hpp-corbaserver  4.13.0
Corba server for Humanoid Path Planner applications
problem-idl.hh
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1 // This file is generated by omniidl (C++ backend)- omniORB_4_2. Do not edit.
2 #ifndef __problem_hh__
3 #define __problem_hh__
4 
5 #ifndef __CORBA_H_EXTERNAL_GUARD__
6 #include <omniORB4/CORBA.h>
7 #endif
8 
9 #ifndef USE_stub_in_nt_dll
10 # define USE_stub_in_nt_dll_NOT_DEFINED_problem
11 #endif
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_problem
14 #endif
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
17 #endif
18 
19 
20 
21 #ifndef __common_hh_EXTERNAL_GUARD__
22 #define __common_hh_EXTERNAL_GUARD__
23 #include <hpp/common-idl.hh>
24 #endif
25 #ifndef __constraints_hh_EXTERNAL_GUARD__
26 #define __constraints_hh_EXTERNAL_GUARD__
28 #endif
29 #ifndef __distances_hh_EXTERNAL_GUARD__
30 #define __distances_hh_EXTERNAL_GUARD__
32 #endif
33 #ifndef __paths_hh_EXTERNAL_GUARD__
34 #define __paths_hh_EXTERNAL_GUARD__
36 #endif
37 #ifndef ____constraints_hh_EXTERNAL_GUARD__
38 #define ____constraints_hh_EXTERNAL_GUARD__
40 #endif
41 #ifndef __steering__methods_hh_EXTERNAL_GUARD__
42 #define __steering__methods_hh_EXTERNAL_GUARD__
44 #endif
45 #ifndef __path__planners_hh_EXTERNAL_GUARD__
46 #define __path__planners_hh_EXTERNAL_GUARD__
48 #endif
49 #ifndef __path__validations_hh_EXTERNAL_GUARD__
50 #define __path__validations_hh_EXTERNAL_GUARD__
52 #endif
53 #ifndef ____problem_hh_EXTERNAL_GUARD__
54 #define ____problem_hh_EXTERNAL_GUARD__
56 #endif
57 #ifndef __robots_hh_EXTERNAL_GUARD__
58 #define __robots_hh_EXTERNAL_GUARD__
60 #endif
61 #ifndef __configuration__shooters_hh_EXTERNAL_GUARD__
62 #define __configuration__shooters_hh_EXTERNAL_GUARD__
64 #endif
65 
66 
67 
68 #ifdef USE_stub_in_nt_dll
69 # ifndef USE_core_stub_in_nt_dll
70 # define USE_core_stub_in_nt_dll
71 # endif
72 # ifndef USE_dyn_stub_in_nt_dll
73 # define USE_dyn_stub_in_nt_dll
74 # endif
75 #endif
76 
77 #ifdef _core_attr
78 # error "A local CPP macro _core_attr has already been defined."
79 #else
80 # ifdef USE_core_stub_in_nt_dll
81 # define _core_attr _OMNIORB_NTDLL_IMPORT
82 # else
83 # define _core_attr
84 # endif
85 #endif
86 
87 #ifdef _dyn_attr
88 # error "A local CPP macro _dyn_attr has already been defined."
89 #else
90 # ifdef USE_dyn_stub_in_nt_dll
91 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
92 # else
93 # define _dyn_attr
94 # endif
95 #endif
96 
97 
98 
99 _CORBA_MODULE hpp
100 
101 _CORBA_MODULE_BEG
102 
103  _CORBA_MODULE corbaserver
104 
105  _CORBA_MODULE_BEG
106 
107 #ifndef __hpp_mcorbaserver_mProblem__
108 #define __hpp_mcorbaserver_mProblem__
109  class Problem;
110  class _objref_Problem;
112 
113  typedef _objref_Problem* Problem_ptr;
115 
117  public:
119 
120  static _ptr_type _nil();
121  static _CORBA_Boolean is_nil(_ptr_type);
122  static void release(_ptr_type);
123  static void duplicate(_ptr_type);
124  static void marshalObjRef(_ptr_type, cdrStream&);
125  static _ptr_type unmarshalObjRef(cdrStream&);
126  };
127 
128  typedef _CORBA_ObjRef_Var<_objref_Problem, Problem_Helper> Problem_var;
129  typedef _CORBA_ObjRef_OUT_arg<_objref_Problem,Problem_Helper > Problem_out;
130 
131 #endif
132 
133  // interface Problem
134  class Problem {
135  public:
136  // Declarations for this interface type.
139 
141  static _ptr_type _narrow(::CORBA::Object_ptr);
142  static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
143 
144  static _ptr_type _nil();
145 
146  static inline void _marshalObjRef(_ptr_type, cdrStream&);
147 
148  static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
149  omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
150  if (o)
151  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
152  else
153  return _nil();
154  }
155 
156  static inline _ptr_type _fromObjRef(omniObjRef* o) {
157  if (o)
158  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
159  else
160  return _nil();
161  }
162 
163  static _core_attr const char* _PD_repoId;
164 
165  // Other IDL defined within this scope.
