problem.idl

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// Copyright (c) 2014 CNRS
// Author: Florent Lamiraux
//
// This file is part of hpp-manipulation-corba.
// hpp-manipulation-corba 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-corba 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-corba.  If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_MANIPULATION_CORBA_PROBLEM_IDL
#define HPP_MANIPULATION_CORBA_PROBLEM_IDL

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

#include <hpp/manipulation_idl/_graph.idl>

module hpp {
  module corbaserver {
    module manipulation {
      interface Problem
      {
        boolean selectProblem (in string name) raises (Error);

        void resetProblem () raises (Error);

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

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

    void createGrasp (in string graspName, in string gripperName,
              in string handleName)
      raises (Error);

    void createPreGrasp (in string name, in string gripper,
                 in string handle) raises (Error);

        Names_t getEnvironmentContactNames ()
          raises (Error);

        Names_t getRobotContactNames ()
          raises (Error);

        Names_t getEnvironmentContact (in string name, out intSeq indices,
                                       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);

        void createPrePlacementConstraint (in string placementName,
            in Names_t shapeName, in Names_t envContactName, in double witdh)
          raises (Error);

        void createQPStabilityConstraint (in string constraintName,
            in Names_t shapesName)
          raises (Error);

        boolean setConstraints (in ID idComp, in boolean target)
          raises (Error);

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

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

        boolean buildAndProjectPath (in ID IDedge, in floatSeq qb, in floatSeq qe, out long indexNotProj,
            out long indexProj)
          raises (Error);

        void setTargetState(in ID IDstate) raises (Error);

        ID edgeAtParam (in unsigned long inPathId, in double atDistance, out string graphName)
          raises (Error);

        manipulation_idl::graph_idl::Validation createGraphValidation ()
          raises (Error);
      }; // interface Problem
    }; // module manipulation
  }; // module corbaserver
}; // module hpp

#endif // HPP_MANIPULATION_CORBA_ROBOT_IDL