# 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/graph.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")

#
# 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/graph.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/graph.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/graph.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/graph.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/graph.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/graph.idl")


# typedef ... Namess_t
class Namess_t:
    _NP_RepositoryId = "IDL:hpp/corbaserver/manipulation/Namess_t:1.0"
    def __init__(self, *args, **kw):
        raise RuntimeError("Cannot construct objects of this type.")
_0_hpp.corbaserver.manipulation.Namess_t = Namess_t
_0_hpp.corbaserver.manipulation._d_Namess_t  = (omniORB.tcInternal.tv_sequence, omniORB.typeMapping["IDL:hpp/Names_t:1.0"], 0)
_0_hpp.corbaserver.manipulation._ad_Namess_t = (omniORB.tcInternal.tv_alias, Namess_t._NP_RepositoryId, "Namess_t", (omniORB.tcInternal.tv_sequence, omniORB.typeMapping["IDL:hpp/Names_t:1.0"], 0))
_0_hpp.corbaserver.manipulation._tc_Namess_t = omniORB.tcInternal.createTypeCode(_0_hpp.corbaserver.manipulation._ad_Namess_t)
omniORB.registerType(Namess_t._NP_RepositoryId, _0_hpp.corbaserver.manipulation._ad_Namess_t, _0_hpp.corbaserver.manipulation._tc_Namess_t)
del Namess_t

# struct Rule
_0_hpp.corbaserver.manipulation.Rule = omniORB.newEmptyClass()
class Rule (omniORB.StructBase):
    _NP_RepositoryId = "IDL:hpp/corbaserver/manipulation/Rule:1.0"

    def __init__(self, grippers, handles, link):
        self.grippers = grippers
        self.handles = handles
        self.link = link

_0_hpp.corbaserver.manipulation.Rule = Rule
_0_hpp.corbaserver.manipulation._d_Rule  = (omniORB.tcInternal.tv_struct, Rule, Rule._NP_RepositoryId, "Rule", "grippers", omniORB.typeMapping["IDL:hpp/Names_t:1.0"], "handles", omniORB.typeMapping["IDL:hpp/Names_t:1.0"], "link", omniORB.tcInternal.tv_boolean)
_0_hpp.corbaserver.manipulation._tc_Rule = omniORB.tcInternal.createTypeCode(_0_hpp.corbaserver.manipulation._d_Rule)
omniORB.registerType(Rule._NP_RepositoryId, _0_hpp.corbaserver.manipulation._d_Rule, _0_hpp.corbaserver.manipulation._tc_Rule)
del Rule

# typedef ... Rules
class Rules:
    _NP_RepositoryId = "IDL:hpp/corbaserver/manipulation/Rules:1.0"
    def __init__(self, *args, **kw):
        raise RuntimeError("Cannot construct objects of this type.")
_0_hpp.corbaserver.manipulation.Rules = Rules
_0_hpp.corbaserver.manipulation._d_Rules  = (omniORB.tcInternal.tv_sequence, omniORB.typeMapping["IDL:hpp/corbaserver/manipulation/Rule:1.0"], 0)
_0_hpp.corbaserver.manipulation._ad_Rules = (omniORB.tcInternal.tv_alias, Rules._NP_RepositoryId, "Rules", (omniORB.tcInternal.tv_sequence, omniORB.typeMapping["IDL:hpp/corbaserver/manipulation/Rule:1.0"], 0))
_0_hpp.corbaserver.manipulation._tc_Rules = omniORB.tcInternal.createTypeCode(_0_hpp.corbaserver.manipulation._ad_Rules)
omniORB.registerType(Rules._NP_RepositoryId, _0_hpp.corbaserver.manipulation._ad_Rules, _0_hpp.corbaserver.manipulation._tc_Rules)
del Rules