166 
167  };
168 
170  public virtual ::CORBA::Object,
171  public virtual omniObjRef
172  {
173  public:
174  // IDL operations
175  void setRandomSeed(::CORBA::Long seed);
176  void setMaxNumThreads(::CORBA::UShort n);
177  ::CORBA::UShort getMaxNumThreads();
178  Names_t* getAvailable(const char* type);
179  Names_t* getSelected(const char* type);
180  void setParameter(const char* name, const ::CORBA::Any& value);
181  ::CORBA::Any* getParameter(const char* name);
182  char* getParameterDoc(const char* name);
183  ::CORBA::Boolean selectProblem(const char* name);
184  void resetProblem();
185  ::CORBA::Boolean loadPlugin(const char* pluginName);
186  void movePathToProblem(::CORBA::ULong pathId, const char* problemName, const ::hpp::Names_t& jointNames);
187  void setInitialConfig(const ::hpp::floatSeq& dofArray);
189  void addGoalConfig(const ::hpp::floatSeq& dofArray);
191  void resetGoalConfigs();
192  void setGoalConstraints(const ::hpp::Names_t& constraints);
193  void resetGoalConstraints();
194  ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError);
195  ::CORBA::Boolean optimize(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError);
196  void computeValueAndJacobian(const ::hpp::floatSeq& config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian);
197  ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError);
198  void createOrientationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq& mask);
199  void createTransformationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq& mask);
200  void createTransformationR3xSO3Constraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask);
201  void createTransformationConstraint2(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask);
202  void createLockedJoint(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value);
203  void createLockedJointWithComp(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value, const ::hpp::ComparisonTypes_t& comp);
204  void createLockedExtraDof(const char* lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq& value);
205  void createManipulability(const char* name, const char* function);
206  void createComBeetweenFeet(const char* constraintName, const char* comName, const char* jointLName, const char* jointRName, const ::hpp::floatSeq& pointL, const ::hpp::floatSeq& pointR, const char* jointRefName, const ::hpp::floatSeq& pointRef, const ::hpp::boolSeq& mask);
207  void createRelativeComConstraint(const char* constraintName, const char* comName, const char* jointLName, const ::hpp::floatSeq& point, const ::hpp::boolSeq& mask);
208  void createConvexShapeContactConstraint(const char* constraintName, const ::hpp::Names_t& floorJoints, const ::hpp::Names_t& objectJoints, const ::hpp::floatSeqSeq& pts, const ::hpp::intSeqSeq& objectTriangles, const ::hpp::intSeqSeq& floorTriangles);
209  void createPositionConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::floatSeq& point1, const ::hpp::floatSeq& point2, const ::hpp::boolSeq& mask);
210  void createConfigurationConstraint(const char* constraintName, const ::hpp::floatSeq& goal, const ::hpp::floatSeq& weights);
211  void createDistanceBetweenJointConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, ::CORBA::Double distance);
212  void createDistanceBetweenJointAndObjects(const char* constraintName, const char* joint1Name, const ::hpp::Names_t& objects, ::CORBA::Double distance);
213  void createIdentityConstraint(const char* constraintName, const ::hpp::Names_t& inJoints, const ::hpp::Names_t& outJoints);
214  void resetConstraints();
215  void resetConstraintMap();
216  void addPassiveDofs(const char* constraintName, const ::hpp::Names_t& jointNames);
217  void getConstraintDimensions(const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize);
218  void setConstantRightHandSide(const char* constraintName, ::CORBA::Boolean constant);
219  ::CORBA::Boolean getConstantRightHandSide(const char* constraintName);
223  void setRightHandSideByName(const char* constraintName, const ::hpp::floatSeq& rhs);
224  void setRightHandSideFromConfigByName(const char* constraintName, const ::hpp::floatSeq& config);
225  void addNumericalConstraints(const char* configProjName, const ::hpp::Names_t& constraintNames, const ::hpp::intSeq& priorities);
226  void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional);
227  void addLockedJointConstraints(const char* configProjName, const ::hpp::Names_t& lockedJointNames);
228  char* displayConstraints();
229  ::CORBA::Double getErrorThreshold();
230  void setErrorThreshold(::CORBA::Double threshold);
231  void setDefaultLineSearchType(const char* type);
232  ::CORBA::ULong getMaxIterProjection();
233  void setMaxIterProjection(::CORBA::ULong iterations);
234  ::CORBA::ULong getMaxIterPathPlanning();
235  void setMaxIterPathPlanning(::CORBA::ULong iterations);
236  void scCreateScalarMultiply(const char* outName, ::CORBA::Double scalar, const char* inName);
237  ::CORBA::Double getTimeOutPathPlanning();
238  void setTimeOutPathPlanning(::CORBA::Double timeOut);
239  void filterCollisionPairs();
240  void selectPathPlanner(const char* pathPlannerType);
241  void selectConfigurationShooter(const char* configurationShooterType);
242  void selectDistance(const char* distanceType);
243  void selectSteeringMethod(const char* steeringMethodType);
244  void addPathOptimizer(const char* pathOptimizerType);
245  void clearPathOptimizers();
246  void addConfigValidation(const char* configValidationType);
247  void clearConfigValidations();
248  void selectPathValidation(const char* pathValidationType, ::CORBA::Double tolerance);
249  void selectPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance);
250  ::CORBA::Boolean prepareSolveStepByStep();
251  ::CORBA::Boolean executeOneStep();
252  void finishSolveStepByStep();
253  intSeq* solve();
254  ::CORBA::Boolean directPath(const ::hpp::floatSeq& startConfig, const ::hpp::floatSeq& endConfig, ::CORBA::Boolean validate, ::CORBA::ULong& pathId, ::CORBA::String_out report);
255  ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId);
