problem.idl

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// Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL.
//
// 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_CORBASERVER_PROBLEM_SERVER_IDL
#define HPP_CORBASERVER_PROBLEM_SERVER_IDL
#include <hpp/common.idl>
#include <hpp/constraints_idl/constraints.idl>
#include <hpp/core_idl/distances.idl>
#include <hpp/core_idl/paths.idl>
#include <hpp/core_idl/steering_methods.idl>
#include <hpp/core_idl/path_planners.idl>
#include <hpp/core_idl/path_validations.idl>
#include <hpp/core_idl/_problem.idl>

module hpp
{
  module corbaserver {
  interface Problem
  {
    void setRandomSeed (in long seed) raises (Error);

    void setMaxNumThreads (in unsigned short n) raises (Error);

    unsigned short getMaxNumThreads () raises (Error);

    Names_t getAvailable (in string type) raises (Error);

    Names_t getSelected (in string type) raises (Error);

    void setParameter (in string name, in any value) raises (Error);

    any getParameter (in string name) raises (Error);

    string getParameterDoc (in string name) raises (Error);

    boolean selectProblem (in string name) raises (Error);

    void resetProblem () raises (Error);

    boolean loadPlugin (in string pluginName) raises (Error);

    void movePathToProblem (in unsigned long pathId, in string problemName,
        in Names_t jointNames) raises (Error);


    void setInitialConfig (in floatSeq dofArray) raises (Error);

     floatSeq getInitialConfig () raises (Error);

    void addGoalConfig (in floatSeq dofArray) raises (Error);

    floatSeqSeq getGoalConfigs () raises (Error);

    void resetGoalConfigs () raises (Error);



    boolean applyConstraints (in floatSeq input, out floatSeq output,
                  out double residualError)
      raises (Error);

    boolean optimize (in floatSeq input, out floatSeq output,
                      out floatSeq residualError)
      raises (Error);

    void computeValueAndJacobian (in floatSeq config, out floatSeq value,
                  out floatSeqSeq jacobian) raises (Error);

    boolean generateValidConfig (in unsigned long maxIter, out floatSeq output,
                  out double residualError)
      raises (Error);

    void createOrientationConstraint
    (in string constraintName, in string joint1Name,
     in string joint2Name, in Quaternion_ p,
     in boolSeq mask) raises (Error);


    void createTransformationConstraint
    (in string constraintName, in string joint1Name,
     in string joint2Name, in Transform_ ref,
     in boolSeq mask) raises (Error);

    void createTransformationSE3Constraint
    (in string constraintName, in string joint1Name, in string joint2Name,
     in Transform_ frame1, in Transform_ frame2, in boolSeq mask) raises (Error);

    void createTransformationConstraint2
    (in string constraintName, in string joint1Name,
     in string joint2Name, in Transform_ frame1, in Transform_ frame2,
     in boolSeq mask) raises (Error);

    void createLockedJoint (in string lockedJointName,
                            in string jointName,
                            in floatSeq value) raises (Error);

    void createLockedExtraDof (in string lockedDofName,
                               in unsigned long index,
                               in floatSeq value) raises (Error);

    void createManipulability (in string name,
                               in string function) raises (Error);

    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);

    void createRelativeComConstraint (in string constraintName, in string comName,
        in string jointLName, in floatSeq point, in boolSeq mask)
      raises (Error);

    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);

    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);

    void createDistanceBetweenJointAndObjects
    (in string constraintName, in string joint1Name, in Names_t objects,
     in double distance) raises (Error);

    void createIdentityConstraint
    (in string constraintName, in Names_t inJoints, in Names_t outJoints)
      raises (Error);

    void resetConstraints () raises (Error);

    void resetConstraintMap () raises (Error);

    void addPassiveDofs (in string constraintName, in Names_t jointNames)
      raises (Error);

    void getConstraintDimensions (in string constraintName,
        out unsigned long inputSize , out unsigned long inputDerivativeSize,
        out unsigned long outputSize, out unsigned long outputDerivativeSize)
      raises (Error);

    void setConstantRightHandSide (in string constraintName,
                   in boolean constant)
      raises (Error);

    boolean getConstantRightHandSide (in string constraintName)
      raises (Error);

    floatSeq getRightHandSide () raises (Error);

    void setRightHandSide (in floatSeq rhs) raises (Error);

    void setRightHandSideFromConfig (in floatSeq config) raises (Error);

    void setRightHandSideByName (in string constraintName, in floatSeq rhs)
      raises (Error);

    void setRightHandSideFromConfigByName (in string constraintName, in floatSeq config)
      raises (Error);

