hpp::corbaserver::manipulation::Graph Interface Reference

import "/local/robotpkg/var/tmp/robotpkg/path/hpp-manipulation-corba/work/hpp-manipulation-corba-1.1.0/idl/hpp/corbaserver/manipulation/graph.idl";

List of all members.

Public Member Functions

long createGraph (in string graphName) raises (Error)
 Initialize the graph of constraints.
long createSubGraph (in string subgraphName) raises (Error)
 Create a subgraph of the constraint graph for one particular end-effector.
long createNode (in long subGraphId, in string nodeName) raises (Error)
 Add a node to the graph.
long createEdge (in long nodeFromId, in long nodeToId, in string edgeName, in long weight, in boolean isInNodeFrom) raises (Error)
 Add an edge between two nodes of the graph.
void isInNodeFrom (in long edgeId, in boolean isInNodeFrom) raises (Error)
 Set in which node an edge is.
void createWaypointEdge (in long nodeFromId, in long nodeToId, in string edgeName, in long number, in long weight, in boolean isInNodeFrom, out GraphElements elmts) raises (Error)
 Add an edge with waypoint between two nodes of the graph.
long getWaypoint (in long edgeId, out ID nodeId) raises (Error)
 Get waypoint IDs of an edge.
long createLevelSetEdge (in long nodeFromId, in long nodeToId, in string edgeName, in long weight, in boolean isInNodeFrom) raises (Error)
 Add an edge of type LevelSetEdge between two nodes.
void setLevelSetConstraints (in long edgeId, in Names_t numericalConstraintNames, in Names_t passiveDofsNames, in Names_t lockedDofNames) raises (Error)
 Set the numerical constraints of a LevelSetEdge that are create the foliation.
void setNumericalConstraints (in long graphComponentId, in Names_t constraintNames, in Names_t passiveDofsNames) raises (Error)
 Set the numerical constraints of a component.
void setNumericalConstraintsForPath (in long nodeId, in Names_t constraintNames, in Names_t passiveDofsNames) raises (Error)
 Set the numerical constraints for path of a node.
void setLockedDofConstraints (in long graphComponentId, in Names_t constraintNames) raises (Error)
 Set the LockedDof constraints of a component.
void statOnConstraint (in ID IDedge) raises (Error)
 Activate statistic analysis for this sequence of edges.
void getNode (in floatSeq dofArray, out ID nodeId) raises (Error)
 Get the node corresponding to the state of the configuration.
void display (in string filename) raises (Error)

Member Function Documentation

long hpp::corbaserver::manipulation::Graph::createEdge ( in long  nodeFromId,
in long  nodeToId,
in string  edgeName,
in long  weight,
in boolean  isInNodeFrom 
) raises (Error)

Add an edge between two nodes of the graph.

Parameters:
nodeFromId,nodeToIdthe ID of the ends of the new edge.
edgeNamename of the new edge.
weightweight of the edge.
long hpp::corbaserver::manipulation::Graph::createGraph ( in string  graphName) raises (Error)

Initialize the graph of constraints.

Note:
The composite hpp::manipulation::robot must be completely defined first.
long hpp::corbaserver::manipulation::Graph::createLevelSetEdge ( in long  nodeFromId,
in long  nodeToId,
in string  edgeName,
in long  weight,
in boolean  isInNodeFrom 
) raises (Error)

Add an edge of type LevelSetEdge between two nodes.

Parameters:
nodeFromId,nodeToIdthe ID of the ends of the new edge.
edgeNamename of the new edge.
weightweight of the edge.
long hpp::corbaserver::manipulation::Graph::createNode ( in long  subGraphId,
in string  nodeName 
) raises (Error)

Add a node to the graph.