257  void addEdgeToRoadmap(const ::hpp::floatSeq& config1, const ::hpp::floatSeq& config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges);
258  void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq& config, ::CORBA::Boolean validate);
259  void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId);
260  void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end);
261  void erasePath(::CORBA::ULong pathId);
262  ::CORBA::Boolean projectPath(::CORBA::ULong patId);
263  ::CORBA::Long numberPaths();
264  intSeq* optimizePath(::CORBA::ULong inPathId);
265  ::CORBA::Double pathLength(::CORBA::ULong inPathId);
266  floatSeq* configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance);
267  floatSeq* derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance);
268  floatSeqSeq* getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times);
269  void interruptPathPlanning();
270  floatSeqSeq* nodes();
271  ::CORBA::Long numberNodes();
272  floatSeq* node(::CORBA::ULong nodeId);
273  ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId);
274  ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId);
275  ::CORBA::Long numberEdges();
276  void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2);
277  ::CORBA::Long numberConnectedComponents();
278  floatSeqSeq* nodesConnectedComponent(::CORBA::ULong connectedComponentId);
279  floatSeq* getNearestConfig(const ::hpp::floatSeq& config, ::CORBA::Long connectedComponentId, ::CORBA::Double& distance);
280  void clearRoadmap();
281  void resetRoadmap();
282  void saveRoadmap(const char* filename);
283  void loadRoadmap(const char* filename);
285  void setDistance(::hpp::core_idl::Distance_ptr distance);
286  core_idl::Path_ptr getPath(::CORBA::ULong pathId);
287  ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path);
292  constraints_idl::Implicit_ptr getConstraint(const char* constraintName);
298  void writeRoadmap(const char* filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot);
306 
307  // Constructors
308  inline _objref_Problem() { _PR_setobj(0); } // nil
309  _objref_Problem(omniIOR*, omniIdentity*);
310 
311  protected:
312  virtual ~_objref_Problem();
313 
314 
315  private:
316  virtual void* _ptrToObjRef(const char*);
317 
319  _objref_Problem& operator = (const _objref_Problem&);
320  // not implemented
321 
322  friend class Problem;
323  };
324 
325  class _pof_Problem : public _OMNI_NS(proxyObjectFactory) {
326  public:
327  inline _pof_Problem() : _OMNI_NS(proxyObjectFactory)(Problem::_PD_repoId) {}
328  virtual ~_pof_Problem();
329 
330  virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
331  virtual _CORBA_Boolean is_a(const char*) const;
332  };
333 
335  public virtual omniServant
336  {
337  public:
338  virtual ~_impl_Problem();
339 
340  virtual void setRandomSeed(::CORBA::Long seed) = 0;
341  virtual void setMaxNumThreads(::CORBA::UShort n) = 0;
342  virtual ::CORBA::UShort getMaxNumThreads() = 0;
343  virtual Names_t* getAvailable(const char* type) = 0;
344  virtual Names_t* getSelected(const char* type) = 0;
345  virtual void setParameter(const char* name, const ::CORBA::Any& value) = 0;
346  virtual ::CORBA::Any* getParameter(const char* name) = 0;
347  virtual char* getParameterDoc(const char* name) = 0;
348  virtual ::CORBA::Boolean selectProblem(const char* name) = 0;
349  virtual void resetProblem() = 0;
350  virtual ::CORBA::Boolean loadPlugin(const char* pluginName) = 0;
351  virtual void movePathToProblem(::CORBA::ULong pathId, const char* problemName, const ::hpp::Names_t& jointNames) = 0;
352  virtual void setInitialConfig(const ::hpp::floatSeq& dofArray) = 0;
353  virtual floatSeq* getInitialConfig() = 0;
354  virtual void addGoalConfig(const ::hpp::floatSeq& dofArray) = 0;
355  virtual floatSeqSeq* getGoalConfigs() = 0;
356  virtual void resetGoalConfigs() = 0;
357  virtual void setGoalConstraints(const ::hpp::Names_t& constraints) = 0;
358  virtual void resetGoalConstraints() = 0;
359  virtual ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0;
360  virtual ::CORBA::Boolean optimize(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError) = 0;
361  virtual void computeValueAndJacobian(const ::hpp::floatSeq& config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian) = 0;
362  virtual ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0;
363  virtual void createOrientationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq& mask) = 0;
364  virtual void createTransformationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq& mask) = 0;
365  virtual void createTransformationR3xSO3Constraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask) = 0;
366  virtual void createTransformationConstraint2(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask) = 0;
367  virtual void createLockedJoint(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value) = 0;
368  virtual void createLockedJointWithComp(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value, const ::hpp::ComparisonTypes_t& comp) = 0;
369  virtual void createLockedExtraDof(const char* lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq& value) = 0;
370  virtual void createManipulability(const char* name, const char* function) = 0;
371  virtual void createComBeetweenFeet(const char* constraintName, const char* comName, const char* jointLName, const char* jointRName, const ::hpp::floatSeq& pointL, const ::hpp::floatSeq& pointR, const char* jointRefName, const ::hpp::floatSeq& pointRef, const ::hpp::boolSeq& mask) = 0;
372  virtual void createRelativeComConstraint(const char* constraintName, const char* comName, const char* jointLName, const ::hpp::floatSeq& point, const ::hpp::boolSeq& mask) = 0;
373  virtual void createConvexShapeContactConstraint(const char* constraintName, const ::hpp::Names_t& floorJoints, const ::hpp::Names_t& objectJoints, const ::hpp::floatSeqSeq& pts, const ::hpp::intSeqSeq& objectTriangles, const ::hpp::intSeqSeq& floorTriangles) = 0;
374  virtual void createPositionConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::floatSeq& point1, const ::hpp::floatSeq& point2, const ::hpp::boolSeq& mask) = 0;