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

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

    _nil = CORBA.Object._nil

    createGraph__doc__ = "Initialize the graph of constraints and add it to the ProblemSolver map.\012\134note The composite hpp::manipulation::robot must be completely defined first.\012\012Prototype:\011        long createGraph(in string graphName)\012           \011          raises (Error);\012"
    deleteGraph__doc__ = "\012Prototype:\011        void deleteGraph(in string graphName)\012           \011          raises (Error);\012"
    selectGraph__doc__ = "Select the graph of contraints from the ProblemSolver map.\012\134note The composite hpp::manipulation::robot must be completely defined first.\012\012Prototype:\011        void selectGraph(in string graphName)\012           \011          raises (Error);\012"
    createSubGraph__doc__ = "Create a subgraph of the constraint graph for one particular end-effector.\012\012Prototype:\011        void createSubGraph(in string subgraphName)\012           \011          raises (Error);\012"
    setTargetNodeList__doc__ = "\012Prototype:\011        void setTargetNodeList(in ID graphId, in IDseq nodes)\012           \011          raises (Error);\012"
    createNode__doc__ = "Add a node to the graph.\012\134param graphId is the ID of the graph to which the node should be added.\012\134param nodeName the name of the new node.\012\134param waypoint true when the node is a waypoint\012\134param priority integer used to order the states. If two states have\012                the same priority, then the order is the order of\012                creation.\012\012Prototype:\011        long createNode (in long graphId, in string nodeName, in boolean waypoint, in long priority)\012           \011          raises (Error);\012"
    createEdge__doc__ = "Add an edge between two nodes of the graph.\012\134param nodeFromId, nodeToId the ID of the ends of the new edge.\012\134param edgeName name of the new edge.\012\134param weight weight of the edge.\012\134param isInNodeId id of the node in which paths of the edge are\012       included.\012\012Prototype:\011        long createEdge (in long nodeFromId, in long nodeToId, in string edgeName, in long weight, in long isInNodeId)\012           \011          raises (Error);\012"
    setContainingNode__doc__ = "Set in which node an edge is.\012\134param edgeId the ID of the edge,\012\134param nodeId the ID of the node in which the edge is.\012\012Prototype:\011        void setContainingNode (in ID edgeId, in ID nodeId)\012           \011          raises (Error);\012"
    getContainingNode__doc__ = "Get in which node an edge is.\012\134param edgeId the ID of the edge,\012\134return the name of the containing node.\012\012Prototype:\011        string getContainingNode (in ID edgeId)\012           \011          raises (Error);\012"
    createWaypointEdge__doc__ = "Add an edge with waypoint between two nodes of the graph.\012\134param nodeFromId, nodeToId the ID of the ends of the new edge.\012\134param edgeBaseName basename of the new edge.\012\134param weight weight of the edge.\012\012Prototype:\011        long createWaypointEdge (in long nodeFromId, in long nodeToId,\012           \011\011\011\011\011 in string edgeName, in long number,\012           \011\011\011\011\011 in long weight, in long isInNode)\012           \011          raises (Error);\012"
    getWaypoint__doc__ = "Get waypoint IDs of an edge.\012\134param edgeId the ID of the edge.\012\134param index index of the waypoint.\012\134return the ID of the edge and the node associated with the node.\012\012Prototype:\011        long getWaypoint (in long edgeId, in long index, out ID nodeId)\012           \011          raises (Error);\012"
    setWaypoint__doc__ = "\012Prototype:\011        void setWaypoint (in ID waypointEdgeId, in long index,\012           \011            in ID edgeId, in ID nodeId)\012           \011          raises (Error);\012"
    getGraph__doc__ = "Get full graph\012\134return a structure with all the IDs and names\012\012Prototype:\011        void getGraph (out GraphComp graph, out GraphElements elmts)\012           \011          raises (Error);\012"
    getEdgeStat__doc__ = "\012Prototype:\011        void getEdgeStat (in ID edgeId, out Names_t reasons, out intSeq freqs)\012           \011          raises (Error);\012"
    getFrequencyOfNodeInRoadmap__doc__ = "Get the number of nodes in the roadmap being in the node nodeId of the graph\012\134return freqPerConnectedComponent is a vector of same number, by connected components.\012\134warning The connected components of the roadmap are in no specific order.\012\012Prototype:\011        long getFrequencyOfNodeInRoadmap (in ID nodeId, out intSeq freqPerConnectedComponent)\012           \011          raises (Error);\012"
    getConfigProjectorStats__doc__ = "Get config projector statistics\012\134param output config, path object containing the number of success\012                      and the number of times a config projector has\012                      been called.\012\134return true if the given has a config projector, false otherwise\012\012Prototype:\011        boolean getConfigProjectorStats (in ID elmt, out ConfigProjStat config, out ConfigProjStat path)\012           \011          raises (Error);\012"
    createLevelSetEdge__doc__ = "Add an edge of type LevelSetEdge between two nodes.\012\134param nodeFromId, nodeToId the ID of the ends of the new edge.\012\134param edgeName name of the new edge.\012\134param weight weight of the edge.\012\134param isInNodeId id of the node in which paths of the edge are\012       included.\012\012Prototype:\011        long createLevelSetEdge(in long nodeFromId, in long nodeToId, in string edgeName, in long weight, in ID isInNodeId)\012           \011          raises (Error);\012"
    addLevelSetFoliation__doc__ = "Add the constraints to a LevelSetEdge that create the foliation.\012\134param edgeId if of a LevelSetEdge of the graph.\012\134param condNC numerical constraints that define the foliated\012       manifold\012\134param paramNC numerical constraints\012       that parameterize the foliation\012\012Prototype:\011        void addLevelSetFoliation (in long edgeId, in Names_t condNC,\012           \011                                   in Names_t paramNC)\012           \011          raises (Error);\012"
    resetConstraints__doc__ = "Reset the numerical constraints and the locked joints of a component.\012\134param graphComponentId ID of the component.\012\012Prototype:\011\011void resetConstraints(in long graphComponentId) raises (Error);\012"
    setNumericalConstraints__doc__ = "\134deprecated use addNumericalConstraints\012\012Prototype:\011        void setNumericalConstraints (in long graphComponentId, in Names_t constraintNames)\012           \011          raises (Error);\012"
