hpp-manipulation-corba 5.2.0
Corba server for manipulation planning
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problem.idl
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1// Copyright (c) 2014 CNRS
2// Author: Florent Lamiraux
3//
4// Redistribution and use in source and binary forms, with or without
5// modification, are permitted provided that the following conditions are
6// met:
7//
8// 1. Redistributions of source code must retain the above copyright
9// notice, this list of conditions and the following disclaimer.
10//
11// 2. Redistributions in binary form must reproduce the above copyright
12// notice, this list of conditions and the following disclaimer in the
13// documentation and/or other materials provided with the distribution.
14//
15// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
16// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
17// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
18// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
19// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
20// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
21// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
22// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
23// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
25// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
26// DAMAGE.
27
28#ifndef HPP_MANIPULATION_CORBA_PROBLEM_IDL
29#define HPP_MANIPULATION_CORBA_PROBLEM_IDL
30
32#include <hpp/common.idl>
33
34#include <hpp/pinocchio_idl/robots.idl>
35#include <hpp/core_idl/path_planners.idl>
36#include <hpp/core_idl/distances.idl>
37
40
41module hpp {
42 module corbaserver {
43 module manipulation {
44 interface Problem
45 {
51 boolean selectProblem (in string name) raises (Error);
52
54 void resetProblem () raises (Error);
55
59 Names_t getAvailable (in string type) raises (Error);
60
65 Names_t getSelected (in string type) raises (Error);
66
69 void loadRoadmap (in string filename) raises (Error);
70
90 void createGrasp (in string graspName, in string gripperName,
91 in string handleName)
92 raises (Error);
93
114 void createPreGrasp (in string name, in string gripper,
115 in string handle) raises (Error);
116
120 Names_t getEnvironmentContactNames ()
121 raises (Error);
122
126 Names_t getRobotContactNames ()
127 raises (Error);
128
139 Names_t getEnvironmentContact (in string name, out intSeq indices,
140 out floatSeqSeq points)
141 raises (Error);
142
153 Names_t getRobotContact (in string name, out intSeq indexes,
154 out floatSeqSeq points)
155 raises (Error);
156
168 void createPlacementConstraint (in string placementName,
169 in Names_t shapeName, in Names_t envContactName)
170 raises (Error);
171
184 void createPrePlacementConstraint (in string placementName,
185 in Names_t shapeName, in Names_t envContactName, in double witdh)
186 raises (Error);
187
195 void createQPStabilityConstraint(in string constraintName,
196 in string comRootJointName, in Names_t shapesName)
197 raises (Error);
198
205 boolean setConstraints (in ID idComp, in boolean target)
206 raises (Error);
207
222 void registerConstraints(in string constraint, in string complement,
223 in string both);
224
232 boolean applyConstraints (in ID idComp, in floatSeq input, out floatSeq output,
233 out double residualError)
234 raises (Error);
235
246 boolean applyConstraintsWithOffset (in ID IDedge, in floatSeq qnear, in floatSeq input, out floatSeq output,
247 out double residualError)
248 raises (Error);
249
263 boolean buildAndProjectPath (in ID IDedge, in floatSeq qb, in floatSeq qe, out long indexNotProj,
264 out long indexProj)
265 raises (Error);
266
270 void setTargetState(in ID IDstate) raises (Error);
271
274 ID edgeAtParam (in unsigned long inPathId, in double atDistance, out string graphName)
275 raises (Error);
276
277 manipulation_idl::graph_idl::Validation createGraphValidation ()
278 raises (Error);
279
289 core_idl::Roadmap readRoadmap(in string filename, in pinocchio_idl::Device robot,
290 in manipulation_idl::graph_idl::Graph graph) raises (Error);
291
301 void writeRoadmap(in string filename, in core_idl::Roadmap roadmap,
302 in pinocchio_idl::Device robot,
303 in manipulation_idl::graph_idl::Graph graph) raises (Error);
304
305 core_idl::Roadmap createRoadmap(in core_idl::Distance distance,
306 in pinocchio_idl::Device robot) raises (Error);
308 core_idl::PathPlanner createTransitionPlanner() raises(Error);
309 }; // interface Problem
310 }; // module manipulation
311 }; // module corbaserver
312}; // module hpp
313
314#endif // HPP_MANIPULATION_CORBA_ROBOT_IDL
void resetProblem()
Reset the current problem.
boolean selectProblem(in string name)
Definition client.hh:46
long ID
Definition gcommon.idl:34
Definition problem_solver.py:1