::floatSeq *	derivativeAtParam (ULong pathId, ULong order, Double atDistance) throw (hpp::Error)

virtual hpp::floatSeqSeq *	getWaypoints (ULong inPathId, floatSeq_out times) throw (hpp::Error)

virtual hpp::floatSeqSeq *	nodes () throw (hpp::Error)

virtual Long	numberEdges () throw (hpp::Error)

virtual void	edge (ULong edgeId, hpp::floatSeq_out q1, hpp::floatSeq_out q2) throw (hpp::Error)

virtual Long	connectedComponentOfEdge (ULong edgeId) throw (hpp::Error)

virtual hpp::floatSeq *	node (ULong nodeId) throw (hpp::Error)

virtual Long	connectedComponentOfNode (ULong nodeId) throw (hpp::Error)

virtual Long	numberNodes () throw (hpp::Error)

virtual Long	numberConnectedComponents () throw (hpp::Error)

virtual hpp::floatSeqSeq *	nodesConnectedComponent (ULong connectedComponentId) throw (hpp::Error)

virtual hpp::floatSeq *	getNearestConfig (const hpp::floatSeq &config, const Long connectedComponentId, hpp::core::value_type &distance) throw (hpp::Error)

virtual void	clearRoadmap () throw (hpp::Error)

virtual void	resetRoadmap ()

virtual void	saveRoadmap (const char *filename) throw (hpp::Error)

virtual void	readRoadmap (const char *filename) throw (hpp::Error)

virtual void	scCreateScalarMultiply (const char outName, Double scalar, const char inName) throw (hpp::Error)

hpp::core_idl::Distance_ptr	getDistance () throw (hpp::Error)

void	setDistance (hpp::core_idl::Distance_ptr distance) throw (hpp::Error)

hpp::core_idl::Path_ptr	getPath (ULong pathId) throw (Error)

ULong	addPath (hpp::core_idl::PathVector_ptr _path) throw (Error)

hpp::core_idl::SteeringMethod_ptr	getSteeringMethod () throw (Error)

hpp::core_idl::PathValidation_ptr	getPathValidation () throw (Error)

hpp::core_idl::PathPlanner_ptr	getPathPlanner () throw (Error)

hpp::core_idl::Problem_ptr	getProblem () throw (Error)

hpp::constraints_idl::Implicit_ptr	getConstraint (const char *name) throw (Error)

Detailed Description

Implement CORBA interface ``Problem''.

Constructor & Destructor Documentation

hpp::corbaServer::impl::Problem::Problem ( )

Member Function Documentation

virtual void hpp::corbaServer::impl::Problem::addConfigToRoadmap	(	const hpp::floatSeq &	config	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::addConfigValidation	(	const char *	configValidationType	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::addEdgeToRoadmap	(	const hpp::floatSeq &	config1,
		const hpp::floatSeq &	config2,
		ULong	pathId,
		bool	bothEdges
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::addGoalConfig	(	const hpp::floatSeq &	dofArray	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::addLockedJointConstraints	(	const char *	configProjName,
		const hpp::Names_t &	lockedJointNames
	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::addNumericalConstraints	(	const char *	constraintName,
		const hpp::Names_t &	constraintNames,
		const hpp::intSeq &	priorities
	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::addPassiveDofs	(	const char *	constraintName,
		const hpp::Names_t &	dofName
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

ULong hpp::corbaServer::impl::Problem::addPath	(	hpp::core_idl::PathVector_ptr	_path	)
throw	(	Error
	)