    addNumericalConstraints__doc__ = "Add the numerical constraints to a component.\012\134param graphComponentId ID of the component.\012\134param constraintNames is an array of names of constraints in the ProblemSolver map.\012\012Prototype:\011        void addNumericalConstraints (in long graphComponentId, in Names_t constraintNames)\012           \011          raises (Error);\012"
    getNumericalConstraints__doc__ = "Get the list of numerical constraints applied to a component.\012\134param graphComponentId Id of the component.\012\134return the list of constraints name.\012\012Prototype:\011\011void getNumericalConstraints (in long graphComponentId, out Names_t constraintNames)\012           \011\011  raises (Error);\012"
    setNumericalConstraintsForPath__doc__ = "\134deprecated use addNumericalConstraintsForPath\012\012Prototype:\011        void setNumericalConstraintsForPath (in long nodeId, in Names_t constraintNames)\012           \011          raises (Error);\012"
    addNumericalConstraintsForPath__doc__ = "Add the numerical constraints for path to a node.\012\134param nodeId ID of the node.\012\134param constraintNames is an array of names of constraints in the ProblemSolver map.\012\012Prototype:\011        void addNumericalConstraintsForPath (in long nodeId, in Names_t constraintNames)\012           \011          raises (Error);\012"
    removeCollisionPairFromEdge__doc__ = "Remove collision pairs from an edge\012\012 \134param edgeId id of the edge,\012 \134param joint1, joint2, names of the joints defining the pair.\012\012Prototype:\011\011void removeCollisionPairFromEdge (in ID edgeId, in string joint1,\012           \011\011\011\011\011\011  in string joint2) raises (Error);\012"
    getNode__doc__ = "Get the node corresponding to the state of the configuration.\012\134param dofArray the configuration.\012\134return the ID corresponding to the node.\012\012Prototype:\011        void getNode (in floatSeq dofArray, out ID nodeId)\012           \011          raises (Error);\012"
    applyNodeConstraints__doc__ = "Apply constaints of a state to a configuration\012\012\134param idComp ID of a state (node of the constraint graph)\012\134param input input configuration,\012\134retval output output configuration,\012\134retval error norm of the residual error.\012\012Prototype:\011        boolean applyNodeConstraints (in ID idComp, in floatSeq input, out floatSeq output,\012           \011            out double residualError)\012           \011          raises (Error);\012"
    applyEdgeLeafConstraints__doc__ = "Apply constraints of an edge leaf to a configuration\012\012\134param id IDedge of the edge\012\134param qleaf Configuration defining the leaf\012\134param input input configuration to be projected\012\134retval output Output configuration,\012\134retval residualError norm of the residual error\012\012Prototype:\011        boolean applyEdgeLeafConstraints\012           \011        (in ID idedge, in floatSeq qleaf, in floatSeq input,\012           \011         out floatSeq output, out double residualError) raises (Error);\012"
    generateTargetConfig__doc__ = "Generate configuration in target state of a transition reachable from a configuration\012\012\134param IDedge ID of a transition (edge of the constraint graph)\012\134param qleaf configuration defining the leaf of the transition\012\134param input input configuration to be projected\012\134retval output output configuration,\012\134retval residualError norm of the residual error.\012\012Prototype:\011        boolean generateTargetConfig (in ID IDedge, in floatSeq qleaf,\012           \011                                      in floatSeq input, out floatSeq output,\012           \011                                      out double residualError)\012           \011          raises (Error);\012"
    getConfigErrorForNode__doc__ = "Get error of a config with respect to a node constraint\012\012\134param nodeId id of the node.\012\134param config Configuration,\012\134retval error the error of the node constraint for the\012       configuration\012\134return whether the configuration belongs to the node.\012Call method core::ConstraintSet::isSatisfied for the node\012constraints.\012\012Prototype:\011\011boolean getConfigErrorForNode (in ID nodeId, in floatSeq config,\012           \011\011\011\011\011       out floatSeq errorVector) raises (Error);\012"
    getConfigErrorForEdge__doc__ = "Get error of a config with respect to an edge constraint\012\012\134param edgeId id of the edge.\012\134param config Configuration,\012\134retval error the error of the edge constraint for the\012       configuration\012\134return whether the configuration can be the start point of a\012        path of the edge.\012Call methods core::ConfigProjector::rightHandSideFromConfig with\012the input configuration and then core::ConstraintSet::isSatisfied\012on the edge constraints.\012\012Prototype:\011\011boolean getConfigErrorForEdge (in ID EdgeId, in floatSeq config,\012           \011\011\011\011\011       out floatSeq errorVector) raises (Error);\012"
    getConfigErrorForEdgeLeaf__doc__ = "Get error of a config with respect to an edge foliation leaf\012\012\134param edgeId id of the edge.\012\134param leafConfig Configuration that determines the foliation leaf,\012\134param config Configuration the error of which is computed\012\134retval error the error\012\134return whether config can be the end point of a path of the edge\012        starting at leafConfig\012Call methods core::ConfigProjector::rightHandSideFromConfig with\012leafConfig and then core::ConstraintSet::isSatisfied with config.\012on the edge constraints.\012\012Prototype:\011\011boolean getConfigErrorForEdgeLeaf\012           \011\011(in ID EdgeId, in floatSeq leafConfig, in floatSeq config,\012           \011\011 out floatSeq errorVector) raises (Error);\012"
    getConfigErrorForEdgeTarget__doc__ = "Get error of a config with respect to the target of an edge foliation leaf\012\012\134param edgeId id of the edge.\012\134param leafConfig Configuration that determines the foliation leaf,\012\134param config Configuration the error of which is computed\012\134retval error the error\012\134return whether config can be the end point of a path of the edge\012        starting at leafConfig\012Call methods core::ConfigProjector::rightHandSideFromConfig with\012leafConfig and then core::ConstraintSet::isSatisfied with config.\012on the edge constraints.\012\012Prototype:\011\011boolean getConfigErrorForEdgeTarget\012           \011\011(in ID EdgeId, in floatSeq leafConfig, in floatSeq config,\012           \011\011 out floatSeq errorVector) raises (Error);\012"
