hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
 
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_problem.idl
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1// Copyright (C) 2019 by Joseph Mirabel, LAAS-CNRS.
2//
3// This file is part of the hpp-corbaserver.
4//
5// This software is provided "as is" without warranty of any kind,
6// either expressed or implied, including but not limited to the
7// implied warranties of fitness for a particular purpose.
8//
9// See the COPYING file for more information.
10
11#ifndef HPP_CORE_PROBLEM_IDL
12#define HPP_CORE_PROBLEM_IDL
13#include <hpp/common.idl>
14
15module hpp
16{
18 interface Device;
19 interface CollisionObject;
20 }; // module pinocchio
21
22 module core_idl {
23 interface Distance;
24 interface SteeringMethod;
25 interface ConfigValidation;
26 interface PathProjector;
27 interface PathValidation;
28 interface ConfigurationShooter;
29 interface Constraint;
30 interface ConstraintSet;
31
32 interface Problem
33 {
35
37
38 void setInitConfig (in floatSeq init) raises (Error);
39 //* pinocchio::Configuration_t q (corbaServer::floatSeqToConfig(getT()->robot(), init, true));
40 //* getT()->initConfig (q);
42 //-> initConfig
43 void addGoalConfig (in floatSeq goal) raises (Error);
44 //* pinocchio::Configuration_t q (corbaServer::floatSeqToConfig(getT()->robot(), goal, true));
45 //* getT()->addGoalConfig (q);
46 void resetGoalConfigs () raises (Error);
47
49 //-> constraints
50 void setConstraints (in Constraint constraints) raises (Error);
51 //* hpp::core::ConstraintPtr_t c = ::hpp::corbaServer::reference_to_servant_base<hpp::core::Constraint>(server_, constraints)->get();
52 //* hpp::core::ConstraintSetPtr_t cs = HPP_DYNAMIC_PTR_CAST(hpp::core::ConstraintSet, c);
53 //* if (!cs) throw hpp::Error("Constraint is not of type ConstraintSet");
54 //* (getT()->constraints (cs));
55
57 //-> distance
58 void setDistance (in Distance d) raises (Error);
59 //-> distance
61 //-> steeringMethod
63 //-> steeringMethod
65 //-> pathValidation
67 //-> pathValidation
68
70 //-> pathProjector
71 void setPathProjector (in PathProjector p) raises (Error);
72 //-> pathProjector
73
75 //-> configValidations
76 void clearConfigValidations () raises (Error);
77 void addConfigValidation (in ConfigValidation cfgValidation) raises (Error);
78
80 //-> configurationShooter
82 //-> configurationShooter
83
84 void filterCollisionPairs () raises (Error);
85
89 void setSecurityMargins (in floatSeqSeq margins) raises (Error);
90
91 void addObstacle (in pinocchio_idl::CollisionObject _object) raises (Error);
92
93 void setParameter (in string name, in any value) raises (Error);
94 //* getT()->setParameter(name, hpp::corbaServer::toParameter(value));
95
96 any getParameter (in string name) raises (Error);
97 //* return hpp::corbaServer::toCorbaAnyPtr(getT()->getParameter(name));
98 }; // interface Problem
99
100 }; // module core
101}; // module hpp
102
103//* #include <hpp/core/problem.hh>
104//* #include <hpp/pinocchio_idl/robots.hh>
105//* #include <hpp/core_idl/distances.hh>
106//* #include <hpp/core_idl/steering_methods.hh>
107//* #include <hpp/core_idl/path_projectors.hh>
108//* #include <hpp/core_idl/path_validations.hh>
109//* #include <hpp/core_idl/configuration_shooters.hh>
110//* #include <hpp/core/config-validations.hh>
111
112#include <hpp/pinocchio_idl/robots.idl>
118
119#endif // HPP_CORE_PROBLEM_IDL
Definition robots-idl.hh:388
Definition path_validations-idl.hh:118
Definition configuration_shooters-idl.hh:94
Definition _constraints-idl.hh:509
Definition _constraints-idl.hh:242
Definition robots-idl.hh:221
Definition distances-idl.hh:94
Definition path_projectors-idl.hh:106
Definition path_validations-idl.hh:481
Definition steering_methods-idl.hh:106
#define HPP_EXPOSE_MEMORY_DEALLOCATION(ErrorType)
Definition common.idl:14
Corba exception travelling through the Corba channel.
Definition common.idl:27
Definition path_validations.idl:31
Definition configuration_shooters.idl:21
Definition _constraints.idl:27
Definition distances.idl:20
Definition path_projectors.idl:21
Definition path_validations.idl:66
Definition _problem.idl:33
void setPathProjector(in PathProjector p)
ConfigValidation getConfigValidations()
void addObstacle(in pinocchio_idl::CollisionObject _object)
PathProjector getPathProjector()
void addConfigValidation(in ConfigValidation cfgValidation)
void setInitConfig(in floatSeq init)
SteeringMethod getSteeringMethod()
PathValidation getPathValidation()
void setConstraints(in Constraint constraints)
void setConfigurationShooter(in ConfigurationShooter d)
void setDistance(in Distance d)
pinocchio_idl::Device robot()
void setPathValidation(in PathValidation d)
void setSteeringMethod(in SteeringMethod d)
ConfigurationShooter getConfigurationShooter()
Constraint getConstraints()
any getParameter(in string name)
void setSecurityMargins(in floatSeqSeq margins)
void addGoalConfig(in floatSeq goal)
void setParameter(in string name, in any value)
Definition steering_methods.idl:23
Definition robots.idl:130
Definition robots.idl:29
Definition _constraints.idl:24
Definition _problem.idl:17
Implement CORBA interface `‘Obstacle’'.
Definition client.hh:46
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition common.idl:34
sequence< floatSeq > floatSeqSeq
Definition common.idl:35