graph.idl

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// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
// This file is part of hpp-manipulation.
// hpp-manipulation is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-manipulation is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.


#ifndef HPP_MANIPULATION_CORBA_GRAPH_IDL
#define HPP_MANIPULATION_CORBA_GRAPH_IDL

#include "hpp/corbaserver/manipulation/gcommon.idl"
#include <hpp/common.idl>

module hpp {
  module corbaserver {
    module manipulation {
      typedef sequence <Names_t> Namess_t;

      struct Rule {
    Names_t grippers;
    Names_t handles;
    boolean link;
      };
      typedef sequence<Rule> Rules;

      interface Graph {
        long createGraph(in string graphName)
          raises (Error);

        void deleteGraph(in string graphName)
          raises (Error);

        void selectGraph(in string graphName)
          raises (Error);

        void createSubGraph(in string subgraphName)
          raises (Error);

        void setTargetNodeList(in ID graphId, in IDseq nodes)
          raises (Error);

        long createNode (in long graphId, in string nodeName, in boolean waypoint, in long priority)
          raises (Error);

        long createEdge (in long nodeFromId, in long nodeToId, in string edgeName, in long weight, in long isInNodeId)
          raises (Error);

        void setContainingNode (in ID edgeId, in ID nodeId)
          raises (Error);

        string getContainingNode (in ID edgeId)
          raises (Error);

        long createWaypointEdge (in long nodeFromId, in long nodeToId,
                 in string edgeName, in long number,
                 in long weight, in long isInNode)
          raises (Error);

        long getWaypoint (in long edgeId, in long index, out ID nodeId)
          raises (Error);

        void setWaypoint (in ID waypointEdgeId, in long index,
            in ID edgeId, in ID nodeId)
          raises (Error);

        void getGraph (out GraphComp graph, out GraphElements elmts)
          raises (Error);

        void getEdgeStat (in ID edgeId, out Names_t reasons, out intSeq freqs)
          raises (Error);

        long getFrequencyOfNodeInRoadmap (in ID nodeId, out intSeq freqPerConnectedComponent)
          raises (Error);

        boolean getConfigProjectorStats (in ID elmt, out ConfigProjStat config, out ConfigProjStat path)
          raises (Error);

        long createLevelSetEdge(in long nodeFromId, in long nodeToId, in string edgeName, in long weight, in ID isInNodeId)
          raises (Error);

        void addLevelSetFoliation (in long edgeId, in Names_t condNC,
                                   in Names_t paramNC)
          raises (Error);

    void resetConstraints(in long graphComponentId) raises (Error);

        void setNumericalConstraints (in long graphComponentId, in Names_t constraintNames, in Names_t passiveDofsNames)
          raises (Error);

        void addNumericalConstraints (in long graphComponentId, in Names_t constraintNames, in Names_t passiveDofsNames)
          raises (Error);

    void getNumericalConstraints (in long graphComponentId, out Names_t constraintNames)
      raises (Error);

        void setNumericalConstraintsForPath (in long nodeId, in Names_t constraintNames, in Names_t passiveDofsNames)
          raises (Error);

        void addNumericalConstraintsForPath (in long nodeId, in Names_t constraintNames, in Names_t passiveDofsNames)
          raises (Error);

    void removeCollisionPairFromEdge (in ID edgeId, in string joint1,
                      in string joint2) raises (Error);

        void getNode (in floatSeq dofArray, out ID nodeId)
          raises (Error);

        boolean applyNodeConstraints (in ID idComp, in floatSeq input, out floatSeq output,
            out double residualError)
          raises (Error);

        boolean applyEdgeLeafConstraints
        (in ID idedge, in floatSeq qleaf, in floatSeq input,
         out floatSeq output, out double residualError) raises (Error);

        boolean generateTargetConfig (in ID IDedge, in floatSeq qleaf,
                                      in floatSeq input, out floatSeq output,
                                      out double residualError)
          raises (Error);

    boolean getConfigErrorForNode (in ID nodeId, in floatSeq config,
                       out floatSeq errorVector) raises (Error);

    boolean getConfigErrorForEdge (in ID EdgeId, in floatSeq config,
                       out floatSeq errorVector) raises (Error);

    boolean getConfigErrorForEdgeLeaf
    (in ID EdgeId, in floatSeq leafConfig, in floatSeq config,
     out floatSeq errorVector) raises (Error);

    boolean getConfigErrorForEdgeTarget
    (in ID EdgeId, in floatSeq leafConfig, in floatSeq config,
     out floatSeq errorVector) raises (Error);

    void displayNodeConstraints (in ID nodeId, out string constraints)
      raises (Error);

    void displayEdgeTargetConstraints (in ID edgeId, out string constraints)
      raises (Error);

    void displayEdgeConstraints (in ID edgeId, out string constraints)
      raises (Error);

    void getNodesConnectedByEdge (in ID edgeId, out string from,
                      out string to) raises (Error);

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

        void getHistogramValue (in ID edgeId, out floatSeq freq, out floatSeqSeq values)
          raises (Error);

        void setShort (in ID edgeId, in boolean isShort)
          raises (Error);

        boolean isShort (in ID edgeId)
          raises (Error);

        // \par allows to create two separated notes.
        long autoBuild (in string graphName,
            in Names_t grippers, in Names_t objects,
            in Namess_t handlesPerObject, in Namess_t contactsPerObject,
        in Names_t envNames, in Rules rulesList)
          raises (Error);

        void setWeight (in ID edgeID, in long weight)
          raises (Error);

        long getWeight (in ID edgeID)
          raises (Error);

        string getName (in ID elmtID)
          raises (Error);

        void initialize ()
          raises (Error);

        void getRelativeMotionMatrix (in ID edgeID, out intSeqSeq matrix)
          raises (Error);

        void setSecurityMarginForEdge(in ID edgeID, in string joint1,
                                      in string joint2, in double margin)
          raises(Error);
      }; // interface Graph
    }; // module manipulation
  }; // module corbaserver
}; // module hpp

#endif // HPP_MANIPULATION_CORBA_GRAPH_IDL