    displayNodeConstraints__doc__ = "Print set of constraints relative to a node in a string\012\012\134param config Configuration,\012\134param nodeId id of the node.\012\134return string displaying constraints\012\012Prototype:\011\011void displayNodeConstraints (in ID nodeId, out string constraints)\012           \011\011  raises (Error);\012"
    displayEdgeTargetConstraints__doc__ = "Print set of constraints relative to an edge in a string\012\012\134param config Configuration,\012\134param edgeId id of the edge.\012\134return string displaying constraints of the edge and of the target\012        node\012\012Prototype:\011\011void displayEdgeTargetConstraints (in ID edgeId, out string constraints)\012           \011\011  raises (Error);\012"
    displayEdgeConstraints__doc__ = "Print set of constraints relative to an edge in a string\012\012\134param config Configuration,\012\134param edgeId id of the edge.\012\134return string displaying path constraints of the edge\012\012Prototype:\011\011void displayEdgeConstraints (in ID edgeId, out string constraints)\012           \011\011  raises (Error);\012"
    getNodesConnectedByEdge__doc__ = "Get nodes connected by an edge\012\012\134param edgeId id of the edge\012\134param from name of the node the edge starts from,\012\134param to name of the node the edge finishes in.\012\012Prototype:\011\011void getNodesConnectedByEdge (in ID edgeId, out string from,\012           \011\011\011\011\011      out string to) raises (Error);\012"
    display__doc__ = "\012Prototype:\011        void display (in string filename)\012           \011          raises (Error);\012"
    getHistogramValue__doc__ = "\012Prototype:\011        void getHistogramValue (in ID edgeId, out floatSeq freq, out floatSeqSeq values)\012           \011          raises (Error);\012"
    setShort__doc__ = "\012Prototype:\011        void setShort (in ID edgeId, in boolean isShort)\012           \011          raises (Error);\012"
    isShort__doc__ = "\012Prototype:\011        boolean isShort (in ID edgeId)\012           \011          raises (Error);\012"
    autoBuild__doc__ = "Automatically build a constraint graph\012\012\134param graphName name of the graph,\012\134param grippers list of gripper names,\012\134param objects list of object names,\012\134param handlesPerObject list of lists of handles, one list per\012       object\012\134param contactsPerObject list of lists of contact surfaces, one list\012       per object\012\134param envNames list of names of contact surfaces in the\012       environment,\012\134param list of rules.\012\012\134note We consider a robot with two grippers, three objects with\012  respectively two, one and one handles, and respectively one, two\012  and one contact surface.\012\134code\012grippers = [\047gripper_1\047, \047gripper_2\047]\012objects = [\047object_1\047, \047object_2\047, \047object_3\047]\012handlesPerObject = [[\047object_1/handle_1\047,\047object_1/handle_2\047,],\012   [\047object_2/handle_1\047,], [\047object_3/handle_1\047,]]\012contactsPerObject = [[\047object_1/contact_1\047,],\012   [\047object_2/contact_1\047,\047object_2/contact_2\047,],\012   [\047object_3/contact_1\047,]]\012from hpp.corbaserver.manipulation import Rule\012rules = [Rule([\047gripper_1\047], [\047object_1/handle_2\047], True),\012         Rule([\047gripper_1\047], [\047object_3/handle_1\047], True),]\012\134endcode\012\012\134par allows to create two separated notes.\012\134par\012\134note In the rules, gripper and handle names are treated as\012      regular expressions as defined in http://www.boost.org/doc/libs/1_58_0/libs/regex/doc/html/boost_regex/syntax/basic_syntax.html .\012      Pay attention to the version of boost you use.\012\134note When creating placement constraints for object \042foo\042, if a\012      constraint with name \042place_foo\042 already exists, the\012      constraint will be used as placement constraint. In this case,\012      if defined, constraint \042preplace_foo\042 will be used as\012      preplacement constraint, if not defined, no preplacement\012      waypoint will be inserted in the graph. If constraint\012      \042place_foo\042 is not defined, it will be created with selected\012      environment and object contact surface.\012\012Prototype:\011        long autoBuild (in string graphName,\012           \011            in Names_t grippers, in Names_t objects,\012           \011            in Namess_t handlesPerObject, in Namess_t contactsPerObject,\012           \011\011    in Names_t envNames, in Rules rulesList)\012           \011          raises (Error);\012"
    setWeight__doc__ = "Set weight of graph component\012\134param component index in the graph, should be an edge\012\134sa hpp::manipulation::graph::State::setWeight\012\012Prototype:\011        void setWeight (in ID edgeID, in long weight)\012           \011          raises (Error);\012"
    getWeight__doc__ = "Get weight of graph component\012\134param component index in the graph, should be an edge\012\134sa hpp::manipulation::graph::State::getWeight\012\012Prototype:\011        long getWeight (in ID edgeID)\012           \011          raises (Error);\012"
    getName__doc__ = "Get name of graph component\012\134param component index in the graph\012\134sa hpp::manipulation::graph::Graph::get\012\012Prototype:\011        string getName (in ID elmtID)\012           \011          raises (Error);\012"
    initialize__doc__ = "This must be called when the graph has been built.\012\012Prototype:\011        void initialize ()\012           \011          raises (Error);\012"
    getRelativeMotionMatrix__doc__ = "Get the matrix of relative motions for an edge\012\134param edgeId index of the edge,\012\134retval matrix as defined in hpp::core::RelativeMotion::matrix_type.\012\012Prototype:\011        void getRelativeMotionMatrix (in ID edgeID, out intSeqSeq matrix)\012           \011          raises (Error);\012"
    setSecurityMarginForEdge__doc__ = "Set collision security margin for a pair of joint along an edge\012\012\134param edgeID index of the edge,\012\134param joint1, joint2 names of joint1 and joint2\012\134param margin security margin for collision tests between those\012joints along the edge.\012\012Prototype:\011        void setSecurityMarginForEdge(in ID edgeID, in string joint1,\012           \011                                      in string joint2, in double margin)\012           \011          raises(Error);\012"
    getSecurityMarginMatrixForEdge__doc__ = "Get matrix of collision security margins along an edge\012\012\134param edgeID index of the edge,\012\134retval matrix of security margins. indices are joints ids + 1\012        0 is the environment.\012\012Prototype:\011        void getSecurityMarginMatrixForEdge(in ID edgeID,\012           \011\011\011\011\011\011    out floatSeqSeq margin)\012           \011          raises(Error);\012"