375  virtual void createConfigurationConstraint(const char* constraintName, const ::hpp::floatSeq& goal, const ::hpp::floatSeq& weights) = 0;
376  virtual void createDistanceBetweenJointConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, ::CORBA::Double distance) = 0;
377  virtual void createDistanceBetweenJointAndObjects(const char* constraintName, const char* joint1Name, const ::hpp::Names_t& objects, ::CORBA::Double distance) = 0;
378  virtual void createIdentityConstraint(const char* constraintName, const ::hpp::Names_t& inJoints, const ::hpp::Names_t& outJoints) = 0;
379  virtual void resetConstraints() = 0;
380  virtual void resetConstraintMap() = 0;
381  virtual void addPassiveDofs(const char* constraintName, const ::hpp::Names_t& jointNames) = 0;
382  virtual void getConstraintDimensions(const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize) = 0;
383  virtual void setConstantRightHandSide(const char* constraintName, ::CORBA::Boolean constant) = 0;
384  virtual ::CORBA::Boolean getConstantRightHandSide(const char* constraintName) = 0;
385  virtual floatSeq* getRightHandSide() = 0;
386  virtual void setRightHandSide(const ::hpp::floatSeq& rhs) = 0;
387  virtual void setRightHandSideFromConfig(const ::hpp::floatSeq& config) = 0;
388  virtual void setRightHandSideByName(const char* constraintName, const ::hpp::floatSeq& rhs) = 0;
389  virtual void setRightHandSideFromConfigByName(const char* constraintName, const ::hpp::floatSeq& config) = 0;
390  virtual void addNumericalConstraints(const char* configProjName, const ::hpp::Names_t& constraintNames, const ::hpp::intSeq& priorities) = 0;
391  virtual void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional) = 0;
392  virtual void addLockedJointConstraints(const char* configProjName, const ::hpp::Names_t& lockedJointNames) = 0;
393  virtual char* displayConstraints() = 0;
394  virtual ::CORBA::Double getErrorThreshold() = 0;
395  virtual void setErrorThreshold(::CORBA::Double threshold) = 0;
396  virtual void setDefaultLineSearchType(const char* type) = 0;
397  virtual ::CORBA::ULong getMaxIterProjection() = 0;
398  virtual void setMaxIterProjection(::CORBA::ULong iterations) = 0;
399  virtual ::CORBA::ULong getMaxIterPathPlanning() = 0;
400  virtual void setMaxIterPathPlanning(::CORBA::ULong iterations) = 0;
401  virtual void scCreateScalarMultiply(const char* outName, ::CORBA::Double scalar, const char* inName) = 0;
402  virtual ::CORBA::Double getTimeOutPathPlanning() = 0;
403  virtual void setTimeOutPathPlanning(::CORBA::Double timeOut) = 0;
404  virtual void filterCollisionPairs() = 0;
405  virtual void selectPathPlanner(const char* pathPlannerType) = 0;
406  virtual void selectConfigurationShooter(const char* configurationShooterType) = 0;
407  virtual void selectDistance(const char* distanceType) = 0;
408  virtual void selectSteeringMethod(const char* steeringMethodType) = 0;
409  virtual void addPathOptimizer(const char* pathOptimizerType) = 0;
410  virtual void clearPathOptimizers() = 0;
411  virtual void addConfigValidation(const char* configValidationType) = 0;
412  virtual void clearConfigValidations() = 0;
413  virtual void selectPathValidation(const char* pathValidationType, ::CORBA::Double tolerance) = 0;
414  virtual void selectPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance) = 0;
415  virtual ::CORBA::Boolean prepareSolveStepByStep() = 0;
416  virtual ::CORBA::Boolean executeOneStep() = 0;
417  virtual void finishSolveStepByStep() = 0;
418  virtual intSeq* solve() = 0;
419  virtual ::CORBA::Boolean directPath(const ::hpp::floatSeq& startConfig, const ::hpp::floatSeq& endConfig, ::CORBA::Boolean validate, ::CORBA::ULong& pathId, ::CORBA::String_out report) = 0;
420  virtual ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId) = 0;
421  virtual void addConfigToRoadmap(const ::hpp::floatSeq& config) = 0;
422  virtual void addEdgeToRoadmap(const ::hpp::floatSeq& config1, const ::hpp::floatSeq& config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges) = 0;
423  virtual void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq& config, ::CORBA::Boolean validate) = 0;
424  virtual void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId) = 0;
425  virtual void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end) = 0;
426  virtual void erasePath(::CORBA::ULong pathId) = 0;
427  virtual ::CORBA::Boolean projectPath(::CORBA::ULong patId) = 0;
428  virtual ::CORBA::Long numberPaths() = 0;
429  virtual intSeq* optimizePath(::CORBA::ULong inPathId) = 0;
430  virtual ::CORBA::Double pathLength(::CORBA::ULong inPathId) = 0;
431  virtual floatSeq* configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance) = 0;
432  virtual floatSeq* derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance) = 0;
433  virtual floatSeqSeq* getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times) = 0;
434  virtual void interruptPathPlanning() = 0;
435  virtual floatSeqSeq* nodes() = 0;
436  virtual ::CORBA::Long numberNodes() = 0;
437  virtual floatSeq* node(::CORBA::ULong nodeId) = 0;
438  virtual ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId) = 0;
439  virtual ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId) = 0;
440  virtual ::CORBA::Long numberEdges() = 0;
441  virtual void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2) = 0;
442  virtual ::CORBA::Long numberConnectedComponents() = 0;
443  virtual floatSeqSeq* nodesConnectedComponent(::CORBA::ULong connectedComponentId) = 0;
444  virtual floatSeq* getNearestConfig(const ::hpp::floatSeq& config, ::CORBA::Long connectedComponentId, ::CORBA::Double& distance) = 0;
445  virtual void clearRoadmap() = 0;
446  virtual void resetRoadmap() = 0;
447  virtual void saveRoadmap(const char* filename) = 0;
448  virtual void loadRoadmap(const char* filename) = 0;
449  virtual core_idl::Distance_ptr getDistance() = 0;
450  virtual void setDistance(::hpp::core_idl::Distance_ptr distance) = 0;
451  virtual core_idl::Path_ptr getPath(::CORBA::ULong pathId) = 0;