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::addPathOptimizer	(	const char *	pathOptimizerType	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::appendDirectPath	(	ULong	pathId,
		const hpp::floatSeq &	config,
		Boolean	validate
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual bool hpp::corbaServer::impl::Problem::applyConstraints	(	const hpp::floatSeq &	input,
		hpp::floatSeq_out	output,
		Double &	residualError
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::clearConfigValidations	(		)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::clearPathOptimizers	(		)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::clearRoadmap	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::computeValueAndJacobian	(	const hpp::floatSeq &	config,
		hpp::floatSeq_out	value,
		hpp::floatSeqSeq_out	jacobian
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::concatenatePath	(	ULong	startId,
		ULong	endId
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual hpp::floatSeq* hpp::corbaServer::impl::Problem::configAtParam	(	ULong	pathId,
		Double	atDistance
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual Long hpp::corbaServer::impl::Problem::connectedComponentOfEdge	(	ULong	edgeId	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual Long hpp::corbaServer::impl::Problem::connectedComponentOfNode	(	ULong	nodeId	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

void hpp::corbaServer::impl::Problem::createComBeetweenFeet	(	const char *	constraintName,
		const char *	comn,
		const char *	jointLName,
		const char *	jointRName,
		const floatSeq &	pointL,
		const floatSeq &	pointR,
		const char *	jointRefName,
		const floatSeq &	pRef,
		const hpp::boolSeq &	mask
	)
throw	(	hpp::Error
	)

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createConfigurationConstraint	(	const char *	constraintName,
		const hpp::floatSeq &	goal,
		const hpp::floatSeq &	weights
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createConvexShapeContactConstraint	(	const char *	constraintName,
		const Names_t &	floorJoints,
		const Names_t &	objectJoints,
		const hpp::floatSeqSeq &	points,
		const hpp::intSeqSeq &	objTriangles,
		const hpp::intSeqSeq &	floorTriangles
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createDistanceBetweenJointAndObjects	(	const char *	constraintName,
		const char *	joint1Name,
		const hpp::Names_t &	objects,
		Double	distance
	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createDistanceBetweenJointConstraint	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		Double	distance
	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createIdentityConstraint	(	const char *	constraintName,
		const Names_t &	inJoints,
		const hpp::Names_t &	outJoints
	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createLockedExtraDof	(	const char *	lockedDofName,
		ULong	index,
		const hpp::floatSeq &	value
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createLockedJoint	(	const char *	lockedJointName,
		const char *	jointName,
		const hpp::floatSeq &	value
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createManipulability	(	const char *	name,
		const char *	function
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createOrientationConstraint	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const Double *	p,
		const hpp::boolSeq &	mask
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createPositionConstraint	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const hpp::floatSeq &	point1,
		const hpp::floatSeq &	point2,
		const hpp::boolSeq &	mask
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

void hpp::corbaServer::impl::Problem::createRelativeComConstraint	(	const char *	constraintName,
		const char *	comn,
		const char *	jointName,
		const floatSeq &	point,
		const hpp::boolSeq &	mask
	)
throw	(	hpp::Error
	)

Referenced by setRandomSeed().

void hpp::corbaServer::impl::Problem::createStaticStabilityConstraint	(	const char *	constraintName,
		const hpp::Names_t &	jointNames,
		const hpp::floatSeqSeq &	points,
		const hpp::floatSeqSeq &	normals,
		const char *	comRootJointName
	)
throw	(	hpp::Error
	)

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createTransformationConstraint	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const Transform_	p,
		const hpp::boolSeq &	mask
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createTransformationConstraint2	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const Transform_	frame1,
		const Transform_	frame2,
		const hpp::boolSeq &	mask
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::createTransformationSE3Constraint	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const Transform_	frame1,
		const Transform_	frame2,
		const hpp::boolSeq &	mask
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual hpp::floatSeq* hpp::corbaServer::impl::Problem::derivativeAtParam	(	ULong	pathId,
		ULong	order,
		Double	atDistance
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual bool hpp::corbaServer::impl::Problem::directPath	(	const hpp::floatSeq &	startConfig,
		const hpp::floatSeq &	endConfig,
		CORBA::Boolean	validate,
		ULong &	pathId,
		CORBA::String_out	report
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual char* hpp::corbaServer::impl::Problem::displayConstraints	(		)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::edge	(	ULong	edgeId,
		hpp::floatSeq_out	q1,
		hpp::floatSeq_out	q2
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::erasePath	(	ULong	pathId	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual bool hpp::corbaServer::impl::Problem::executeOneStep	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::extractPath	(	ULong	pathId,
		Double	start,
		Double	end
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::filterCollisionPairs	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::finishSolveStepByStep	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual bool hpp::corbaServer::impl::Problem::generateValidConfig	(	ULong	maxIter,
		hpp::floatSeq_out	output,
		Double &	residualError
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual Names_t* hpp::corbaServer::impl::Problem::getAvailable	(	const char *	what	)
throw	(	hpp::Error
	)