_0_hpp.corbaserver.manipulation.Graph = Graph
_0_hpp.corbaserver.manipulation._tc_Graph = omniORB.tcInternal.createTypeCode(_0_hpp.corbaserver.manipulation._d_Graph)
omniORB.registerType(Graph._NP_RepositoryId, _0_hpp.corbaserver.manipulation._d_Graph, _0_hpp.corbaserver.manipulation._tc_Graph)

# Graph operations and attributes
Graph._d_createGraph = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_long, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_deleteGraph = (((omniORB.tcInternal.tv_string,0), ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_selectGraph = (((omniORB.tcInternal.tv_string,0), ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_createSubGraph = (((omniORB.tcInternal.tv_string,0), ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_setTargetNodeList = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], omniORB.typeMapping["IDL:hpp/IDseq:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_createNode = ((omniORB.tcInternal.tv_long, (omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_boolean, omniORB.tcInternal.tv_long), (omniORB.tcInternal.tv_long, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_createEdge = ((omniORB.tcInternal.tv_long, omniORB.tcInternal.tv_long, (omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_long, omniORB.tcInternal.tv_long), (omniORB.tcInternal.tv_long, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_setContainingNode = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], omniORB.typeMapping["IDL:hpp/ID:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getContainingNode = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), ((omniORB.tcInternal.tv_string,0), ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_createWaypointEdge = ((omniORB.tcInternal.tv_long, omniORB.tcInternal.tv_long, (omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_long, omniORB.tcInternal.tv_long, omniORB.tcInternal.tv_long), (omniORB.tcInternal.tv_long, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getWaypoint = ((omniORB.tcInternal.tv_long, omniORB.tcInternal.tv_long), (omniORB.tcInternal.tv_long, omniORB.typeMapping["IDL:hpp/ID:1.0"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_setWaypoint = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], omniORB.tcInternal.tv_long, omniORB.typeMapping["IDL:hpp/ID:1.0"], omniORB.typeMapping["IDL:hpp/ID:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getGraph = ((), (omniORB.typeMapping["IDL:hpp/GraphComp:1.0"], omniORB.typeMapping["IDL:hpp/GraphElements:1.0"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getEdgeStat = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.typeMapping["IDL:hpp/intSeq:1.0"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getFrequencyOfNodeInRoadmap = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), (omniORB.tcInternal.tv_long, omniORB.typeMapping["IDL:hpp/intSeq:1.0"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getConfigProjectorStats = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), (omniORB.tcInternal.tv_boolean, omniORB.typeMapping["IDL:hpp/ConfigProjStat:1.0"], omniORB.typeMapping["IDL:hpp/ConfigProjStat:1.0"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_createLevelSetEdge = ((omniORB.tcInternal.tv_long, omniORB.tcInternal.tv_long, (omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_long, omniORB.typeMapping["IDL:hpp/ID:1.0"]), (omniORB.tcInternal.tv_long, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_addLevelSetFoliation = ((omniORB.tcInternal.tv_long, 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})
Graph._d_resetConstraints = ((omniORB.tcInternal.tv_long, ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_setNumericalConstraints = ((omniORB.tcInternal.tv_long, omniORB.typeMapping["IDL:hpp/Names_t:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_addNumericalConstraints = ((omniORB.tcInternal.tv_long, omniORB.typeMapping["IDL:hpp/Names_t:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getNumericalConstraints = ((omniORB.tcInternal.tv_long, ), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_setNumericalConstraintsForPath = ((omniORB.tcInternal.tv_long, omniORB.typeMapping["IDL:hpp/Names_t:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_addNumericalConstraintsForPath = ((omniORB.tcInternal.tv_long, omniORB.typeMapping["IDL:hpp/Names_t:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_removeCollisionPairFromEdge = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getNode = ((omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), (omniORB.typeMapping["IDL:hpp/ID:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_applyNodeConstraints = ((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})
Graph._d_applyEdgeLeafConstraints = ((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})
Graph._d_generateTargetConfig = ((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})
Graph._d_getConfigErrorForNode = ((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"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getConfigErrorForEdge = ((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"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getConfigErrorForEdgeLeaf = ((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"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getConfigErrorForEdgeTarget = ((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"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_displayNodeConstraints = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), ((omniORB.tcInternal.tv_string,0), ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_displayEdgeTargetConstraints = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), ((omniORB.tcInternal.tv_string,0), ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_displayEdgeConstraints = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), ((omniORB.tcInternal.tv_string,0), ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getNodesConnectedByEdge = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), ((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_display = (((omniORB.tcInternal.tv_string,0), ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getHistogramValue = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], omniORB.typeMapping["IDL:hpp/floatSeqSeq:1.0"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_setShort = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], omniORB.tcInternal.tv_boolean), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_isShort = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), (omniORB.tcInternal.tv_boolean, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_autoBuild = (((omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.typeMapping["IDL:hpp/corbaserver/manipulation/Namess_t:1.0"], omniORB.typeMapping["IDL:hpp/corbaserver/manipulation/Namess_t:1.0"], omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.typeMapping["IDL:hpp/corbaserver/manipulation/Rules:1.0"]), (omniORB.tcInternal.tv_long, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_setWeight = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], omniORB.tcInternal.tv_long), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getWeight = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), (omniORB.tcInternal.tv_long, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getName = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), ((omniORB.tcInternal.tv_string,0), ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_initialize = ((), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getRelativeMotionMatrix = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), (omniORB.typeMapping["IDL:hpp/intSeqSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_setSecurityMarginForEdge = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_double), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Graph._d_getSecurityMarginMatrixForEdge = ((omniORB.typeMapping["IDL:hpp/ID:1.0"], ), (omniORB.typeMapping["IDL:hpp/floatSeqSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})

# Graph object reference
class _objref_Graph (CORBA.Object):
    _NP_RepositoryId = Graph._NP_RepositoryId

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

    def createGraph(self, *args):
        return self._obj.invoke("createGraph", _0_hpp.corbaserver.manipulation.Graph._d_createGraph, args)

    def deleteGraph(self, *args):
        return self._obj.invoke("deleteGraph", _0_hpp.corbaserver.manipulation.Graph._d_deleteGraph, args)

    def selectGraph(self, *args):
        return self._obj.invoke("selectGraph", _0_hpp.corbaserver.manipulation.Graph._d_selectGraph, args)

    def createSubGraph(self, *args):
        return self._obj.invoke("createSubGraph", _0_hpp.corbaserver.manipulation.Graph._d_createSubGraph, args)

    def setTargetNodeList(self, *args):
        return self._obj.invoke("setTargetNodeList", _0_hpp.corbaserver.manipulation.Graph._d_setTargetNodeList, args)

    def createNode(self, *args):
        return self._obj.invoke("createNode", _0_hpp.corbaserver.manipulation.Graph._d_createNode, args)

    def createEdge(self, *args):
        return self._obj.invoke("createEdge", _0_hpp.corbaserver.manipulation.Graph._d_createEdge, args)

    def setContainingNode(self, *args):
        return self._obj.invoke("setContainingNode", _0_hpp.corbaserver.manipulation.Graph._d_setContainingNode, args)

    def getContainingNode(self, *args):
        return self._obj.invoke("getContainingNode", _0_hpp.corbaserver.manipulation.Graph._d_getContainingNode, args)

    def createWaypointEdge(self, *args):
        return self._obj.invoke("createWaypointEdge", _0_hpp.corbaserver.manipulation.Graph._d_createWaypointEdge, args)

    def getWaypoint(self, *args):
        return self._obj.invoke("getWaypoint", _0_hpp.corbaserver.manipulation.Graph._d_getWaypoint, args)

