hpp::corbaserver::manipulation::Problem Interface Reference

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.
void createPreGrasp (in string graspName, in string gripperName, in string handleName) raises (Error)
 Create pre-grasp constraint between robot gripper and object handle.
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.
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.
boolean applyConstraintsWithOffset (in ID IDedge, in floatSeq qnear, in floatSeq input, out floatSeq output, out double residualError) raises (Error)
 Apply constaints to a configuration.

Member Function Documentation

boolean hpp::corbaserver::manipulation::Problem::applyConstraints ( in ID  idComp,
in floatSeq  input,
out floatSeq  output,
out double  residualError 
) raises (Error)

Apply constaints to a configuration.

Parameters:
idCompID of a node or a configuration
inputinput configuration,
Return values:
outputoutput configuration,
errornorm of the residual error.
boolean hpp::corbaserver::manipulation::Problem::applyConstraintsWithOffset ( in ID  IDedge,
in floatSeq  qnear,
in floatSeq  input,
out floatSeq  output,
out double  residualError 
) raises (Error)

Apply constaints to a configuration.

Parameters:
IDedgeID of an edge
qnearconfiguration to initiliaze the projector,
inputinput configuration,
Return values:
outputoutput configuration,
errornorm of the residual error.
void hpp::corbaserver::manipulation::Problem::createGrasp ( in string  graspName,
in string  gripperName,
in string  handleName 
) raises (Error)

Create grasp constraint between robot gripper and object handle.

Parameters:
graspNamename of the constraint for storing in ProblemSolver map,
gripperNamename of the gripper used when it has been created
handleNamename 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,
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.

Parameters:
lockedJointNamekey of the constraint in the map
jointNamename of the joint
valuevalue of the joint configuration,
comparisonType"Equality" or "EqualToZero"

Referenced by manipulation::problem_solver::ProblemSolver::lockFreeFlyerJoint(), and manipulation::problem_solver::ProblemSolver::lockPlanarJoint().

void hpp::corbaserver::manipulation::Problem::createPlacementConstraint ( in string  placementName,
in string  jointName,
in string  triangleName,
in string  envContactName 
) raises (Error)
void hpp::corbaserver::manipulation::Problem::createPreGrasp ( in string  graspName,
in string  gripperName,
in string  handleName 
) raises (Error)

Create pre-grasp constraint between robot gripper and object handle.

Parameters:
graspNamename of the constraint for storing in ProblemSolver map,
gripperNamename of the gripper used when it has been created
handleNamename 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)