steering_methods.idl

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// Copyright (c) 2019, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
// 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_STEERING_METHODS_IDL
#define HPP_MANIPULATION_STEERING_METHODS_IDL

#include "hpp/corbaserver/manipulation/gcommon.idl"
#include <hpp/common.idl>
#include <hpp/constraints_idl/constraints.idl>
#include <hpp/core_idl/steering_methods.idl>

module hpp {
  module constraints_idl {
    interface Implicit;
  };
  module core_idl {
    interface SteeringMethod;
    interface Path;
  };
  module manipulation_idl {
    module steeringMethod {
      interface EndEffectorTrajectory : core_idl::SteeringMethod
      {
        core_idl::Path makePiecewiseLinearTrajectory (in floatSeqSeq points, in floatSeq weights);
        void trajectoryConstraint (in constraints_idl::Implicit c) raises (Error);
        void trajectory (in core_idl::Path eeTraj, in boolean se3Output) raises (Error);
      }; // interface SteeringMethod
    }; // module steeringMethod
  }; // module manipulation
}; // module hpp

//* #include <hpp/constraints_idl/constraints.hh>
//* #include <hpp/core_idl/steering_methods.hh>
//* #include <hpp/manipulation/steering-method/end-effector-trajectory.hh>

#endif // HPP_MANIPULATION_STEERING_METHODS_IDL