    def setWaypoint(self, *args):
        return self._obj.invoke("setWaypoint", _0_hpp.corbaserver.manipulation.Graph._d_setWaypoint, args)

    def getGraph(self, *args):
        return self._obj.invoke("getGraph", _0_hpp.corbaserver.manipulation.Graph._d_getGraph, args)

    def getEdgeStat(self, *args):
        return self._obj.invoke("getEdgeStat", _0_hpp.corbaserver.manipulation.Graph._d_getEdgeStat, args)

    def getFrequencyOfNodeInRoadmap(self, *args):
        return self._obj.invoke("getFrequencyOfNodeInRoadmap", _0_hpp.corbaserver.manipulation.Graph._d_getFrequencyOfNodeInRoadmap, args)

    def getConfigProjectorStats(self, *args):
        return self._obj.invoke("getConfigProjectorStats", _0_hpp.corbaserver.manipulation.Graph._d_getConfigProjectorStats, args)

    def createLevelSetEdge(self, *args):
        return self._obj.invoke("createLevelSetEdge", _0_hpp.corbaserver.manipulation.Graph._d_createLevelSetEdge, args)

    def addLevelSetFoliation(self, *args):
        return self._obj.invoke("addLevelSetFoliation", _0_hpp.corbaserver.manipulation.Graph._d_addLevelSetFoliation, args)

    def resetConstraints(self, *args):
        return self._obj.invoke("resetConstraints", _0_hpp.corbaserver.manipulation.Graph._d_resetConstraints, args)

    def setNumericalConstraints(self, *args):
        return self._obj.invoke("setNumericalConstraints", _0_hpp.corbaserver.manipulation.Graph._d_setNumericalConstraints, args)

    def addNumericalConstraints(self, *args):
        return self._obj.invoke("addNumericalConstraints", _0_hpp.corbaserver.manipulation.Graph._d_addNumericalConstraints, args)

    def getNumericalConstraints(self, *args):
        return self._obj.invoke("getNumericalConstraints", _0_hpp.corbaserver.manipulation.Graph._d_getNumericalConstraints, args)

    def setNumericalConstraintsForPath(self, *args):
        return self._obj.invoke("setNumericalConstraintsForPath", _0_hpp.corbaserver.manipulation.Graph._d_setNumericalConstraintsForPath, args)

    def addNumericalConstraintsForPath(self, *args):
        return self._obj.invoke("addNumericalConstraintsForPath", _0_hpp.corbaserver.manipulation.Graph._d_addNumericalConstraintsForPath, args)

    def removeCollisionPairFromEdge(self, *args):
        return self._obj.invoke("removeCollisionPairFromEdge", _0_hpp.corbaserver.manipulation.Graph._d_removeCollisionPairFromEdge, args)

    def getNode(self, *args):
        return self._obj.invoke("getNode", _0_hpp.corbaserver.manipulation.Graph._d_getNode, args)

    def applyNodeConstraints(self, *args):
        return self._obj.invoke("applyNodeConstraints", _0_hpp.corbaserver.manipulation.Graph._d_applyNodeConstraints, args)

    def applyEdgeLeafConstraints(self, *args):
        return self._obj.invoke("applyEdgeLeafConstraints", _0_hpp.corbaserver.manipulation.Graph._d_applyEdgeLeafConstraints, args)

    def generateTargetConfig(self, *args):
        return self._obj.invoke("generateTargetConfig", _0_hpp.corbaserver.manipulation.Graph._d_generateTargetConfig, args)

    def getConfigErrorForNode(self, *args):
        return self._obj.invoke("getConfigErrorForNode", _0_hpp.corbaserver.manipulation.Graph._d_getConfigErrorForNode, args)

    def getConfigErrorForEdge(self, *args):
        return self._obj.invoke("getConfigErrorForEdge", _0_hpp.corbaserver.manipulation.Graph._d_getConfigErrorForEdge, args)

    def getConfigErrorForEdgeLeaf(self, *args):
        return self._obj.invoke("getConfigErrorForEdgeLeaf", _0_hpp.corbaserver.manipulation.Graph._d_getConfigErrorForEdgeLeaf, args)

    def getConfigErrorForEdgeTarget(self, *args):
        return self._obj.invoke("getConfigErrorForEdgeTarget", _0_hpp.corbaserver.manipulation.Graph._d_getConfigErrorForEdgeTarget, args)

    def displayNodeConstraints(self, *args):
        return self._obj.invoke("displayNodeConstraints", _0_hpp.corbaserver.manipulation.Graph._d_displayNodeConstraints, args)

    def displayEdgeTargetConstraints(self, *args):
        return self._obj.invoke("displayEdgeTargetConstraints", _0_hpp.corbaserver.manipulation.Graph._d_displayEdgeTargetConstraints, args)

    def displayEdgeConstraints(self, *args):
        return self._obj.invoke("displayEdgeConstraints", _0_hpp.corbaserver.manipulation.Graph._d_displayEdgeConstraints, args)

    def getNodesConnectedByEdge(self, *args):
        return self._obj.invoke("getNodesConnectedByEdge", _0_hpp.corbaserver.manipulation.Graph._d_getNodesConnectedByEdge, args)

    def display(self, *args):
        return self._obj.invoke("display", _0_hpp.corbaserver.manipulation.Graph._d_display, args)

    def getHistogramValue(self, *args):
        return self._obj.invoke("getHistogramValue", _0_hpp.corbaserver.manipulation.Graph._d_getHistogramValue, args)

    def setShort(self, *args):
        return self._obj.invoke("setShort", _0_hpp.corbaserver.manipulation.Graph._d_setShort, args)

    def isShort(self, *args):
        return self._obj.invoke("isShort", _0_hpp.corbaserver.manipulation.Graph._d_isShort, args)

    def autoBuild(self, *args):
        return self._obj.invoke("autoBuild", _0_hpp.corbaserver.manipulation.Graph._d_autoBuild, args)

    def setWeight(self, *args):
        return self._obj.invoke("setWeight", _0_hpp.corbaserver.manipulation.Graph._d_setWeight, args)

