_problem.idl

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// Copyright (C) 2019 by Joseph Mirabel, LAAS-CNRS.
//
// This file is part of the hpp-corbaserver.
//
// This software is provided "as is" without warranty of any kind,
// either expressed or implied, including but not limited to the
// implied warranties of fitness for a particular purpose.
//
// See the COPYING file for more information.

#ifndef HPP_CORE_PROBLEM_IDL
#define HPP_CORE_PROBLEM_IDL
#include <hpp/common.idl>

module hpp
{
  module pinocchio_idl {
  interface Device;
  }; // module pinocchio

  module core_idl {
  interface Distance;
  interface SteeringMethod;
  interface PathValidation;
  interface ConfigurationShooter;
  interface Constraint;

  interface Problem
  {
    HPP_EXPOSE_MEMORY_DEALLOCATION

    pinocchio_idl::Device robot () raises (Error);

    void setInitConfig (in floatSeq init) raises (Error);
    //* ConfigurationPtr_t q (floatSeqToConfigPtr(getT()->robot(), init, true));
    //* getT()->initConfig (q);
    floatSeq getInitConfig () raises (Error);
    //-> initConfig
    void resetGoalConfigs () raises (Error);

    Constraint getConstraints () raises (Error);
    //-> constraints

    Distance getDistance () raises (Error);
    //-> distance
    void setDistance (in Distance d) raises (Error);
    //-> distance
    SteeringMethod getSteeringMethod () raises (Error);
    //-> steeringMethod
    void setSteeringMethod (in SteeringMethod d) raises (Error);
    //-> steeringMethod
    PathValidation getPathValidation () raises (Error);
    //-> pathValidation
    void setPathValidation (in PathValidation d) raises (Error);
    //-> pathValidation
    ConfigurationShooter getConfigurationShooter () raises (Error);
    //-> configurationShooter
    void setConfigurationShooter (in ConfigurationShooter d) raises (Error);
    //-> configurationShooter
  }; // interface Problem

  }; // module core
}; // module hpp

//* #include <hpp/core/problem.hh>
//* #include <hpp/pinocchio_idl/robots.hh>
//* #include <hpp/core_idl/distances.hh>
//* #include <hpp/core_idl/steering_methods.hh>
//* #include <hpp/core_idl/path_validations.hh>
//* #include <hpp/core_idl/configuration_shooters.hh>

#include <hpp/pinocchio_idl/robots.idl>
#include <hpp/core_idl/distances.idl>
#include <hpp/core_idl/steering_methods.idl>
#include <hpp/core_idl/path_validations.idl>
#include <hpp/core_idl/configuration_shooters.idl>

#endif // HPP_CORE_PROBLEM_IDL