problem.idl

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// Copyright (c) 2014 CNRS
// Author: Florent Lamiraux
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_MANIPULATION_CORBA_PROBLEM_IDL
#define HPP_MANIPULATION_CORBA_PROBLEM_IDL
 
#include <hpp/corbaserver/manipulation/gcommon.idl>
#include <hpp/common.idl>
 
#include <hpp/pinocchio_idl/robots.idl>
#include <hpp/core_idl/path_planners.idl>
#include <hpp/core_idl/distances.idl>
 
#include <hpp/manipulation_idl/_path_planners.idl>
#include <hpp/manipulation_idl/_graph.idl>
 
module hpp {
  module corbaserver {
    module manipulation {
      interface Problem
      {
        boolean selectProblem (in string name) raises (Error);

        void resetProblem () raises (Error);

        Names_t getAvailable (in string type) raises (Error);

        Names_t getSelected (in string type) raises (Error);

        void loadRoadmap (in string filename) raises (Error);

    void createGrasp (in string graspName, in string gripperName,
              in string handleName)
      raises (Error);

    void createPreGrasp (in string name, in string gripper,
                 in string handle) raises (Error);

        Names_t getEnvironmentContactNames ()
          raises (Error);

        Names_t getRobotContactNames ()
          raises (Error);

        Names_t getEnvironmentContact (in string name, out intSeq indices,
                                       out floatSeqSeq points)
          raises (Error);

        Names_t getRobotContact (in string name, out intSeq indexes,
                                 out floatSeqSeq points)
          raises (Error);

        void createPlacementConstraint (in string placementName,
            in Names_t shapeName, in Names_t envContactName)
          raises (Error);

        void createPrePlacementConstraint (in string placementName,
            in Names_t shapeName, in Names_t envContactName, in double witdh)
          raises (Error);

        void createQPStabilityConstraint(in string constraintName,
            in string comRootJointName, in Names_t shapesName)
          raises (Error);

        boolean setConstraints (in ID idComp, in boolean target)
          raises (Error);

        void registerConstraints(in string constraint, in string complement,
                                 in string both);

        boolean applyConstraints (in ID idComp, in floatSeq input, out floatSeq output,
            out double residualError)
          raises (Error);

        boolean applyConstraintsWithOffset (in ID IDedge, in floatSeq qnear, in floatSeq input, out floatSeq output,
            out double residualError)
          raises (Error);

        boolean buildAndProjectPath (in ID IDedge, in floatSeq qb, in floatSeq qe, out long indexNotProj,
            out long indexProj)
          raises (Error);

        void setTargetState(in ID IDstate) raises (Error);

        ID edgeAtParam (in unsigned long inPathId, in double atDistance, out string graphName)
          raises (Error);
 
        manipulation_idl::graph_idl::Validation createGraphValidation ()
          raises (Error);

        core_idl::Roadmap readRoadmap(in string filename, in pinocchio_idl::Device robot,
          in manipulation_idl::graph_idl::Graph graph) raises (Error);

        void writeRoadmap(in string filename, in core_idl::Roadmap roadmap,
          in pinocchio_idl::Device robot,
          in manipulation_idl::graph_idl::Graph graph) raises (Error);
 
        core_idl::Roadmap createRoadmap(in core_idl::Distance distance,
          in pinocchio_idl::Device robot) raises (Error);
        core_idl::PathPlanner createTransitionPlanner() raises(Error);
      }; // interface Problem
    }; // module manipulation
  }; // module corbaserver
}; // module hpp
 
#endif // HPP_MANIPULATION_CORBA_ROBOT_IDL