    def getWeight(self, *args):
        return self._obj.invoke("getWeight", _0_hpp.corbaserver.manipulation.Graph._d_getWeight, args)

    def getName(self, *args):
        return self._obj.invoke("getName", _0_hpp.corbaserver.manipulation.Graph._d_getName, args)

    def initialize(self, *args):
        return self._obj.invoke("initialize", _0_hpp.corbaserver.manipulation.Graph._d_initialize, args)

    def getRelativeMotionMatrix(self, *args):
        return self._obj.invoke("getRelativeMotionMatrix", _0_hpp.corbaserver.manipulation.Graph._d_getRelativeMotionMatrix, args)

    def setSecurityMarginForEdge(self, *args):
        return self._obj.invoke("setSecurityMarginForEdge", _0_hpp.corbaserver.manipulation.Graph._d_setSecurityMarginForEdge, args)

    def getSecurityMarginMatrixForEdge(self, *args):
        return self._obj.invoke("getSecurityMarginMatrixForEdge", _0_hpp.corbaserver.manipulation.Graph._d_getSecurityMarginMatrixForEdge, args)

omniORB.registerObjref(Graph._NP_RepositoryId, _objref_Graph)
_0_hpp.corbaserver.manipulation._objref_Graph = _objref_Graph
del Graph, _objref_Graph

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


    _omni_op_d = {"createGraph": _0_hpp.corbaserver.manipulation.Graph._d_createGraph, "deleteGraph": _0_hpp.corbaserver.manipulation.Graph._d_deleteGraph, "selectGraph": _0_hpp.corbaserver.manipulation.Graph._d_selectGraph, "createSubGraph": _0_hpp.corbaserver.manipulation.Graph._d_createSubGraph, "setTargetNodeList": _0_hpp.corbaserver.manipulation.Graph._d_setTargetNodeList, "createNode": _0_hpp.corbaserver.manipulation.Graph._d_createNode, "createEdge": _0_hpp.corbaserver.manipulation.Graph._d_createEdge, "setContainingNode": _0_hpp.corbaserver.manipulation.Graph._d_setContainingNode, "getContainingNode": _0_hpp.corbaserver.manipulation.Graph._d_getContainingNode, "createWaypointEdge": _0_hpp.corbaserver.manipulation.Graph._d_createWaypointEdge, "getWaypoint": _0_hpp.corbaserver.manipulation.Graph._d_getWaypoint, "setWaypoint": _0_hpp.corbaserver.manipulation.Graph._d_setWaypoint, "getGraph": _0_hpp.corbaserver.manipulation.Graph._d_getGraph, "getEdgeStat": _0_hpp.corbaserver.manipulation.Graph._d_getEdgeStat, "getFrequencyOfNodeInRoadmap": _0_hpp.corbaserver.manipulation.Graph._d_getFrequencyOfNodeInRoadmap, "getConfigProjectorStats": _0_hpp.corbaserver.manipulation.Graph._d_getConfigProjectorStats, "createLevelSetEdge": _0_hpp.corbaserver.manipulation.Graph._d_createLevelSetEdge, "addLevelSetFoliation": _0_hpp.corbaserver.manipulation.Graph._d_addLevelSetFoliation, "resetConstraints": _0_hpp.corbaserver.manipulation.Graph._d_resetConstraints, "setNumericalConstraints": _0_hpp.corbaserver.manipulation.Graph._d_setNumericalConstraints, "addNumericalConstraints": _0_hpp.corbaserver.manipulation.Graph._d_addNumericalConstraints, "getNumericalConstraints": _0_hpp.corbaserver.manipulation.Graph._d_getNumericalConstraints, "setNumericalConstraintsForPath": _0_hpp.corbaserver.manipulation.Graph._d_setNumericalConstraintsForPath, "addNumericalConstraintsForPath": _0_hpp.corbaserver.manipulation.Graph._d_addNumericalConstraintsForPath, "removeCollisionPairFromEdge": _0_hpp.corbaserver.manipulation.Graph._d_removeCollisionPairFromEdge, "getNode": _0_hpp.corbaserver.manipulation.Graph._d_getNode, "applyNodeConstraints": _0_hpp.corbaserver.manipulation.Graph._d_applyNodeConstraints, "applyEdgeLeafConstraints": _0_hpp.corbaserver.manipulation.Graph._d_applyEdgeLeafConstraints, "generateTargetConfig": _0_hpp.corbaserver.manipulation.Graph._d_generateTargetConfig, "getConfigErrorForNode": _0_hpp.corbaserver.manipulation.Graph._d_getConfigErrorForNode, "getConfigErrorForEdge": _0_hpp.corbaserver.manipulation.Graph._d_getConfigErrorForEdge, "getConfigErrorForEdgeLeaf": _0_hpp.corbaserver.manipulation.Graph._d_getConfigErrorForEdgeLeaf, "getConfigErrorForEdgeTarget": _0_hpp.corbaserver.manipulation.Graph._d_getConfigErrorForEdgeTarget, "displayNodeConstraints": _0_hpp.corbaserver.manipulation.Graph._d_displayNodeConstraints, "displayEdgeTargetConstraints": _0_hpp.corbaserver.manipulation.Graph._d_displayEdgeTargetConstraints, "displayEdgeConstraints": _0_hpp.corbaserver.manipulation.Graph._d_displayEdgeConstraints, "getNodesConnectedByEdge": _0_hpp.corbaserver.manipulation.Graph._d_getNodesConnectedByEdge, "display": _0_hpp.corbaserver.manipulation.Graph._d_display, "getHistogramValue": _0_hpp.corbaserver.manipulation.Graph._d_getHistogramValue, "setShort": _0_hpp.corbaserver.manipulation.Graph._d_setShort, "isShort": _0_hpp.corbaserver.manipulation.Graph._d_isShort, "autoBuild": _0_hpp.corbaserver.manipulation.Graph._d_autoBuild, "setWeight": _0_hpp.corbaserver.manipulation.Graph._d_setWeight, "getWeight": _0_hpp.corbaserver.manipulation.Graph._d_getWeight, "getName": _0_hpp.corbaserver.manipulation.Graph._d_getName, "initialize": _0_hpp.corbaserver.manipulation.Graph._d_initialize, "getRelativeMotionMatrix": _0_hpp.corbaserver.manipulation.Graph._d_getRelativeMotionMatrix, "setSecurityMarginForEdge": _0_hpp.corbaserver.manipulation.Graph._d_setSecurityMarginForEdge, "getSecurityMarginMatrixForEdge": _0_hpp.corbaserver.manipulation.Graph._d_getSecurityMarginMatrixForEdge}

