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

Public Member Functions
boolean	selectProblem (in string name) raises (Error)
	Select a problem by its name. More...

void	resetProblem () raises (Error)
	Reset the current problem. 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	createGrasp (in string graspName, in string gripperName, in string handleName) raises (Error)
	Create grasp constraints between robot gripper and object handle. More...

void	createPreGrasp (in string name, in string gripper, in string handle) raises (Error)
	Create pre-grasp constraints between robot gripper and object handle. More...

Names_t	getEnvironmentContactNames () raises (Error)

Names_t	getRobotContactNames () raises (Error)

Names_t	getEnvironmentContact (in string name, out intSeq indexes, out floatSeqSeq points) raises (Error)

Names_t	getRobotContact (in string name, out intSeq indexes, out floatSeqSeq points) raises (Error)

void	createPlacementConstraint (in string placementName, in Names_t shapeName, in Names_t envContactName) raises (Error)
	Create a placement constraint between a shapes of robot and env. More...

void	createPrePlacementConstraint (in string placementName, in Names_t shapeName, in Names_t envContactName, in double witdh) raises (Error)
	Create a pre-placement constraint between a shapes of robot and env. More...

void	createQPStabilityConstraint (in string constraintName, in Names_t shapesName) raises (Error)
	Create a QPStaticStability constraints. More...

boolean	setConstraints (in ID idComp, in boolean target) raises (Error)
	Set the problem constraints to the specified constraint. More...

boolean	applyConstraints (in ID idComp, in floatSeq input, out floatSeq output, out double residualError) raises (Error)
	Apply constaints to a configuration. More...

boolean	applyConstraintsWithOffset (in ID IDedge, in floatSeq qnear, in floatSeq input, out floatSeq output, out double residualError) raises (Error)
	Apply constaints to a configuration. More...

boolean	buildAndProjectPath (in ID IDedge, in floatSeq qb, in floatSeq qe, out long indexNotProj, out long indexProj) raises (Error)
	Build a path from qb to qe using the Edge::build. More...

void	setTargetState (in ID IDstate) raises (Error)
	Set a state of the constraint graph as target of the problem. More...

ID	edgeAtParam (in unsigned long inPathId, in double atDistance, out string graphName) raises (Error)
	Get the edge ID of the motion that generated the configuration at the given parameter. More...

Member Function Documentation

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

Apply constaints to a configuration.

Parameters

idComp	ID of a node or a configuration
input	input configuration,

Return values

output	output configuration,
error	norm of the residual error.

boolean hpp::corbaserver::manipulation::Problem::applyConstraintsWithOffset	(	in ID	IDedge,
		in floatSeq	qnear,
		in floatSeq	input,
		out floatSeq	output,
		out double	residualError
	)
raises	(	Error
	)

Apply constaints to a configuration.

Parameters

IDedge	ID of an edge
qnear	configuration to initiliaze the projector,
input	input configuration,

Return values

output	output configuration,
error	norm of the residual error. Call method using hpp::manipulation::graph::Edge::applyConstraints.

boolean hpp::corbaserver::manipulation::Problem::buildAndProjectPath	(	in ID	IDedge,
		in floatSeq	qb,
		in floatSeq	qe,
		out long	indexNotProj,
		out long	indexProj
	)
raises	(	Error
	)

Build a path from qb to qe using the Edge::build.

Parameters

IDedge	id of the edge to use.
qb	configuration at the beginning of the path
qe	configuration at the end of the path

Return values

return	true if the path is built and fully projected.
indexNotProj	-1 is the path could not be built. The index of the built path (before projection) in the in the ProblemSolver path vector.
indexProj	-1 is the path could not be fully projected. The index of the built path (before projection) in the in the ProblemSolver path vector. No path validation is made. The paths can be retrieved using corbaserver::Problem::configAtParam

void hpp::corbaserver::manipulation::Problem::createGrasp	(	in string	graspName,
		in string	gripperName,
		in string	handleName
	)
raises	(	Error
	)

Create grasp constraints between robot gripper and object handle.

Creates two contraints between a handle and a gripper.

The first constraint named "${graspName}" is defined by the type of handle. For instance, an axial handle defines a five degree of freedom constraint with free rotation around the x-axis.
the second constraint named "${graspName}/complement" is the complement to the fully constraint transformation. For the axial handle, it corresponds to the rotation around x.