virtual

Referenced by setServer().

virtual bool hpp::corbaServer::impl::Problem::getConstantRightHandSide	(	const char *	constraintName	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

hpp::constraints_idl::Implicit_ptr hpp::corbaServer::impl::Problem::getConstraint	(	const char *	name	)
throw	(	Error
	)

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::getConstraintDimensions	(	const char *	constraintName,
		ULong &	inputSize,
		ULong &	inputDerivativeSize,
		ULong &	outputSize,
		ULong &	outputDerivativeSize
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

hpp::core_idl::Distance_ptr hpp::corbaServer::impl::Problem::getDistance	(		)
throw	(	hpp::Error
	)

Referenced by setRandomSeed().

virtual Double hpp::corbaServer::impl::Problem::getErrorThreshold	(		)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual hpp::floatSeqSeq* hpp::corbaServer::impl::Problem::getGoalConfigs	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual hpp::floatSeq* hpp::corbaServer::impl::Problem::getInitialConfig	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual ULong hpp::corbaServer::impl::Problem::getMaxIterPathPlanning	(		)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual ULong hpp::corbaServer::impl::Problem::getMaxIterProjection	(		)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual UShort hpp::corbaServer::impl::Problem::getMaxNumThreads	(		)
throw	(	Error
	)

virtual

Referenced by setServer().

virtual hpp::floatSeq* hpp::corbaServer::impl::Problem::getNearestConfig	(	const hpp::floatSeq &	config,
		const Long	connectedComponentId,
		hpp::core::value_type &	distance
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual Any* hpp::corbaServer::impl::Problem::getParameter	(	const char *	name	)
throw	(	Error
	)

virtual

Referenced by setServer().

virtual char* hpp::corbaServer::impl::Problem::getParameterDoc	(	const char *	name	)
throw	(	Error
	)

virtual

Referenced by setServer().

hpp::core_idl::Path_ptr hpp::corbaServer::impl::Problem::getPath	(	ULong	pathId	)
throw	(	Error
	)

Referenced by setRandomSeed().

hpp::core_idl::PathPlanner_ptr hpp::corbaServer::impl::Problem::getPathPlanner	(		)
throw	(	Error
	)

Referenced by setRandomSeed().

hpp::core_idl::PathValidation_ptr hpp::corbaServer::impl::Problem::getPathValidation	(		)
throw	(	Error
	)

Referenced by setRandomSeed().

hpp::core_idl::Problem_ptr hpp::corbaServer::impl::Problem::getProblem	(		)
throw	(	Error
	)

Referenced by setRandomSeed().

virtual floatSeq* hpp::corbaServer::impl::Problem::getRightHandSide	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual Names_t* hpp::corbaServer::impl::Problem::getSelected	(	const char *	what	)
throw	(	hpp::Error
	)

virtual

Referenced by setServer().

hpp::core_idl::SteeringMethod_ptr hpp::corbaServer::impl::Problem::getSteeringMethod	(		)
throw	(	Error
	)

Referenced by setRandomSeed().