Graph._omni_skeleton = Graph
_0_hpp__POA.corbaserver.manipulation.Graph = Graph
omniORB.registerSkeleton(Graph._NP_RepositoryId, Graph)
del Graph
__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.graph_idl"

#
# Docstrings
#

omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.createGraph, _0_hpp.corbaserver.manipulation.Graph.createGraph__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.deleteGraph, _0_hpp.corbaserver.manipulation.Graph.deleteGraph__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.selectGraph, _0_hpp.corbaserver.manipulation.Graph.selectGraph__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.createSubGraph, _0_hpp.corbaserver.manipulation.Graph.createSubGraph__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.setTargetNodeList, _0_hpp.corbaserver.manipulation.Graph.setTargetNodeList__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.createNode, _0_hpp.corbaserver.manipulation.Graph.createNode__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.createEdge, _0_hpp.corbaserver.manipulation.Graph.createEdge__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.setContainingNode, _0_hpp.corbaserver.manipulation.Graph.setContainingNode__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getContainingNode, _0_hpp.corbaserver.manipulation.Graph.getContainingNode__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.createWaypointEdge, _0_hpp.corbaserver.manipulation.Graph.createWaypointEdge__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getWaypoint, _0_hpp.corbaserver.manipulation.Graph.getWaypoint__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.setWaypoint, _0_hpp.corbaserver.manipulation.Graph.setWaypoint__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getGraph, _0_hpp.corbaserver.manipulation.Graph.getGraph__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getEdgeStat, _0_hpp.corbaserver.manipulation.Graph.getEdgeStat__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getFrequencyOfNodeInRoadmap, _0_hpp.corbaserver.manipulation.Graph.getFrequencyOfNodeInRoadmap__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getConfigProjectorStats, _0_hpp.corbaserver.manipulation.Graph.getConfigProjectorStats__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.createLevelSetEdge, _0_hpp.corbaserver.manipulation.Graph.createLevelSetEdge__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.addLevelSetFoliation, _0_hpp.corbaserver.manipulation.Graph.addLevelSetFoliation__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.resetConstraints, _0_hpp.corbaserver.manipulation.Graph.resetConstraints__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.setNumericalConstraints, _0_hpp.corbaserver.manipulation.Graph.setNumericalConstraints__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.addNumericalConstraints, _0_hpp.corbaserver.manipulation.Graph.addNumericalConstraints__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getNumericalConstraints, _0_hpp.corbaserver.manipulation.Graph.getNumericalConstraints__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.setNumericalConstraintsForPath, _0_hpp.corbaserver.manipulation.Graph.setNumericalConstraintsForPath__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.addNumericalConstraintsForPath, _0_hpp.corbaserver.manipulation.Graph.addNumericalConstraintsForPath__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.removeCollisionPairFromEdge, _0_hpp.corbaserver.manipulation.Graph.removeCollisionPairFromEdge__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getNode, _0_hpp.corbaserver.manipulation.Graph.getNode__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.applyNodeConstraints, _0_hpp.corbaserver.manipulation.Graph.applyNodeConstraints__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.applyEdgeLeafConstraints, _0_hpp.corbaserver.manipulation.Graph.applyEdgeLeafConstraints__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.generateTargetConfig, _0_hpp.corbaserver.manipulation.Graph.generateTargetConfig__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getConfigErrorForNode, _0_hpp.corbaserver.manipulation.Graph.getConfigErrorForNode__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getConfigErrorForEdge, _0_hpp.corbaserver.manipulation.Graph.getConfigErrorForEdge__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getConfigErrorForEdgeLeaf, _0_hpp.corbaserver.manipulation.Graph.getConfigErrorForEdgeLeaf__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getConfigErrorForEdgeTarget, _0_hpp.corbaserver.manipulation.Graph.getConfigErrorForEdgeTarget__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.displayNodeConstraints, _0_hpp.corbaserver.manipulation.Graph.displayNodeConstraints__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.displayEdgeTargetConstraints, _0_hpp.corbaserver.manipulation.Graph.displayEdgeTargetConstraints__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.displayEdgeConstraints, _0_hpp.corbaserver.manipulation.Graph.displayEdgeConstraints__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getNodesConnectedByEdge, _0_hpp.corbaserver.manipulation.Graph.getNodesConnectedByEdge__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.display, _0_hpp.corbaserver.manipulation.Graph.display__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getHistogramValue, _0_hpp.corbaserver.manipulation.Graph.getHistogramValue__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.setShort, _0_hpp.corbaserver.manipulation.Graph.setShort__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.isShort, _0_hpp.corbaserver.manipulation.Graph.isShort__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.autoBuild, _0_hpp.corbaserver.manipulation.Graph.autoBuild__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.setWeight, _0_hpp.corbaserver.manipulation.Graph.setWeight__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getWeight, _0_hpp.corbaserver.manipulation.Graph.getWeight__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getName, _0_hpp.corbaserver.manipulation.Graph.getName__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.initialize, _0_hpp.corbaserver.manipulation.Graph.initialize__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getRelativeMotionMatrix, _0_hpp.corbaserver.manipulation.Graph.getRelativeMotionMatrix__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.setSecurityMarginForEdge, _0_hpp.corbaserver.manipulation.Graph.setSecurityMarginForEdge__doc__)
omniORB.setDocString(_0_hpp.corbaserver.manipulation._objref_Graph.getSecurityMarginMatrixForEdge, _0_hpp.corbaserver.manipulation.Graph.getSecurityMarginMatrixForEdge__doc__)

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

# The end.
