hpp-manipulation-corba 6.0.0
Corba server for manipulation planning
 
Loading...
Searching...
No Matches
problem.idl
Go to the documentation of this file.
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
121 raises (Error);
122
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.
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)
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)
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)
Definition _graph.idl:44
Definition _graph.idl:48
Definition client.hh:46
long ID
Definition gcommon.idl:34
Definition problem_solver.py:1