452  virtual ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path) = 0;
456  virtual core_idl::Problem_ptr getProblem() = 0;
457  virtual constraints_idl::Implicit_ptr getConstraint(const char* constraintName) = 0;
458  virtual void setRobot(::hpp::pinocchio_idl::Device_ptr robot) = 0;
459  virtual pinocchio_idl::CollisionObject_ptr getObstacle(const char* name) = 0;
462  virtual core_idl::Roadmap_ptr readRoadmap(const char* filename, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
463  virtual void writeRoadmap(const char* filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
464  virtual core_idl::PathPlanner_ptr createPathPlanner(const char* type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap) = 0;
465  virtual core_idl::PathOptimizer_ptr createPathOptimizer(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
469  virtual core_idl::Distance_ptr createDistance(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
470  virtual core_idl::SteeringMethod_ptr createSteeringMethod(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
471 
472  public: // Really protected, workaround for xlC
473  virtual _CORBA_Boolean _dispatch(omniCallHandle&);
474 
475  private:
476  virtual void* _ptrToInterface(const char*);
477  virtual const char* _mostDerivedRepoId();
478 
479  };
480 
481 
482  _CORBA_MODULE_END
483 
484 _CORBA_MODULE_END
485 
486 
487 
488 _CORBA_MODULE POA_hpp
489 _CORBA_MODULE_BEG
490 
491  _CORBA_MODULE corbaserver
492  _CORBA_MODULE_BEG
493 
494  class Problem :
495  public virtual hpp::corbaserver::_impl_Problem,
496  public virtual ::PortableServer::ServantBase
497  {
498  public:
499  virtual ~Problem();
500 
502  return (::hpp::corbaserver::Problem_ptr) _do_this(::hpp::corbaserver::Problem::_PD_repoId);
503  }
504  };
505 
506  _CORBA_MODULE_END
507 
508 _CORBA_MODULE_END
509 
510 
511 
512 _CORBA_MODULE OBV_hpp
513 _CORBA_MODULE_BEG
514 
515  _CORBA_MODULE corbaserver
516  _CORBA_MODULE_BEG
517 
518  _CORBA_MODULE_END
519 
520 _CORBA_MODULE_END
521 
522 
523 
524 
525 
526 #undef _core_attr
527 #undef _dyn_attr
528 
529 
530 
531 inline void
532 hpp::corbaserver::Problem::_marshalObjRef(::hpp::corbaserver::Problem_ptr obj, cdrStream& s) {
533  omniObjRef::_marshal(obj->_PR_getobj(),s);
534 }
535 
536 
537 
538 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_problem
539 # undef USE_stub_in_nt_dll
540 # undef USE_stub_in_nt_dll_NOT_DEFINED_problem
541 #endif
542 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_problem
543 # undef USE_core_stub_in_nt_dll
544 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_problem
545 #endif
546 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
547 # undef USE_dyn_stub_in_nt_dll
548 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
549 #endif
550 
551 #endif // __problem_hh__
552 
virtual ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)=0
virtual intSeq * solve()=0
void selectConfigurationShooter(const char *configurationShooterType)
floatSeq * derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)
virtual ::CORBA::Long numberEdges()=0
virtual core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot)=0
void loadRoadmap(const char *filename)
_objref_PathPlanner * PathPlanner_ptr
Definition: path_planners-idl.hh:475
void addConfigValidation(const char *configValidationType)
core_idl::ConfigValidation_ptr createConfigValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot)
core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot)
virtual void createConfigurationConstraint(const char *constraintName, const ::hpp::floatSeq &goal, const ::hpp::floatSeq &weights)=0
void createDistanceBetweenJointAndObjects(const char *constraintName, const char *joint1Name, const ::hpp::Names_t &objects, ::CORBA::Double distance)
virtual Names_t * getAvailable(const char *type)=0
virtual core_idl::PathPlanner_ptr getPathPlanner()=0
void addEdgeToRoadmap(const ::hpp::floatSeq &config1, const ::hpp::floatSeq &config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)
virtual void addEdgeToRoadmap(const ::hpp::floatSeq &config1, const ::hpp::floatSeq &config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)=0
::CORBA::Long numberEdges()
virtual core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot)=0
virtual ::CORBA::Double getTimeOutPathPlanning()=0
virtual void selectConfigurationShooter(const char *configurationShooterType)=0
virtual void resetGoalConstraints()=0
virtual ::CORBA::Boolean getConstantRightHandSide(const char *constraintName)=0
Definition: problem-idl.hh:334
virtual core_idl::PathValidation_ptr getPathValidation()=0
virtual void addPassiveDofs(const char *constraintName, const ::hpp::Names_t &jointNames)=0
void clearConfigValidations()
virtual Names_t * getSelected(const char *type)=0
virtual void selectPathProjector(const char *pathProjectorType, ::CORBA::Double tolerance)=0
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: problem-idl.hh:148
::CORBA::Boolean projectPath(::CORBA::ULong patId)
virtual floatSeq * getInitialConfig()=0
void computeValueAndJacobian(const ::hpp::floatSeq &config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)
_objref_Problem()
Definition: problem-idl.hh:308
static _ptr_type _duplicate(_ptr_type)
virtual void setRightHandSide(const ::hpp::floatSeq &rhs)=0
virtual _CORBA_Boolean is_a(const char *) const
virtual void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)=0
_objref_SteeringMethod * SteeringMethod_ptr
Definition: _problem-idl.hh:187
Definition: common-idl.hh:461
virtual core_idl::ConfigValidation_ptr createConfigValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot)=0
virtual void createIdentityConstraint(const char *constraintName, const ::hpp::Names_t &inJoints, const ::hpp::Names_t &outJoints)=0
virtual core_idl::Distance_ptr createDistance(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char *type, ::hpp::core_idl::Problem_ptr problem)
virtual void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq &config, ::CORBA::Boolean validate)=0
Implement CORBA interface `‘Obstacle’&#39;.