virtual double hpp::corbaServer::impl::Problem::getTimeOutPathPlanning	(		)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual hpp::floatSeqSeq* hpp::corbaServer::impl::Problem::getWaypoints	(	ULong	inPathId,
		floatSeq_out	times
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::interruptPathPlanning	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual bool hpp::corbaServer::impl::Problem::loadPlugin	(	const char *	pluginName	)
throw	(	hpp::Error
	)

virtual

Referenced by setServer().

virtual void hpp::corbaServer::impl::Problem::movePathToProblem	(	ULong	pathId,
		const char *	problemName,
		const Names_t &	jointNames
	)
throw	(	hpp::Error
	)

virtual

Referenced by setServer().

virtual hpp::floatSeq* hpp::corbaServer::impl::Problem::node	(	ULong	nodeId	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual hpp::floatSeqSeq* hpp::corbaServer::impl::Problem::nodes	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual hpp::floatSeqSeq* hpp::corbaServer::impl::Problem::nodesConnectedComponent	(	ULong	connectedComponentId	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual Long hpp::corbaServer::impl::Problem::numberConnectedComponents	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual Long hpp::corbaServer::impl::Problem::numberEdges	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual Long hpp::corbaServer::impl::Problem::numberNodes	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual Long hpp::corbaServer::impl::Problem::numberPaths	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual bool hpp::corbaServer::impl::Problem::optimize	(	const hpp::floatSeq &	input,
		hpp::floatSeq_out	output,
		hpp::floatSeq_out	residualError
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual hpp::intSeq* hpp::corbaServer::impl::Problem::optimizePath	(	ULong	pathId	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual Double hpp::corbaServer::impl::Problem::pathLength	(	ULong	pathId	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual bool hpp::corbaServer::impl::Problem::prepareSolveStepByStep	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual bool hpp::corbaServer::impl::Problem::projectPath	(	ULong	pathId	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::readRoadmap	(	const char *	filename	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::resetConstraintMap	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::resetConstraints	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::resetGoalConfigs	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::resetProblem	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setServer().

virtual void hpp::corbaServer::impl::Problem::resetRoadmap ( )

virtual

Referenced by setRandomSeed().

virtual bool hpp::corbaServer::impl::Problem::reversePath	(	ULong	pathId,
		ULong &	reversedPathId
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::saveRoadmap	(	const char *	filename	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::scCreateScalarMultiply	(	const char *	outName,
		Double	scalar,
		const char *	inName
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::selectConfigurationShooter	(	const char *	configurationShooterType	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::selectDistance	(	const char *	distanceType	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::selectPathPlanner	(	const char *	pathPlannerType	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::selectPathProjector	(	const char *	pathProjectorType,
		Double	tolerance
	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::selectPathValidation	(	const char *	pathValidationType,
		Double	tolerance
	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual bool hpp::corbaServer::impl::Problem::selectProblem	(	const char *	problemName	)
throw	(	hpp::Error
	)

virtual

Referenced by setServer().

virtual void hpp::corbaServer::impl::Problem::selectSteeringMethod	(	const char *	steeringMethodType	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::setConstantRightHandSide	(	const char *	constraintName,
		CORBA::Boolean	constant
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::setDefaultLineSearchType	(	const char *	type	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

void hpp::corbaServer::impl::Problem::setDistance	(	hpp::core_idl::Distance_ptr	distance	)
throw	(	hpp::Error
	)

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::setErrorThreshold	(	Double	threshold	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::setInitialConfig	(	const hpp::floatSeq &	dofArray	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::setMaxIterPathPlanning	(	ULong	iterations	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::setMaxIterProjection	(	ULong	iterations	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::setMaxNumThreads	(	UShort	n	)
throw	(	Error
	)

virtual

Referenced by setServer().

virtual void hpp::corbaServer::impl::Problem::setNumericalConstraintsLastPriorityOptional	(	const bool	optional	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::setParameter	(	const char *	name,
		const Any &	value
	)
throw	(	Error
	)

virtual

Referenced by setServer().