Parameters

graspName	prefix of the constraint names for storing in ProblemSolver map,
gripperName	name of the gripper used when it has been created
handleName	name of the handle in the form "object/handle" where object is the name of the object owning the handle and handle is the name of the handle in this object.

See also: hpp::manipulation::Handle::createGrasp

void hpp::corbaserver::manipulation::Problem::createPlacementConstraint	(	in string	placementName,
		in Names_t	shapeName,
		in Names_t	envContactName
	)
raises	(	Error
	)

Create a placement constraint between a shapes of robot and env.

Parameters

placementName	Name of the numerical constraint,
shapeName	List of names of the list of shapes as stored in the Device instance,
envContactName	list of names of the list of shapes as stored in ProblemSolver instance

A placement constraint specifies that surfaces delimited by one shape of the robot and one shape of the environment should have an intersection of positive area.

void hpp::corbaserver::manipulation::Problem::createPreGrasp	(	in string	name,
		in string	gripper,
		in string	handle
	)
raises	(	Error
	)

Create pre-grasp constraints between robot gripper and object handle.

Creates two contraints between a handle and a gripper.

The first constraint named "${name}" is the same as the grasp defined in createGrasp, except that the translation along x is not constrained. For instance, an axial handle defines a four degree of freedom constraint with free rotation and translation around/along the x-axis,
the second constraint named "${name}/double_ineq" is a double inequality on the relative x-position of the handle and of the gripper. the bounds of the inequality are for now [-.001 c, 2.001 c].

Parameters

name	prefix of the constraint names for storing in ProblemSolver map,
gripper	name of the gripper used when it has been created
handle	name of the handle in the form "object/handle" where object is the name of the object owning the handle and handle is the name of the handle in this object,

void hpp::corbaserver::manipulation::Problem::createPrePlacementConstraint	(	in string	placementName,
		in Names_t	shapeName,
		in Names_t	envContactName,
		in double	witdh
	)
raises	(	Error
	)

Create a pre-placement constraint between a shapes of robot and env.

Parameters

placementName	Name of the numerical constraint,
shapeName	Name of the list of shapes as stored in the Device instance,
envContactName	Name of the list of shapes as stored in ProblemSolver instance
width	the approaching distance.

A pre-placement constraint specifies that surfaces delimited by one shape of the robot and one shape of the environment should have an intersection of positive area.

void hpp::corbaserver::manipulation::Problem::createQPStabilityConstraint	(	in string	constraintName,
		in Names_t	shapesName
	)
raises	(	Error
	)

Create a QPStaticStability constraints.

Parameters

constraintName
shapesName	list of the convex shape name of the robot on which forces are applied.

ID hpp::corbaserver::manipulation::Problem::edgeAtParam	(	in unsigned long	inPathId,
		in double	atDistance,
		out string	graphName
	)
raises	(	Error
	)

Get the edge ID of the motion that generated the configuration at the given parameter.

Names_t hpp::corbaserver::manipulation::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.

Referenced by manipulation.problem_solver.ProblemSolver::getConstantRightHandSide().

Names_t hpp::corbaserver::manipulation::Problem::getEnvironmentContact	(	in string	name,
		out intSeq	indexes,
		out floatSeqSeq	points
	)
raises	(	Error
	)

Names_t hpp::corbaserver::manipulation::Problem::getEnvironmentContactNames	(		)
raises	(	Error
	)

Names_t hpp::corbaserver::manipulation::Problem::getRobotContact	(	in string	name,
		out intSeq	indexes,
		out floatSeqSeq	points
	)
raises	(	Error
	)

Names_t hpp::corbaserver::manipulation::Problem::getRobotContactNames	(		)
raises	(	Error
	)

Names_t hpp::corbaserver::manipulation::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.

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

Reset the current problem.

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

Select a problem by its name.

If no problem with this name exists, a new hpp::manipulation::ProblemSolver is created and selected.

Parameters

name	the problem name.

Returns: true if a new problem was created.

boolean hpp::corbaserver::manipulation::Problem::setConstraints	(	in ID	idComp,
		in boolean	target
	)
raises	(	Error
	)

Set the problem constraints to the specified constraint.

Parameters

idComp	ID of a node or a configuration
target	ignored for states. For edges: true: uses the edge target constraint false: uses the edge path constraint

void hpp::corbaserver::manipulation::Problem::setTargetState	(	in ID	IDstate	)
raises	(	Error
	)

Set a state of the constraint graph as target of the problem.

Warning: when setTargetState is called, goal configurations are ignored.

Public Member Functions

Member Function Documentation