Definition: basic-server.hh:35
void writeRoadmap(const char *filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot)
virtual void resetConstraintMap()=0
_objref_CollisionObject * CollisionObject_ptr
Definition: _problem-idl.hh:129
virtual core_idl::Roadmap_ptr readRoadmap(const char *filename, ::hpp::pinocchio_idl::Device_ptr robot)=0
virtual core_idl::PathPlanner_ptr createPathPlanner(const char *type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap)=0
virtual void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional)=0
floatSeq * getNearestConfig(const ::hpp::floatSeq &config, ::CORBA::Long connectedComponentId, ::CORBA::Double &distance)
virtual core_idl::PathValidation_ptr createPathValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter)=0
virtual ::CORBA::UShort getMaxNumThreads()=0
virtual void selectSteeringMethod(const char *steeringMethodType)=0
static _core_attr const char * _PD_repoId
Definition: problem-idl.hh:163
double value_type
Definition: common.idl:18
virtual core_idl::Path_ptr getPath(::CORBA::ULong pathId)=0
virtual void addLockedJointConstraints(const char *configProjName, const ::hpp::Names_t &lockedJointNames)=0
_objref_PathValidation * PathValidation_ptr
Definition: _problem-idl.hh:239
virtual ::CORBA::Boolean loadPlugin(const char *pluginName)=0
::CORBA::Boolean optimize(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)
void createLockedExtraDof(const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &value)
virtual void createConvexShapeContactConstraint(const char *constraintName, const ::hpp::Names_t &floorJoints, const ::hpp::Names_t &objectJoints, const ::hpp::floatSeqSeq &pts, const ::hpp::intSeqSeq &objectTriangles, const ::hpp::intSeqSeq &floorTriangles)=0
pinocchio_idl::CollisionObject_ptr getObstacle(const char *name)
::CORBA::Double getTimeOutPathPlanning()
void finishSolveStepByStep()
virtual ::CORBA::Boolean optimize(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)=0
virtual void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)=0
virtual core_idl::PathOptimizer_ptr createPathOptimizer(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
void setRobot(::hpp::pinocchio_idl::Device_ptr robot)
Problem_ptr ProblemRef
Definition: problem-idl.hh:114
Problem_ptr _ptr_type
Definition: problem-idl.hh:137
void scCreateScalarMultiply(const char *outName, ::CORBA::Double scalar, const char *inName)
virtual void setInitialConfig(const ::hpp::floatSeq &dofArray)=0
virtual ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId)=0
Definition: problem-idl.hh:134
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
core_idl::Roadmap_ptr readRoadmap(const char *filename, ::hpp::pinocchio_idl::Device_ptr robot)
::CORBA::ULong getMaxIterProjection()
virtual ~Problem()
char * getParameterDoc(const char *name)
_objref_Roadmap * Roadmap_ptr
Definition: path_planners-idl.hh:338
virtual floatSeq * derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)=0
::CORBA::Boolean directPath(const ::hpp::floatSeq &startConfig, const ::hpp::floatSeq &endConfig, ::CORBA::Boolean validate, ::CORBA::ULong &pathId, ::CORBA::String_out report)
virtual void addConfigToRoadmap(const ::hpp::floatSeq &config)=0
virtual ::CORBA::Boolean prepareSolveStepByStep()=0
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
void createIdentityConstraint(const char *constraintName, const ::hpp::Names_t &inJoints, const ::hpp::Names_t &outJoints)
void setInitialConfig(const ::hpp::floatSeq &dofArray)
void createLockedJointWithComp(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value, const ::hpp::ComparisonTypes_t &comp)
virtual void selectPathValidation(const char *pathValidationType, ::CORBA::Double tolerance)=0
floatSeqSeq * nodesConnectedComponent(::CORBA::ULong connectedComponentId)
intSeq * solve()
virtual void createLockedJoint(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value)=0
virtual void createTransformationR3xSO3Constraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)=0
void setMaxIterProjection(::CORBA::ULong iterations)
floatSeq * getRightHandSide()
static void marshalObjRef(_ptr_type, cdrStream &)
virtual floatSeq * configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance)=0
::CORBA::Boolean selectProblem(const char *name)
floatSeqSeq * getGoalConfigs()
virtual void getConstraintDimensions(const char *constraintName, ::CORBA::ULong &inputSize, ::CORBA::ULong &inputDerivativeSize, ::CORBA::ULong &outputSize, ::CORBA::ULong &outputDerivativeSize)=0
core_idl::SteeringMethod_ptr getSteeringMethod()
virtual void finishSolveStepByStep()=0
void setRightHandSideFromConfigByName(const char *constraintName, const ::hpp::floatSeq &config)
virtual void setParameter(const char *name, const ::CORBA::Any &value)=0
::CORBA::Long numberPaths()
virtual void setRightHandSideByName(const char *constraintName, const ::hpp::floatSeq &rhs)=0
_objref_Problem * Problem_ptr
Definition: problem-idl.hh:111
virtual void createRelativeComConstraint(const char *constraintName, const char *comName, const char *jointLName, const ::hpp::floatSeq &point, const ::hpp::boolSeq &mask)=0
core_idl::PathOptimizer_ptr createPathOptimizer(const char *type, ::hpp::core_idl::Problem_ptr problem)
virtual void clearConfigValidations()=0
virtual ::CORBA::ULong getMaxIterProjection()=0
virtual void createLockedExtraDof(const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &value)=0
virtual floatSeq * getRightHandSide()=0
virtual constraints_idl::Implicit_ptr getConstraint(const char *constraintName)=0
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
virtual ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path)=0
virtual void addConfigValidation(const char *configValidationType)=0
sequence< long > intSeq
Definition: common.idl:31
virtual void resetProblem()=0
::CORBA::Double Transform_[7]
Definition: common-idl.hh:915
floatSeq * getInitialConfig()
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
void setDistance(::hpp::core_idl::Distance_ptr distance)
