28#ifndef HPP_MANIPULATION_CORBA_PROBLEM_IDL
29#define HPP_MANIPULATION_CORBA_PROBLEM_IDL
32#include <hpp/common.idl>
34#include <hpp/pinocchio_idl/robots.idl>
35#include <hpp/core_idl/path_planners.idl>
36#include <hpp/core_idl/distances.idl>
115 in
string handle) raises (Error);
140 out floatSeqSeq points)
154 out floatSeqSeq points)
169 in Names_t shapeName, in Names_t envContactName)
185 in Names_t shapeName, in Names_t envContactName, in
double witdh)
196 in
string comRootJointName, in Names_t shapesName)
233 out
double residualError)
247 out
double residualError)
274 ID edgeAtParam (in
unsigned long inPathId, in
double atDistance, out
string graphName)
302 in pinocchio_idl::Device robot,
306 in pinocchio_idl::Device robot) raises (Error);
Definition problem.idl:45
void resetProblem()
Reset the current problem.
void createPreGrasp(in string name, in string gripper, in string handle)
Names_t getSelected(in string type)
boolean selectProblem(in string name)
void writeRoadmap(in string filename, in core_idl::Roadmap roadmap, in pinocchio_idl::Device robot, in manipulation_idl::graph_idl::Graph graph)
boolean setConstraints(in ID idComp, in boolean target)
manipulation_idl::graph_idl::Validation createGraphValidation()
boolean applyConstraintsWithOffset(in ID IDedge, in floatSeq qnear, in floatSeq input, out floatSeq output, out double residualError)
void loadRoadmap(in string filename)
void setTargetState(in ID IDstate)
Names_t getEnvironmentContactNames()
boolean buildAndProjectPath(in ID IDedge, in floatSeq qb, in floatSeq qe, out long indexNotProj, out long indexProj)
void registerConstraints(in string constraint, in string complement, in string both)
ID edgeAtParam(in unsigned long inPathId, in double atDistance, out string graphName)
Names_t getRobotContactNames()
void createQPStabilityConstraint(in string constraintName, in string comRootJointName, in Names_t shapesName)
core_idl::Roadmap readRoadmap(in string filename, in pinocchio_idl::Device robot, in manipulation_idl::graph_idl::Graph graph)
void createPrePlacementConstraint(in string placementName, in Names_t shapeName, in Names_t envContactName, in double witdh)
void createPlacementConstraint(in string placementName, in Names_t shapeName, in Names_t envContactName)
void createGrasp(in string graspName, in string gripperName, in string handleName)
Names_t getAvailable(in string type)
core_idl::PathPlanner createTransitionPlanner()
Create a Transition Planner.
Names_t getEnvironmentContact(in string name, out intSeq indices, out floatSeqSeq points)
Names_t getRobotContact(in string name, out intSeq indexes, out floatSeqSeq points)
boolean applyConstraints(in ID idComp, in floatSeq input, out floatSeq output, out double residualError)
core_idl::Roadmap createRoadmap(in core_idl::Distance distance, in pinocchio_idl::Device robot)
long ID
Definition gcommon.idl:34
Definition problem_solver.py:1