import "/local/robotpkg/var/tmp/robotpkg/path/hpp-manipulation-corba/work/hpp-manipulation-corba-1.1.0/idl/hpp/corbaserver/manipulation/problem.idl";
List of all members.
Public Member Functions |
void | createGrasp (in string graspName, in string gripperName, in string handleName) raises (Error) |
| Create grasp constraint between robot gripper and object handle.
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void | createPreGrasp (in string graspName, in string gripperName, in string handleName) raises (Error) |
| Create pre-grasp constraint between robot gripper and object handle.
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void | createLockedJoint (in string lockedJointName, in string jointName, in floatSeq value, in string comparisonType) raises (Error) |
| Insert a new LockedJoint constraint with given value in the hpp::manipulation::ProblemSolver map.
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Names_t | getEnvironmentContactNames () raises (Error) |
Names_t | getRobotContactNames () raises (Error) |
void | createPlacementConstraint (in string placementName, in string jointName, in string triangleName, in string envContactName) raises (Error) |
boolean | applyConstraints (in ID idComp, in floatSeq input, out floatSeq output, out double residualError) raises (Error) |
| Apply constaints to a configuration.
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boolean | applyConstraintsWithOffset (in ID IDedge, in floatSeq qnear, in floatSeq input, out floatSeq output, out double residualError) raises (Error) |
| Apply constaints to a configuration.
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Member Function Documentation
boolean hpp::corbaserver::manipulation::Problem::applyConstraints |
( |
in ID |
idComp, |
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in floatSeq |
input, |
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out floatSeq |
output, |
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out double |
residualError |
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) |
| raises (Error) |
Apply constaints to a configuration.
- Parameters:
-
idComp | ID of a node or a configuration |
input | input configuration, |
- Return values:
-
output | output configuration, |
error | norm of the residual error. |
boolean hpp::corbaserver::manipulation::Problem::applyConstraintsWithOffset |
( |
in ID |
IDedge, |
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in floatSeq |
qnear, |
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in floatSeq |
input, |
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out floatSeq |
output, |
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out double |
residualError |
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) |
| raises (Error) |
Apply constaints to a configuration.
- Parameters:
-
IDedge | ID of an edge |
qnear | configuration to initiliaze the projector, |
input | input configuration, |
- Return values:
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output | output configuration, |
error | norm of the residual error. |
void hpp::corbaserver::manipulation::Problem::createGrasp |
( |
in string |
graspName, |
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in string |
gripperName, |
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in string |
handleName |
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) |
| raises (Error) |
Create grasp constraint between robot gripper and object handle.
- Parameters:
-
graspName | name of the constraint for storing in ProblemSolver map, |
gripperName | name of the gripper used when it has been created |
handleName | name of the handle in the form "object/handle" where object is the name of the object owning the handle and handle is the name of the handle in this object. |
void hpp::corbaserver::manipulation::Problem::createLockedJoint |
( |
in string |
lockedJointName, |
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in string |
jointName, |
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in floatSeq |
value, |
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in string |
comparisonType |
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) |
| raises (Error) |
void hpp::corbaserver::manipulation::Problem::createPlacementConstraint |
( |
in string |
placementName, |
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in string |
jointName, |
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in string |
triangleName, |
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in string |
envContactName |
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) |
| raises (Error) |
void hpp::corbaserver::manipulation::Problem::createPreGrasp |
( |
in string |
graspName, |
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in string |
gripperName, |
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in string |
handleName |
|
) |
| raises (Error) |
Create pre-grasp constraint between robot gripper and object handle.
- Parameters:
-
graspName | name of the constraint for storing in ProblemSolver map, |
gripperName | name of the gripper used when it has been created |
handleName | name of the handle in the form "object/handle" where object is the name of the object owning the handle and handle is the name of the handle in this object. |
Names_t hpp::corbaserver::manipulation::Problem::getEnvironmentContactNames |
( |
| ) |
raises (Error) |
Names_t hpp::corbaserver::manipulation::Problem::getRobotContactNames |
( |
| ) |
raises (Error) |