void erasePath(::CORBA::ULong pathId)
static _ptr_type _nil()
::CORBA::Double Quaternion_[4]
Definition: common-idl.hh:1077
void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)
virtual void setRobot(::hpp::pinocchio_idl::Device_ptr robot)=0
core_idl::PathPlanner_ptr createPathPlanner(const char *type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap)
virtual floatSeq * getNearestConfig(const ::hpp::floatSeq &config, ::CORBA::Long connectedComponentId, ::CORBA::Double &distance)=0
virtual void addPathOptimizer(const char *pathOptimizerType)=0
_objref_ConfigValidation * ConfigValidation_ptr
Definition: _problem-idl.hh:213
::CORBA::Boolean applyConstraints(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)
void createManipulability(const char *name, const char *function)
void setMaxNumThreads(::CORBA::UShort n)
void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)
intSeq * optimizePath(::CORBA::ULong inPathId)
virtual ::CORBA::ULong getMaxIterPathPlanning()=0
Definition: common-idl.hh:78
virtual floatSeq * node(::CORBA::ULong nodeId)=0
core_idl::Distance_ptr getDistance()
void addPassiveDofs(const char *constraintName, const ::hpp::Names_t &jointNames)
_objref_PathOptimizer * PathOptimizer_ptr
Definition: path_planners-idl.hh:612
void setTimeOutPathPlanning(::CORBA::Double timeOut)
virtual void saveRoadmap(const char *filename)=0
virtual void setRandomSeed(::CORBA::Long seed)=0
void addPathOptimizer(const char *pathOptimizerType)
virtual ~_pof_Problem()
static _ptr_type unmarshalObjRef(cdrStream &)
virtual void resetConstraints()=0
Definition: common-idl.hh:803
virtual core_idl::Problem_ptr getProblem()=0
core_idl::SteeringMethod_ptr createSteeringMethod(const char *type, ::hpp::core_idl::Problem_ptr problem)
virtual void createDistanceBetweenJointConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, ::CORBA::Double distance)=0
virtual floatSeqSeq * getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times)=0
void selectPathPlanner(const char *pathPlannerType)
virtual void movePathToProblem(::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)=0
virtual void interruptPathPlanning()=0
void setGoalConstraints(const ::hpp::Names_t &constraints)
void setRightHandSideByName(const char *constraintName, const ::hpp::floatSeq &rhs)
virtual floatSeqSeq * nodesConnectedComponent(::CORBA::ULong connectedComponentId)=0
virtual core_idl::SteeringMethod_ptr getSteeringMethod()=0
void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId)
virtual pinocchio_idl::Device_ptr robot()=0
virtual char * getParameterDoc(const char *name)=0
sequence< boolean > boolSeq
Definition: common.idl:30
virtual intSeq * optimizePath(::CORBA::ULong inPathId)=0
core_idl::Problem_ptr getProblem()
::CORBA::UShort getMaxNumThreads()
#define _core_attr
Definition: problem-idl.hh:83
void resetConstraintMap()
core_idl::PathValidation_ptr getPathValidation()
::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path)
virtual ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)=0
::CORBA::Double pathLength(::CORBA::ULong inPathId)
static void _marshalObjRef(_ptr_type, cdrStream &)
virtual void setRightHandSideFromConfig(const ::hpp::floatSeq &config)=0
virtual core_idl::SteeringMethod_ptr createSteeringMethod(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
static void duplicate(_ptr_type)
virtual ::CORBA::Any * getParameter(const char *name)=0
_objref_ConfigurationShooter * ConfigurationShooter_ptr
Definition: _problem-idl.hh:265
virtual ~_objref_Problem()
void createDistanceBetweenJointConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, ::CORBA::Double distance)
constraints_idl::Implicit_ptr getConstraint(const char *constraintName)
virtual void setTimeOutPathPlanning(::CORBA::Double timeOut)=0
void resetGoalConstraints()
Names_t * getSelected(const char *type)
virtual void setMaxNumThreads(::CORBA::UShort n)=0
::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId)
virtual void resetRoadmap()=0
void createLockedJoint(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value)
virtual void setRightHandSideFromConfigByName(const char *constraintName, const ::hpp::floatSeq &config)=0
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82
void addLockedJointConstraints(const char *configProjName, const ::hpp::Names_t &lockedJointNames)
::CORBA::Long numberNodes()
virtual core_idl::Distance_ptr getDistance()=0
char * displayConstraints()
virtual void createPositionConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::floatSeq &point1, const ::hpp::floatSeq &point2, const ::hpp::boolSeq &mask)=0
virtual void createComBeetweenFeet(const char *constraintName, const char *comName, const char *jointLName, const char *jointRName, const ::hpp::floatSeq &pointL, const ::hpp::floatSeq &pointR, const char *jointRefName, const ::hpp::floatSeq &pointRef, const ::hpp::boolSeq &mask)=0
void setRightHandSideFromConfig(const ::hpp::floatSeq &config)
void createTransformationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &mask)
floatSeq * node(::CORBA::ULong nodeId)
virtual ::CORBA::Boolean directPath(const ::hpp::floatSeq &startConfig, const ::hpp::floatSeq &endConfig, ::CORBA::Boolean validate, ::CORBA::ULong &pathId, ::CORBA::String_out report)=0
virtual char * displayConstraints()=0
::CORBA::Boolean executeOneStep()
virtual void setGoalConstraints(const ::hpp::Names_t &constraints)=0
void setErrorThreshold(::CORBA::Double threshold)
floatSeqSeq * nodes()
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
virtual void setMaxIterPathPlanning(::CORBA::ULong iterations)=0
Definition: problem-idl.hh:116
Definition: problem-idl.hh:169
_CORBA_ObjRef_OUT_arg< _objref_Problem, Problem_Helper > Problem_out
Definition: problem-idl.hh:129
void createTransformationConstraint2(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)
void setConstantRightHandSide(const char *constraintName, ::CORBA::Boolean constant)