    void addNumericalConstraints (in string configProjName,
                  in Names_t constraintNames,
                                  in intSeq priorities)
      raises (Error);

    void setNumericalConstraintsLastPriorityOptional (in boolean optional)
      raises (Error);

    void addLockedJointConstraints (in string configProjName,
                                    in Names_t lockedJointNames) raises (Error);

    string displayConstraints () raises (Error);

    double getErrorThreshold () raises (Error);

    void setErrorThreshold (in double threshold) raises (Error);

    void setDefaultLineSearchType (in string type) raises (Error);

    unsigned long getMaxIterProjection () raises (Error);

    void setMaxIterProjection (in unsigned long iterations) raises (Error);

    unsigned long getMaxIterPathPlanning () raises (Error);

    void setMaxIterPathPlanning (in unsigned long iterations) raises (Error);


    void scCreateScalarMultiply (in string outName, in double scalar, in string inName) raises (Error);

    double getTimeOutPathPlanning () raises (Error);

    void setTimeOutPathPlanning (in double timeOut) raises (Error);




    void filterCollisionPairs () raises (Error);



    void selectPathPlanner (in string pathPlannerType) raises (Error);

    void selectConfigurationShooter (in string configurationShooterType) raises (Error);

    void selectDistance (in string distanceType) raises (Error);


    void selectSteeringMethod (in string steeringMethodType) raises (Error);

    void addPathOptimizer (in string pathOptimizerType) raises (Error);

    void clearPathOptimizers () raises (Error);

    void addConfigValidation (in string configValidationType) raises (Error);

    void clearConfigValidations () raises (Error);

    void selectPathValidation (in string pathValidationType,
                   in double tolerance) raises (Error);

    void selectPathProjector (in string pathProjectorType,
                              in double tolerance) raises (Error);

    boolean prepareSolveStepByStep () raises (Error);

    boolean executeOneStep () raises (Error);

    void finishSolveStepByStep () raises (Error);

    intSeq solve() raises (Error);

    boolean directPath (in floatSeq startConfig, in floatSeq endConfig,
            in boolean validate,
            out unsigned long pathId, out string report)
      raises (Error);

    boolean reversePath (in unsigned long pathId, out unsigned long reversedPathId)
      raises (Error);

    void addConfigToRoadmap (in floatSeq config) raises(Error);

    void addEdgeToRoadmap (in floatSeq config1, in floatSeq config2,
               in unsigned long pathId, in boolean bothEdges)
      raises (Error);

    void appendDirectPath (in unsigned long pathId, in floatSeq config, in boolean validate)
      raises (Error);

    void concatenatePath (in unsigned long startId, in unsigned long endId)
      raises (Error);

    void extractPath (in unsigned long pathId, in double start, in double end)
        raises (Error);

    void erasePath (in unsigned long pathId)
      raises (Error);

    boolean projectPath (in unsigned long patId) raises (Error);

    long numberPaths () raises (Error);

    intSeq optimizePath(in unsigned long inPathId) raises (Error);

    double pathLength(in unsigned long inPathId) raises (Error);

    floatSeq configAtParam(in unsigned long inPathId, in double atDistance)
      raises (Error);

    floatSeq derivativeAtParam(in unsigned long inPathId, in unsigned long orderId, in double atDistance)
      raises (Error);

    floatSeqSeq getWaypoints (in unsigned long pathId, out floatSeq times) raises (Error);



    void interruptPathPlanning() raises (Error);


    floatSeqSeq nodes () raises (Error);

        // number of nodes in the roadmap
    long numberNodes() raises (Error);

    // return the configuration of the node nodeId
    floatSeq node(in unsigned long nodeId) raises(Error);

    long connectedComponentOfEdge(in unsigned long edgeId) raises(Error);

    long connectedComponentOfNode(in unsigned long nodeId) raises(Error);

    long numberEdges () raises (Error);

    void edge (in unsigned long edgeId, out floatSeq q1, out floatSeq q2)
      raises (Error);

    long numberConnectedComponents ();

    floatSeqSeq nodesConnectedComponent (in unsigned long connectedComponentId)
      raises (Error);

    floatSeq getNearestConfig(in floatSeq config, in long connectedComponentId, out double distance)
    raises (Error);

    void clearRoadmap () raises (Error);

    void resetRoadmap () raises (Error);

    void saveRoadmap (in string filename) raises (Error);

    void readRoadmap (in string filename) raises (Error);

    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);

    void setRobot (in pinocchio_idl::Device robot) raises (Error);
  };
  }; // interface Problem
}; // module hpp
#endif