58 string name () raises (Error);
59 size_t id () raises (Error);
61 Graph parentGraph () raises (Error);
63 void addNumericalConstraint (in constraints_idl::Implicit nm) raises (Error);
64 void addNumericalCost (in constraints_idl::Implicit nm) raises (Error);
66 constraints_idl::Implicits numericalConstraints () raises (Error);
68 constraints_idl::Implicits numericalCosts () raises (Error);
70 void resetNumericalConstraints () raises (Error);
72 void setSolveLevelByLevel(in
boolean input) raises(Error);
74 boolean getSolveLevelByLevel() raises(Error);
116 void setState (in
State st) raises (Error);
118 intSeqSeq getRelativeMotion () raises (Error);
120 floatSeqSeq getSecurityMargins () raises (Error);
122 void setSecurityMarginForPair(in size_type row, in size_type col, in value_type margin) raises (Error);
125 boolean generateTargetConfig(in floatSeq qStart, inout floatSeq q)
128 core_idl::SteeringMethod getSteeringMethod () raises (Error);
130 core_idl::PathValidation getPathValidation () raises (Error);
134 core_idl::ConstraintSet configConstraint () raises (Error);
137 core_idl::ConstraintSet targetConstraint () raises (Error);
139 core_idl::ConstraintSet pathConstraint () raises (Error);