Parameters:
subGraphIdis the ID of the subgraph to which the node should be added.
nodeNamethe name of the new node.
long hpp::corbaserver::manipulation::Graph::createSubGraph ( in string  subgraphName) raises (Error)

Create a subgraph of the constraint graph for one particular end-effector.

void hpp::corbaserver::manipulation::Graph::createWaypointEdge ( in long  nodeFromId,
in long  nodeToId,
in string  edgeName,
in long  number,
in long  weight,
in boolean  isInNodeFrom,
out GraphElements  elmts 
) raises (Error)

Add an edge with waypoint between two nodes of the graph.

Parameters:
nodeFromId,nodeToIdthe ID of the ends of the new edge.
edgeBaseNamebasename of the new edge.
weightweight of the edge.
void hpp::corbaserver::manipulation::Graph::display ( in string  filename) raises (Error)
void hpp::corbaserver::manipulation::Graph::getNode ( in floatSeq  dofArray,
out ID  nodeId 
) raises (Error)

Get the node corresponding to the state of the configuration.

Parameters:
dofArraythe configuration.
Returns:
the ID corresponding to the node.
long hpp::corbaserver::manipulation::Graph::getWaypoint ( in long  edgeId,
out ID  nodeId 
) raises (Error)

Get waypoint IDs of an edge.

Parameters:
edgeIdthe ID of the edge.
Returns:
the ID of the edge and the node associated with the node.
void hpp::corbaserver::manipulation::Graph::isInNodeFrom ( in long  edgeId,
in boolean  isInNodeFrom 
) raises (Error)

Set in which node an edge is.

Parameters:
edgeIdthe ID of the edge,
isInNodeFromwhether or not a path corresponding to this edge is in the node from.
void hpp::corbaserver::manipulation::Graph::setLevelSetConstraints ( in long  edgeId,
in Names_t  numericalConstraintNames,
in Names_t  passiveDofsNames,
in Names_t  lockedDofNames 
) raises (Error)

Set the numerical constraints of a LevelSetEdge that are create the foliation.

Parameters:
graphComponentIdID of the component.
numericalConstraintNamesis an array of names of numerical constraints in the ProblemSolver map.
lockedDofNamesis an array of names of LockedDof constraints in the ProblemSolver map.
passiveDofsNamesarray of names of vector of passive dofs in the ProblemSolver map.
Note:
If passiveDofsNames is a shorter list than constraintNames, passiveDofsNames is extended with an empty string, which corresponds to an empty vector of passive dofs.
void hpp::corbaserver::manipulation::Graph::setLockedDofConstraints ( in long  graphComponentId,
in Names_t  constraintNames 
) raises (Error)

Set the LockedDof constraints of a component.

Parameters:
graphComponentIdID of the component.
constraintNamesis an array of names of constraints in the ProblemSolver map.
void hpp::corbaserver::manipulation::Graph::setNumericalConstraints ( in long  graphComponentId,
in Names_t  constraintNames,
in Names_t  passiveDofsNames 
) raises (Error)

Set the numerical constraints of a component.

Parameters:
graphComponentIdID of the component.
constraintNamesis an array of names of constraints in the ProblemSolver map.
passiveDofsNamesarray of names of vector of passive dofs in the ProblemSolver map.
Note:
If passiveDofsNames is a shorter list than constraintNames, passiveDofsNames is extended with an empty string, which corresponds to an empty vector of passive dofs.
void hpp::corbaserver::manipulation::Graph::setNumericalConstraintsForPath ( in long  nodeId,
in Names_t  constraintNames,
in Names_t  passiveDofsNames 
) raises (Error)

Set the numerical constraints for path of a node.

Parameters:
nodeIdID of the node.
constraintNamesis an array of names of constraints in the ProblemSolver map.
passiveDofsNamesarray of names of vector of passive dofs in the ProblemSolver map.
Note:
If passiveDofsNames is a shorter list than constraintNames, passiveDofsNames is extended with an empty string, which corresponds to an empty vector of passive dofs.
void hpp::corbaserver::manipulation::Graph::statOnConstraint ( in ID  IDedge) raises (Error)

Activate statistic analysis for this sequence of edges.

Parameters:
IDedgeedge ID.