virtual void hpp::corbaServer::impl::Problem::setRandomSeed	(	const Long	seed	)
throw	(	hpp::Error
	)

inlinevirtual

References addConfigToRoadmap(), addConfigValidation(), addEdgeToRoadmap(), addGoalConfig(), addLockedJointConstraints(), addNumericalConstraints(), addPassiveDofs(), addPath(), addPathOptimizer(), appendDirectPath(), applyConstraints(), clearConfigValidations(), clearPathOptimizers(), clearRoadmap(), computeValueAndJacobian(), concatenatePath(), configAtParam(), connectedComponentOfEdge(), connectedComponentOfNode(), createComBeetweenFeet(), createConfigurationConstraint(), createConvexShapeContactConstraint(), createDistanceBetweenJointAndObjects(), createDistanceBetweenJointConstraint(), createIdentityConstraint(), createLockedExtraDof(), createLockedJoint(), createManipulability(), createOrientationConstraint(), createPositionConstraint(), createRelativeComConstraint(), createStaticStabilityConstraint(), createTransformationConstraint(), createTransformationConstraint2(), createTransformationSE3Constraint(), derivativeAtParam(), directPath(), displayConstraints(), distance(), edge(), erasePath(), executeOneStep(), extractPath(), filterCollisionPairs(), finishSolveStepByStep(), generateValidConfig(), getConstantRightHandSide(), getConstraint(), getConstraintDimensions(), getDistance(), getErrorThreshold(), getGoalConfigs(), getInitialConfig(), getMaxIterPathPlanning(), getMaxIterProjection(), getNearestConfig(), getPath(), getPathPlanner(), getPathValidation(), getProblem(), getRightHandSide(), getSteeringMethod(), getTimeOutPathPlanning(), getWaypoints(), interruptPathPlanning(), node(), nodes(), nodesConnectedComponent(), numberConnectedComponents(), numberEdges(), numberNodes(), numberPaths(), optimize(), optimizePath(), pathLength(), prepareSolveStepByStep(), projectPath(), readRoadmap(), resetConstraintMap(), resetConstraints(), resetGoalConfigs(), resetRoadmap(), reversePath(), saveRoadmap(), scCreateScalarMultiply(), selectConfigurationShooter(), selectDistance(), selectPathPlanner(), selectPathProjector(), selectPathValidation(), selectSteeringMethod(), setConstantRightHandSide(), setDefaultLineSearchType(), setDistance(), setErrorThreshold(), setInitialConfig(), setMaxIterPathPlanning(), setMaxIterProjection(), setNumericalConstraintsLastPriorityOptional(), setRightHandSide(), setRightHandSideByName(), setRightHandSideFromConfig(), setRightHandSideFromConfigByName(), setTimeOutPathPlanning(), and solve().

virtual void hpp::corbaServer::impl::Problem::setRightHandSide	(	const hpp::floatSeq &	rhs	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::setRightHandSideByName	(	const char *	constraintName,
		const hpp::floatSeq &	rhs
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::setRightHandSideFromConfig	(	const hpp::floatSeq &	config	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

virtual void hpp::corbaServer::impl::Problem::setRightHandSideFromConfigByName	(	const char *	constraintName,
		const hpp::floatSeq &	config
	)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

void hpp::corbaServer::impl::Problem::setServer ( ServerPlugin * server )

inline

References getAvailable(), getMaxNumThreads(), getParameter(), getParameterDoc(), getSelected(), loadPlugin(), movePathToProblem(), resetProblem(), selectProblem(), setMaxNumThreads(), and setParameter().

virtual void hpp::corbaServer::impl::Problem::setTimeOutPathPlanning	(	double	timeOut	)
throw	(	Error
	)

virtual

Referenced by setRandomSeed().

virtual hpp::intSeq* hpp::corbaServer::impl::Problem::solve	(		)
throw	(	hpp::Error
	)

virtual

Referenced by setRandomSeed().

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation