# Python stubs generated by omniidl from /local/robotpkg/var/tmp/robotpkg/path/py-hpp-manipulation-corba/work/hpp-manipulation-corba-9.0.2/idl/hpp/corbaserver/manipulation/problem.idl
# DO NOT EDIT THIS FILE!

import omniORB, _omnipy
from omniORB import CORBA, PortableServer
_0_CORBA = CORBA


_omnipy.checkVersion(4,2, __file__, 1)

try:
    property
except NameError:
    def property(*args):
        return None


# #include "hpp/corbaserver/manipulation/gcommon.idl"
import hpp_stubs.corbaserver.manipulation.gcommon_idl
_0_hpp = omniORB.openModule("hpp_idl.hpp")
_0_hpp__POA = omniORB.openModule("hpp_idl.hpp__POA")

# #include "hpp/common.idl"
import hpp_stubs.common_idl
_0_hpp = omniORB.openModule("hpp_stubs.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.hpp__POA")

# #include "hpp/pinocchio_idl/robots.idl"
import hpp_stubs.pinocchio.robots_idl
_0_hpp = omniORB.openModule("hpp_stubs.pinocchio.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.pinocchio.hpp__POA")
_0_hpp.pinocchio_idl = omniORB.openModule("hpp_stubs.pinocchio.hpp.pinocchio_idl")
_0_hpp__POA.pinocchio_idl = omniORB.openModule("hpp_stubs.pinocchio.hpp__POA.pinocchio_idl")

# #include "hpp/core_idl/paths.idl"
import hpp_stubs.core.paths_idl
_0_hpp = omniORB.openModule("hpp_stubs.core.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.core.hpp__POA")
_0_hpp.core_idl = omniORB.openModule("hpp_stubs.core.hpp.core_idl")
_0_hpp__POA.core_idl = omniORB.openModule("hpp_stubs.core.hpp__POA.core_idl")
_0_hpp.core_idl.path_idl = omniORB.openModule("hpp_stubs.core.hpp.core_idl.path_idl")
_0_hpp__POA.core_idl.path_idl = omniORB.openModule("hpp_stubs.core.hpp__POA.core_idl.path_idl")

# #include "hpp/constraints_idl/constraints.idl"
import hpp_stubs.constraints.constraints_idl
_0_hpp = omniORB.openModule("hpp_stubs.constraints.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.constraints.hpp__POA")
_0_hpp.constraints_idl = omniORB.openModule("hpp_stubs.constraints.hpp.constraints_idl")
_0_hpp__POA.constraints_idl = omniORB.openModule("hpp_stubs.constraints.hpp__POA.constraints_idl")

# #include "hpp/core_idl/_constraints.idl"
import hpp_stubs.core._constraints_idl
_0_hpp = omniORB.openModule("hpp_stubs.core.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.core.hpp__POA")
_0_hpp.constraints_idl = omniORB.openModule("hpp_stubs.core.hpp.constraints_idl")
_0_hpp__POA.constraints_idl = omniORB.openModule("hpp_stubs.core.hpp__POA.constraints_idl")
_0_hpp.core_idl = omniORB.openModule("hpp_stubs.core.hpp.core_idl")
_0_hpp__POA.core_idl = omniORB.openModule("hpp_stubs.core.hpp__POA.core_idl")

# #include "hpp/core_idl/path_planners.idl"
import hpp_stubs.core.path_planners_idl
_0_hpp = omniORB.openModule("hpp_stubs.core.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.core.hpp__POA")
_0_hpp.core_idl = omniORB.openModule("hpp_stubs.core.hpp.core_idl")
_0_hpp__POA.core_idl = omniORB.openModule("hpp_stubs.core.hpp__POA.core_idl")

# #include "hpp/core_idl/distances.idl"
import hpp_stubs.core.distances_idl
_0_hpp = omniORB.openModule("hpp_stubs.core.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.core.hpp__POA")
_0_hpp.core_idl = omniORB.openModule("hpp_stubs.core.hpp.core_idl")
_0_hpp__POA.core_idl = omniORB.openModule("hpp_stubs.core.hpp__POA.core_idl")

# #include "hpp/core_idl/steering_methods.idl"
import hpp_stubs.core.steering_methods_idl
_0_hpp = omniORB.openModule("hpp_stubs.core.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.core.hpp__POA")
_0_hpp.core_idl = omniORB.openModule("hpp_stubs.core.hpp.core_idl")
_0_hpp__POA.core_idl = omniORB.openModule("hpp_stubs.core.hpp__POA.core_idl")
_0_hpp.core_idl.steeringMethod_idl = omniORB.openModule("hpp_stubs.core.hpp.core_idl.steeringMethod_idl")
_0_hpp__POA.core_idl.steeringMethod_idl = omniORB.openModule("hpp_stubs.core.hpp__POA.core_idl.steeringMethod_idl")

# #include "hpp/core_idl/path_validations.idl"
import hpp_stubs.core.path_validations_idl
_0_hpp = omniORB.openModule("hpp_stubs.core.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.core.hpp__POA")
_0_hpp.core_idl = omniORB.openModule("hpp_stubs.core.hpp.core_idl")
_0_hpp__POA.core_idl = omniORB.openModule("hpp_stubs.core.hpp__POA.core_idl")
_0_hpp.core_idl.pathValidation_idl = omniORB.openModule("hpp_stubs.core.hpp.core_idl.pathValidation_idl")
_0_hpp__POA.core_idl.pathValidation_idl = omniORB.openModule("hpp_stubs.core.hpp__POA.core_idl.pathValidation_idl")

# #include "hpp/manipulation_idl/_graph.idl"
import hpp_stubs.manipulation._graph_idl
_0_hpp = omniORB.openModule("hpp_stubs.manipulation.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.manipulation.hpp__POA")
_0_hpp.constraints_idl = omniORB.openModule("hpp_stubs.manipulation.hpp.constraints_idl")
_0_hpp__POA.constraints_idl = omniORB.openModule("hpp_stubs.manipulation.hpp__POA.constraints_idl")
_0_hpp.core_idl = omniORB.openModule("hpp_stubs.manipulation.hpp.core_idl")
_0_hpp__POA.core_idl = omniORB.openModule("hpp_stubs.manipulation.hpp__POA.core_idl")
_0_hpp.manipulation_idl = omniORB.openModule("hpp_stubs.manipulation.hpp.manipulation_idl")
_0_hpp__POA.manipulation_idl = omniORB.openModule("hpp_stubs.manipulation.hpp__POA.manipulation_idl")
_0_hpp.manipulation_idl.graph_idl = omniORB.openModule("hpp_stubs.manipulation.hpp.manipulation_idl.graph_idl")
_0_hpp__POA.manipulation_idl.graph_idl = omniORB.openModule("hpp_stubs.manipulation.hpp__POA.manipulation_idl.graph_idl")

# #include "hpp/manipulation_idl/_path_planners.idl"
import hpp_stubs.manipulation._path_planners_idl
_0_hpp = omniORB.openModule("hpp_stubs.manipulation.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.manipulation.hpp__POA")
_0_hpp.core_idl = omniORB.openModule("hpp_stubs.manipulation.hpp.core_idl")
_0_hpp__POA.core_idl = omniORB.openModule("hpp_stubs.manipulation.hpp__POA.core_idl")
_0_hpp.manipulation_idl = omniORB.openModule("hpp_stubs.manipulation.hpp.manipulation_idl")
_0_hpp__POA.manipulation_idl = omniORB.openModule("hpp_stubs.manipulation.hpp__POA.manipulation_idl")
_0_hpp.manipulation_idl.pathPlanner_idl = omniORB.openModule("hpp_stubs.manipulation.hpp.manipulation_idl.pathPlanner_idl")
_0_hpp__POA.manipulation_idl.pathPlanner_idl = omniORB.openModule("hpp_stubs.manipulation.hpp__POA.manipulation_idl.pathPlanner_idl")

#
# Start of module "hpp"
#
__name__ = "hpp_idl.hpp"
_0_hpp = omniORB.openModule("hpp_idl.hpp", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-manipulation-corba/work/hpp-manipulation-corba-9.0.2/idl/hpp/corbaserver/manipulation/problem.idl")
_0_hpp__POA = omniORB.openModule("hpp_idl.hpp__POA", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-manipulation-corba/work/hpp-manipulation-corba-9.0.2/idl/hpp/corbaserver/manipulation/problem.idl")


#
# Start of module "hpp.corbaserver"
#
__name__ = "hpp_idl.hpp.corbaserver"
_0_hpp.corbaserver = omniORB.openModule("hpp_idl.hpp.corbaserver", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-manipulation-corba/work/hpp-manipulation-corba-9.0.2/idl/hpp/corbaserver/manipulation/problem.idl")
_0_hpp__POA.corbaserver = omniORB.openModule("hpp_idl.hpp__POA.corbaserver", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-manipulation-corba/work/hpp-manipulation-corba-9.0.2/idl/hpp/corbaserver/manipulation/problem.idl")


#
# Start of module "hpp.corbaserver.manipulation"
#
__name__ = "hpp_idl.hpp.corbaserver.manipulation"
_0_hpp.corbaserver.manipulation = omniORB.openModule("hpp_idl.hpp.corbaserver.manipulation", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-manipulation-corba/work/hpp-manipulation-corba-9.0.2/idl/hpp/corbaserver/manipulation/problem.idl")
_0_hpp__POA.corbaserver.manipulation = omniORB.openModule("hpp_idl.hpp__POA.corbaserver.manipulation", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-manipulation-corba/work/hpp-manipulation-corba-9.0.2/idl/hpp/corbaserver/manipulation/problem.idl")


# interface Problem
_0_hpp.corbaserver.manipulation._d_Problem = (omniORB.tcInternal.tv_objref, "IDL:hpp/corbaserver/manipulation/Problem:1.0", "Problem")
omniORB.typeMapping["IDL:hpp/corbaserver/manipulation/Problem:1.0"] = _0_hpp.corbaserver.manipulation._d_Problem
_0_hpp.corbaserver.manipulation.Problem = omniORB.newEmptyClass()
class Problem :
    _NP_RepositoryId = _0_hpp.corbaserver.manipulation._d_Problem[1]

    def __init__(self, *args, **kw):
        raise RuntimeError("Cannot construct objects of this type.")

    _nil = CORBA.Object._nil

    selectProblem__doc__ = "Select a problem by its name.\012If no problem with this name exists, a new\012hpp::manipulation::ProblemSolver is created and selected.\012\134param name the problem name.\012\134return true if a new problem was created.\012\012Prototype:\011        boolean selectProblem (in string name) raises (Error);\012"
    resetProblem__doc__ = "Reset the current problem.\012\012Prototype:\011        void resetProblem () raises (Error);\012"
    getAvailable__doc__ = "Return a list of available elements of type type\012\134param type enter \042type\042 to know what types I know of.\012            This is case insensitive.\012\012Prototype:\011        Names_t getAvailable (in string type) raises (Error);\012"
    getSelected__doc__ = "Return a list of selected elements of type type\012\134param type enter \042type\042 to know what types I know of.\012            This is case insensitive.\012\134note For most of the types, the list will contain only one element.\012\012Prototype:\011        Names_t getSelected (in string type) raises (Error);\012"
    loadRoadmap__doc__ = "Load a roadmap from a file\012\134param filename name of the file from which the roadmap is read.\012\012Prototype:\011        void loadRoadmap (in string filename) raises (Error);\012"
    createGrasp__doc__ = "Create grasp constraints between robot gripper and object handle\012\012Creates two contraints between a handle and a gripper.\012\134li The first constraint named \042${graspName}\042 is defined by\012the type of handle. For instance, an axial handle defines\012a five degree of freedom constraint with free rotation\012around the x-axis.\012\134li the second constraint named \042${graspName}/complement\042 is\012the complement to the fully constraint\012transformation. For the axial handle, it corresponds to\012the rotation around x.\012\012\134param graspName prefix of the constraint names for storing in\012       ProblemSolver map,\012\134param gripperName name of the gripper used when it has been created\012\134param handleName name of the handle in the form \042object/handle\042\012where object is the name of the object owning the handle and handle\012is the name of the handle in this object.\012\134sa hpp::manipulation::Handle::createGrasp\012\012Prototype:\011\011void createGrasp (in string graspName, in string gripperName,\012           \011\011\011\011  in string handleName)\012           \011\011  raises (Error);\012"
    createPreGrasp__doc__ = "Create pre-grasp constraints between robot gripper and object handle\012\012Creates two contraints between a handle and a gripper.\012\134li The first constraint named \042${name}\042 is the same as\012the grasp defined in createGrasp, except that the\012translation along x is not constrained. For instance, an\012axial handle defines a four degree of freedom constraint\012with free rotation and translation around/along the\012x-axis,\012\134li the second constraint named \042${name}/double_ineq\042 is a\012double inequality on the relative x-position of the handle\012and of the gripper.  the bounds of the inequality are for\012now [-.001 c, 2.001 c].\012\012\134param name prefix of the constraint names for storing in\012       ProblemSolver map,\012\134param gripper name of the gripper used when it has been created\012\134param handle name of the handle in the form \042object/handle\042\012where object is the name of the object owning the handle and handle\012is the name of the handle in this object,\012\012Prototype:\011\011void createPreGrasp (in string name, in string gripper,\012           \011\011\011\011     in string handle) raises (Error);\012"
    getEnvironmentContactNames__doc__ = "Get names of environment contact surfaces\012\134sa class hpp::core::Shape_t\012\134note they are also accessible with getAvailable(\042EnvContact\042).\012\012Prototype:\011        Names_t getEnvironmentContactNames ()\012           \011          raises (Error);\012"
    getRobotContactNames__doc__ = "Get names of environment contact surfaces on robot\012\134sa class hpp::core::Shape_t\012\134note those are also accessible with getAvailable(\042RobotContact\042).\012\012Prototype:\011        Names_t getRobotContactNames ()\012           \011          raises (Error);\012"
    getEnvironmentContact__doc__ = "Get environment contact from name\012\012A contact surface may be composed of several convex polygons.\012Let us denote by n the number of polygons.\012\134param name name of the contact surface\012\134return a list of n times the same joint name\012\134retval indices sequence of n numbers of vertices one for each\012        polygon,\012\134retval points sequence of vertices. The number should be the\012        sum of the elements of indices.\012\012Prototype:\011        Names_t getEnvironmentContact (in string name, out intSeq indices,\012           \011                                       out floatSeqSeq points)\012           \011          raises (Error);\012"
    getRobotContact__doc__ = "Get robot contact from name\012\012A contact surface may be composed of several convex polygons.\012Let us denote by n the number of polygons.\012\134param name name of the contact surface\012\134return a list of n times the same joint name\012\134retval indices sequence of n numbers of vertices one for each\012        polygon,\012\134retval points sequence of vertices. The number should be the\012        sum of the elements of indices.\012\012Prototype:\011        Names_t getRobotContact (in string name, out intSeq indexes,\012           \011                                 out floatSeqSeq points)\012           \011          raises (Error);\012"
    createPlacementConstraint__doc__ = "Create a placement constraint between a shapes of robot and env.\012\012\134param placementName Name of the numerical constraint,\012\134param shapeName List of names of the list of shapes as stored in the\012       Device instance,\012\134param envContactName list of names of the list of shapes as stored in\012       ProblemSolver instance\012\012A placement constraint specifies that surfaces delimited by\012one shape of the robot and one shape of the environment\012should have an intersection of positive area.\012\012Prototype:\011        void createPlacementConstraint (in string placementName,\012           \011            in Names_t shapeName, in Names_t envContactName)\012           \011          raises (Error);\012"
    createPrePlacementConstraint__doc__ = "Create a pre-placement constraint between a shapes of robot and env.\012\012\134param placementName Name of the numerical constraint,\012\134param shapeName Name of the list of shapes as stored in the\012       Device instance,\012\134param envContactName Name of the list of shapes as stored in\012       ProblemSolver instance\012\134param width the approaching distance.\012\012A pre-placement constraint specifies that surfaces delimited by\012one shape of the robot and one shape of the environment\012should have an intersection of positive area.\012\012Prototype:\011        void createPrePlacementConstraint (in string placementName,\012           \011            in Names_t shapeName, in Names_t envContactName, in double witdh)\012           \011          raises (Error);\012"
    createQPStabilityConstraint__doc__ = "Create a QPStaticStability constraints\012\134param constraintName\012\134param comRootJointName name of the root joint of the center of\012       mass to be used,\012\134param shapesName list of the convex shape name of the robot on\012       which forces are applied.\012\012\012Prototype:\011        void createQPStabilityConstraint(in string constraintName,\012           \011            in string comRootJointName, in Names_t shapesName)\012           \011          raises (Error);\012"
    setConstraints__doc__ = "Set the problem constraints to the specified constraint.\012\012\134param idComp ID of a node or a configuration\012\134param target: ignored for states. For edges:\012       \134li true: uses the edge target constraint\012       \134li false: uses the edge path constraint\012\012Prototype:\011        boolean setConstraints (in ID idComp, in boolean target)\012           \011          raises (Error);\012"
    registerConstraints__doc__ = "Register constraints\012\134param constraint a numerical constraint partially constraining the\012       (relative) pose of an object or robot body (grasp,\012       placement),\012\134param complement the complement constraint, i.e. the constaint that\012       combined with the previous one totally constrains the pose\012       of the object or robot body.\012\134param both a constraint (usually explicit) that is equivalent to\012       the combination of the two first parameters.\012\012Registering constraints enables the numerical solvers to be more\012efficient. Instead of inserting \042constraint\042 and \042complement\042 in\012a solver, the graph will insert constraint \042both\042, thus replacing\012two implicit constraints by an explicit one.\012\012Prototype:\011        void registerConstraints(in string constraint, in string complement,\012           \011                                 in string both);\012"
    applyConstraints__doc__ = "Apply constaints to a configuration\012\012\134param idComp ID of a node or a configuration\012\134param input input configuration,\012\134retval output output configuration,\012\134retval error norm of the residual error.\012\134deprecated Use Graph::applyNodeConstraints instead\012\012Prototype:\011        boolean applyConstraints (in ID idComp, in floatSeq input, out floatSeq output,\012           \011            out double residualError)\012           \011          raises (Error);\012"
    applyConstraintsWithOffset__doc__ = "Apply constaints to a configuration\012\012\134param IDedge ID of an edge\012\134param qnear configuration to initiliaze the projector,\012\134param input input configuration,\012\134retval output output configuration,\012\134retval error norm of the residual error.\012\012Call method using hpp::manipulation::graph::Edge::applyConstraints.\012\134deprecated Use Graph::generateTargetConfig instead.\012\012Prototype:\011        boolean applyConstraintsWithOffset (in ID IDedge, in floatSeq qnear, in floatSeq input, out floatSeq output,\012           \011            out double residualError)\012           \011          raises (Error);\012"
    buildAndProjectPath__doc__ = "Build a path from qb to qe using the Edge::build.\012\134param IDedge id of the edge to use.\012\134param qb configuration at the beginning of the path\012\134param qe configuration at the end of the path\012\134retval return true if the path is built and fully projected.\012\134retval indexNotProj -1 is the path could not be built. The index\012                     of the built path (before projection) in the\012                     in the ProblemSolver path vector.\012\134retval indexProj -1 is the path could not be fully projected. The\012                  index of the built path (before projection) in the\012                  in the ProblemSolver path vector.\012No path validation is made. The paths can be retrieved using\012corbaserver::Problem::configAtParam\012\012Prototype:\011        boolean buildAndProjectPath (in ID IDedge, in floatSeq qb, in floatSeq qe, out long indexNotProj,\012           \011            out long indexProj)\012           \011          raises (Error);\012"
    setTargetState__doc__ = "Set a state of the constraint graph as target of the problem.\012\134warning when setTargetState is called, goal configurations are\012         ignored.\012\012Prototype:\011        void setTargetState(in ID IDstate) raises (Error);\012"
    edgeAtParam__doc__ = "Get the edge ID of the motion that generated the configuration\012at the given parameter.\012\012Prototype:\011        ID edgeAtParam (in unsigned long inPathId, in double atDistance, out string graphName)\012           \011          raises (Error);\012"
    createGraphValidation__doc__ = "\012Prototype:\011        manipulation_idl::graph_idl::Validation createGraphValidation ()\012           \011          raises (Error);\012"
    readRoadmap__doc__ = "Read a roadmap from a file\012\134param filename name of the file,\012       If it ends with \047.xml\047, then the file is interpreted in\012       XML format, otherwise it is interpreted in binary format.\012\134param robot the robot for which the roadmap was built before\012       saving in the file,\012\134param constraint graph with which the roadmap was build before\012       saving in the file.\012\134return the roadmap as a CORBA object.\012\012Prototype:\011        core_idl::Roadmap readRoadmap(in string filename, in pinocchio_idl::Device robot,\012           \011          in manipulation_idl::graph_idl::Graph graph) raises (Error);\012"
    writeRoadmap__doc__ = "Write a roadmap ro a file\012\134param filename name of the file,\012       If it ends with \047.xml\047, then the file is interpreted in\012       XML format, otherwise it is interpreted in binary format.\012\134param robot the robot for which the roadmap was built before\012       saving in the file,\012\134param constraint graph with which the roadmap was build before\012       saving in the file.\012\134return the roadmap as a CORBA object.\012\012Prototype:\011        void writeRoadmap(in string filename, in core_idl::Roadmap roadmap,\012           \011          in pinocchio_idl::Device robot,\012           \011          in manipulation_idl::graph_idl::Graph graph) raises (Error);\012"
    createRoadmap__doc__ = "\012Prototype:\011        core_idl::Roadmap createRoadmap(in core_idl::Distance distance,\012           \011          in pinocchio_idl::Device robot) raises (Error);\012"
    createTransitionPlanner__doc__ = "Create a Transition Planner\012\012Prototype:\011        core_idl::PathPlanner createTransitionPlanner() raises(Error);\012"


_0_hpp.corbaserver.manipulation.Problem = Problem
_0_hpp.corbaserver.manipulation._tc_Problem = omniORB.tcInternal.createTypeCode(_0_hpp.corbaserver.manipulation._d_Problem)
omniORB.registerType(Problem._NP_RepositoryId, _0_hpp.corbaserver.manipulation._d_Problem, _0_hpp.corbaserver.manipulation._tc_Problem)

# Problem operations and attributes
Problem._d_selectProblem = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_boolean, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_resetProblem = ((), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_getAvailable = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_getSelected = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_loadRoadmap = (((omniORB.tcInternal.tv_string,0), ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_createGrasp = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_createPreGrasp = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_getEnvironmentContactNames = ((), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_getRobotContactNames = ((), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_getEnvironmentContact = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.typeMapping["IDL:hpp/intSeq:1.0"], omniORB.typeMapping["IDL:hpp/floatSeqSeq:1.0"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_getRobotContact = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.typeMapping["IDL:hpp/intSeq:1.0"], omniORB.typeMapping["IDL:hpp/floatSeqSeq:1.0"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_createPlacementConstraint = (((omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.typeMapping["IDL:hpp/Names_t:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_createPrePlacementConstraint = (((omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.tcInternal.tv_double), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_createQPStabilityConstraint = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/Names_t:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_setConstraints = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], omniORB.tcInternal.tv_boolean), (omniORB.tcInternal.tv_boolean, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_registerConstraints = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), (), None)
Problem._d_applyConstraints = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], omniORB.typeMapping["IDL:hpp/floatSeq:1.0"]), (omniORB.tcInternal.tv_boolean, omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], omniORB.tcInternal.tv_double), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_applyConstraintsWithOffset = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], omniORB.typeMapping["IDL:hpp/floatSeq:1.0"]), (omniORB.tcInternal.tv_boolean, omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], omniORB.tcInternal.tv_double), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_buildAndProjectPath = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], omniORB.typeMapping["IDL:hpp/floatSeq:1.0"]), (omniORB.tcInternal.tv_boolean, omniORB.tcInternal.tv_long, omniORB.tcInternal.tv_long), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_setTargetState = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_edgeAtParam = ((omniORB.tcInternal.tv_ulong, omniORB.tcInternal.tv_double), (omniORB.typeMapping["IDL:hpp/ID:1.0"], (omniORB.tcInternal.tv_string,0)), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_createGraphValidation = ((), (omniORB.typeMapping["IDL:hpp/manipulation_idl/graph_idl/Validation:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_readRoadmap = (((omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/pinocchio_idl/Device:1.0"], omniORB.typeMapping["IDL:hpp/manipulation_idl/graph_idl/Graph:1.0"]), (omniORB.typeMapping["IDL:hpp/core_idl/Roadmap:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_writeRoadmap = (((omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/core_idl/Roadmap:1.0"], omniORB.typeMapping["IDL:hpp/pinocchio_idl/Device:1.0"], omniORB.typeMapping["IDL:hpp/manipulation_idl/graph_idl/Graph:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_createRoadmap = ((omniORB.typeMapping["IDL:hpp/core_idl/Distance:1.0"], omniORB.typeMapping["IDL:hpp/pinocchio_idl/Device:1.0"]), (omniORB.typeMapping["IDL:hpp/core_idl/Roadmap:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Problem._d_createTransitionPlanner = ((), (omniORB.typeMapping["IDL:hpp/core_idl/PathPlanner:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})

# Problem object reference
class _objref_Problem (CORBA.Object):
    _NP_RepositoryId = Problem._NP_RepositoryId

    def __init__(self, obj):
        CORBA.Object.__init__(self, obj)

    def selectProblem(self, *args):
        return self._obj.invoke("selectProblem", _0_hpp.corbaserver.manipulation.Problem._d_selectProblem, args)

    def resetProblem(self, *args):
        return self._obj.invoke("resetProblem", _0_hpp.corbaserver.manipulation.Problem._d_resetProblem, args)

    def getAvailable(self, *args):
        return self._obj.invoke("getAvailable", _0_hpp.corbaserver.manipulation.Problem._d_getAvailable, args)

    def getSelected(self, *args):
        return self._obj.invoke("getSelected", _0_hpp.corbaserver.manipulation.Problem._d_getSelected, args)

    def loadRoadmap(self, *args):
        return self._obj.invoke("loadRoadmap", _0_hpp.corbaserver.manipulation.Problem._d_loadRoadmap, args)

    def createGrasp(self, *args):
        return self._obj.invoke("createGrasp", _0_hpp.corbaserver.manipulation.Problem._d_createGrasp, args)

    def createPreGrasp(self, *args):
        return self._obj.invoke("createPreGrasp", _0_hpp.corbaserver.manipulation.Problem._d_createPreGrasp, args)

    def getEnvironmentContactNames(self, *args):
        return self._obj.invoke("getEnvironmentContactNames", _0_hpp.corbaserver.manipulation.Problem._d_getEnvironmentContactNames, args)

    def getRobotContactNames(self, *args):
        return self._obj.invoke("getRobotContactNames", _0_hpp.corbaserver.manipulation.Problem._d_getRobotContactNames, args)

    def getEnvironmentContact(self, *args):
        return self._obj.invoke("getEnvironmentContact", _0_hpp.corbaserver.manipulation.Problem._d_getEnvironmentContact, args)

    def getRobotContact(self, *args):
        return self._obj.invoke("getRobotContact", _0_hpp.corbaserver.manipulation.Problem._d_getRobotContact, args)

    def createPlacementConstraint(self, *args):
        return self._obj.invoke("createPlacementConstraint", _0_hpp.corbaserver.manipulation.Problem._d_createPlacementConstraint, args)

    def createPrePlacementConstraint(self, *args):
        return self._obj.invoke("createPrePlacementConstraint", _0_hpp.corbaserver.manipulation.Problem._d_createPrePlacementConstraint, args)

    def createQPStabilityConstraint(self, *args):
        return self._obj.invoke("createQPStabilityConstraint", _0_hpp.corbaserver.manipulation.Problem._d_createQPStabilityConstraint, args)

    def setConstraints(self, *args):
        return self._obj.invoke("setConstraints", _0_hpp.corbaserver.manipulation.Problem._d_setConstraints, args)

    def registerConstraints(self, *args):
        return self._obj.invoke("registerConstraints", _0_hpp.corbaserver.manipulation.Problem._d_registerConstraints, args)

    def applyConstraints(self, *args):
        return self._obj.invoke("applyConstraints", _0_hpp.corbaserver.manipulation.Problem._d_applyConstraints, args)

    def applyConstraintsWithOffset(self, *args):
        return self._obj.invoke("applyConstraintsWithOffset", _0_hpp.corbaserver.manipulation.Problem._d_applyConstraintsWithOffset, args)

    def buildAndProjectPath(self, *args):
        return self._obj.invoke("buildAndProjectPath", _0_hpp.corbaserver.manipulation.Problem._d_buildAndProjectPath, args)

    def setTargetState(self, *args):
        return self._obj.invoke("setTargetState", _0_hpp.corbaserver.manipulation.Problem._d_setTargetState, args)

    def edgeAtParam(self, *args):
        return self._obj.invoke("edgeAtParam", _0_hpp.corbaserver.manipulation.Problem._d_edgeAtParam, args)

    def createGraphValidation(self, *args):
        return self._obj.invoke("createGraphValidation", _0_hpp.corbaserver.manipulation.Problem._d_createGraphValidation, args)

    def readRoadmap(self, *args):
        return self._obj.invoke("readRoadmap", _0_hpp.corbaserver.manipulation.Problem._d_readRoadmap, args)

    def writeRoadmap(self, *args):
        return self._obj.invoke("writeRoadmap", _0_hpp.corbaserver.manipulation.Problem._d_writeRoadmap, args)

    def createRoadmap(self, *args):
        return self._obj.invoke("createRoadmap", _0_hpp.corbaserver.manipulation.Problem._d_createRoadmap, args)

    def createTransitionPlanner(self, *args):
        return self._obj.invoke("createTransitionPlanner", _0_hpp.corbaserver.manipulation.Problem._d_createTransitionPlanner, args)

omniORB.registerObjref(Problem._NP_RepositoryId, _objref_Problem)
_0_hpp.corbaserver.manipulation._objref_Problem = _objref_Problem
del Problem, _objref_Problem

# Problem skeleton
__name__ = "hpp_idl.hpp__POA.corbaserver.manipulation"
class Problem (PortableServer.Servant):
    _NP_RepositoryId = _0_hpp.corbaserver.manipulation.Problem._NP_RepositoryId


    _omni_op_d = {"selectProblem": _0_hpp.corbaserver.manipulation.Problem._d_selectProblem, "resetProblem": _0_hpp.corbaserver.manipulation.Problem._d_resetProblem, "getAvailable": _0_hpp.corbaserver.manipulation.Problem._d_getAvailable, "getSelected": _0_hpp.corbaserver.manipulation.Problem._d_getSelected, "loadRoadmap": _0_hpp.corbaserver.manipulation.Problem._d_loadRoadmap, "createGrasp": _0_hpp.corbaserver.manipulation.Problem._d_createGrasp, "createPreGrasp": _0_hpp.corbaserver.manipulation.Problem._d_createPreGrasp, "getEnvironmentContactNames": _0_hpp.corbaserver.manipulation.Problem._d_getEnvironmentContactNames, "getRobotContactNames": _0_hpp.corbaserver.manipulation.Problem._d_getRobotContactNames, "getEnvironmentContact": _0_hpp.corbaserver.manipulation.Problem._d_getEnvironmentContact, "getRobotContact": _0_hpp.corbaserver.manipulation.Problem._d_getRobotContact, "createPlacementConstraint": _0_hpp.corbaserver.manipulation.Problem._d_createPlacementConstraint, "createPrePlacementConstraint": _0_hpp.corbaserver.manipulation.Problem._d_createPrePlacementConstraint, "createQPStabilityConstraint": _0_hpp.corbaserver.manipulation.Problem._d_createQPStabilityConstraint, "setConstraints": _0_hpp.corbaserver.manipulation.Problem._d_setConstraints, "registerConstraints": _0_hpp.corbaserver.manipulation.Problem._d_registerConstraints, "applyConstraints": _0_hpp.corbaserver.manipulation.Problem._d_applyConstraints, "applyConstraintsWithOffset": _0_hpp.corbaserver.manipulation.Problem._d_applyConstraintsWithOffset, "buildAndProjectPath": _0_hpp.corbaserver.manipulation.Problem._d_buildAndProjectPath, "setTargetState": _0_hpp.corbaserver.manipulation.Problem._d_setTargetState, "edgeAtParam": _0_hpp.corbaserver.manipulation.Problem._d_edgeAtParam, "createGraphValidation": _0_hpp.corbaserver.manipulation.Problem._d_createGraphValidation, "readRoadmap": _0_hpp.corbaserver.manipulation.Problem._d_readRoadmap, "writeRoadmap": _0_hpp.corbaserver.manipulation.Problem._d_writeRoadmap, "createRoadmap": _0_hpp.corbaserver.manipulation.Problem._d_createRoadmap, "createTransitionPlanner": _0_hpp.corbaserver.manipulation.Problem._d_createTransitionPlanner}

Problem._omni_skeleton = Problem
_0_hpp__POA.corbaserver.manipulation.Problem = Problem
omniORB.registerSkeleton(Problem._NP_RepositoryId, Problem)
del Problem
__name__ = "hpp_idl.hpp.corbaserver.manipulation"

#
# End of module "hpp.corbaserver.manipulation"
#
__name__ = "hpp_idl.hpp.corbaserver"


#
# End of module "hpp.corbaserver"
#
__name__ = "hpp_idl.hpp"


#
# End of module "hpp"
#
__name__ = "hpp_stubs.corbaserver.manipulation.problem_idl"

#
# Docstrings
#

omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.selectProblem, _0_hpp.corbaserver.manipulation.Problem.selectProblem__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.resetProblem, _0_hpp.corbaserver.manipulation.Problem.resetProblem__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.getAvailable, _0_hpp.corbaserver.manipulation.Problem.getAvailable__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.getSelected, _0_hpp.corbaserver.manipulation.Problem.getSelected__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.loadRoadmap, _0_hpp.corbaserver.manipulation.Problem.loadRoadmap__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.createGrasp, _0_hpp.corbaserver.manipulation.Problem.createGrasp__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.createPreGrasp, _0_hpp.corbaserver.manipulation.Problem.createPreGrasp__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.getEnvironmentContactNames, _0_hpp.corbaserver.manipulation.Problem.getEnvironmentContactNames__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.getRobotContactNames, _0_hpp.corbaserver.manipulation.Problem.getRobotContactNames__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.getEnvironmentContact, _0_hpp.corbaserver.manipulation.Problem.getEnvironmentContact__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.getRobotContact, _0_hpp.corbaserver.manipulation.Problem.getRobotContact__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.createPlacementConstraint, _0_hpp.corbaserver.manipulation.Problem.createPlacementConstraint__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.createPrePlacementConstraint, _0_hpp.corbaserver.manipulation.Problem.createPrePlacementConstraint__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.createQPStabilityConstraint, _0_hpp.corbaserver.manipulation.Problem.createQPStabilityConstraint__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.setConstraints, _0_hpp.corbaserver.manipulation.Problem.setConstraints__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.registerConstraints, _0_hpp.corbaserver.manipulation.Problem.registerConstraints__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.applyConstraints, _0_hpp.corbaserver.manipulation.Problem.applyConstraints__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.applyConstraintsWithOffset, _0_hpp.corbaserver.manipulation.Problem.applyConstraintsWithOffset__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.buildAndProjectPath, _0_hpp.corbaserver.manipulation.Problem.buildAndProjectPath__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.setTargetState, _0_hpp.corbaserver.manipulation.Problem.setTargetState__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.edgeAtParam, _0_hpp.corbaserver.manipulation.Problem.edgeAtParam__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.createGraphValidation, _0_hpp.corbaserver.manipulation.Problem.createGraphValidation__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.readRoadmap, _0_hpp.corbaserver.manipulation.Problem.readRoadmap__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.writeRoadmap, _0_hpp.corbaserver.manipulation.Problem.writeRoadmap__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.createRoadmap, _0_hpp.corbaserver.manipulation.Problem.createRoadmap__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Problem.createTransitionPlanner, _0_hpp.corbaserver.manipulation.Problem.createTransitionPlanner__doc__)

_exported_modules = ( "hpp_idl.hpp", "hpp_idl.hpp.corbaserver", "hpp_idl.hpp.corbaserver.manipulation")

# The end.
