29#ifndef HPP_MANIPULATION_GRAPH_IDL
30#define HPP_MANIPULATION_GRAPH_IDL
33#include <hpp/common.idl>
34#include <hpp/constraints_idl/constraints.idl>
35#include <hpp/core_idl/steering_methods.idl>
36#include <hpp/core_idl/path_validations.idl>
41 interface LockedJoint;
45 interface SteeringMethod;
46 interface PathValidation;
58 string name () raises (Error);
59 size_t id () raises (Error);
80 string name () raises (Error);
101 boolean contains (in floatSeq config) raises (Error);
148 inout floatSeq q) raises(Error);
153 string str () raises (Error);
Definition _graph.idl:111
core_idl::SteeringMethod getSteeringMethod()
core_idl::ConstraintSet pathConstraint()
intSeqSeq getRelativeMotion()
core_idl::ConstraintSet configConstraint()
core_idl::ConstraintSet targetConstraint()
floatSeqSeq getSecurityMargins()
boolean generateTargetConfig(in floatSeq qStart, inout floatSeq q)
void setState(in State st)
core_idl::PathValidation getPathValidation()
void setSecurityMarginForPair(in size_type row, in size_type col, in value_type margin)
void addNumericalConstraint(in constraints_idl::Implicit nm)
void addNumericalCost(in constraints_idl::Implicit nm)
void resetNumericalConstraints()
constraints_idl::Implicits numericalCosts()
constraints_idl::Implicits numericalConstraints()
boolean getSolveLevelByLevel()
void setSolveLevelByLevel(in boolean input)
State getState(in floatSeq config)
GraphComponent get(in size_t id)
StateSelector getStateSelector()
Edges getEdges(in State from, in State to)
Definition _graph.idl:143
boolean generateTargetConfigOnLeaf(in floatSeq qStart, in floatSeq qLeaf, inout floatSeq q)
constraints_idl::Implicits conditionConstraints()
constraints_idl::Implicits paramConstraints()
Definition _graph.idl:100
boolean contains(in floatSeq config)
Edge linkTo(in string name, in State to, in size_type weight)
core_idl::ConstraintSet configConstraint()
Definition _graph.idl:152
stringSeqSeq getCollisionsForNode(in string name)
boolean validate(in GraphComponent comp)
sequence< LockedJoint > LockedJoints
Definition _graph.idl:42
sequence< State > States
Definition _graph.idl:52
sequence< Edge > Edges
Definition _graph.idl:54
unsigned long long size_t
Definition _graph.idl:50