virtual void addNumericalConstraints(const char *configProjName, const ::hpp::Names_t &constraintNames, const ::hpp::intSeq &priorities)=0
virtual void createTransformationConstraint2(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)=0
_pof_Problem()
Definition: problem-idl.hh:327
virtual ::CORBA::Double getErrorThreshold()=0
void clearPathOptimizers()
void setMaxIterPathPlanning(::CORBA::ULong iterations)
virtual ::CORBA::Boolean executeOneStep()=0
core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot)
inline ::hpp::corbaserver::Problem_ptr _this()
Definition: problem-idl.hh:501
virtual void setDistance(::hpp::core_idl::Distance_ptr distance)=0
void movePathToProblem(::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)
void resetGoalConfigs()
Names_t * getAvailable(const char *type)
static void release(_ptr_type)
void interruptPathPlanning()
void addGoalConfig(const ::hpp::floatSeq &dofArray)
void addNumericalConstraints(const char *configProjName, const ::hpp::Names_t &constraintNames, const ::hpp::intSeq &priorities)
::CORBA::Boolean getConstantRightHandSide(const char *constraintName)
virtual void loadRoadmap(const char *filename)=0
virtual void setDefaultLineSearchType(const char *type)=0
void createRelativeComConstraint(const char *constraintName, const char *comName, const char *jointLName, const ::hpp::floatSeq &point, const ::hpp::boolSeq &mask)
Problem_var _var_type
Definition: problem-idl.hh:138
virtual pinocchio_idl::CollisionObject_ptr getObstacle(const char *name)=0
void setParameter(const char *name, const ::CORBA::Any &value)
virtual void scCreateScalarMultiply(const char *outName, ::CORBA::Double scalar, const char *inName)=0
void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq &config, ::CORBA::Boolean validate)
virtual floatSeqSeq * nodes()=0
virtual void setErrorThreshold(::CORBA::Double threshold)=0
Problem_ptr _ptr_type
Definition: problem-idl.hh:118
virtual void selectDistance(const char *distanceType)=0
void setRandomSeed(::CORBA::Long seed)
void createConfigurationConstraint(const char *constraintName, const ::hpp::floatSeq &goal, const ::hpp::floatSeq &weights)
void createComBeetweenFeet(const char *constraintName, const char *comName, const char *jointLName, const char *jointRName, const ::hpp::floatSeq &pointL, const ::hpp::floatSeq &pointR, const char *jointRefName, const ::hpp::floatSeq &pointRef, const ::hpp::boolSeq &mask)
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
_CORBA_ObjRef_Var< _objref_Problem, Problem_Helper > Problem_var
Definition: problem-idl.hh:128
virtual ::CORBA::Long numberNodes()=0
virtual ::CORBA::Double pathLength(::CORBA::ULong inPathId)=0
::CORBA::Any * getParameter(const char *name)
virtual void writeRoadmap(const char *filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot)=0
::CORBA::Double getErrorThreshold()
::CORBA::Boolean prepareSolveStepByStep()
static _ptr_type _nil()
void selectDistance(const char *distanceType)
virtual void clearPathOptimizers()=0
void createPositionConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::floatSeq &point1, const ::hpp::floatSeq &point2, const ::hpp::boolSeq &mask)
::CORBA::ULong getMaxIterPathPlanning()
core_idl::Path_ptr getPath(::CORBA::ULong pathId)
::CORBA::Long numberConnectedComponents()
void filterCollisionPairs()
void selectSteeringMethod(const char *steeringMethodType)
void createConvexShapeContactConstraint(const char *constraintName, const ::hpp::Names_t &floorJoints, const ::hpp::Names_t &objectJoints, const ::hpp::floatSeqSeq &pts, const ::hpp::intSeqSeq &objectTriangles, const ::hpp::intSeqSeq &floorTriangles)
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: problem-idl.hh:156
virtual void setConstantRightHandSide(const char *constraintName, ::CORBA::Boolean constant)=0
virtual void selectPathPlanner(const char *pathPlannerType)=0
void getConstraintDimensions(const char *constraintName, ::CORBA::ULong &inputSize, ::CORBA::ULong &inputDerivativeSize, ::CORBA::ULong &outputSize, ::CORBA::ULong &outputDerivativeSize)
core_idl::PathPlanner_ptr getPathPlanner()
void resetConstraints()
void setDefaultLineSearchType(const char *type)
virtual void erasePath(::CORBA::ULong pathId)=0
Definition: common-idl.hh:689
static _CORBA_Boolean is_nil(_ptr_type)
virtual core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
virtual ::CORBA::Long numberPaths()=0
sequence< ComparisonType > ComparisonTypes_t
Definition: common.idl:50
pinocchio_idl::Device_ptr robot()
floatSeq * configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance)
virtual void addGoalConfig(const ::hpp::floatSeq &dofArray)=0
virtual void createTransformationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &mask)=0
void selectPathProjector(const char *pathProjectorType, ::CORBA::Double tolerance)
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
void saveRoadmap(const char *filename)
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
_objref_Device * Device_ptr
Definition: _problem-idl.hh:103
::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong &reversedPathId)
floatSeqSeq * getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times)
void addConfigToRoadmap(const ::hpp::floatSeq &config)
virtual void resetGoalConfigs()=0
virtual ::CORBA::Boolean projectPath(::CORBA::ULong patId)=0
virtual void createLockedJointWithComp(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value, const ::hpp::ComparisonTypes_t &comp)=0
void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional)
void setRightHandSide(const ::hpp::floatSeq &rhs)
static _ptr_type _narrow(::CORBA::Object_ptr)
virtual void createOrientationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq &mask)=0
void selectPathValidation(const char *pathValidationType, ::CORBA::Double tolerance)
virtual ::CORBA::Boolean selectProblem(const char *name)=0
virtual void createManipulability(const char *name, const char *function)=0
virtual ~_impl_Problem()
virtual ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId)=0
Definition: problem-idl.hh:325
core_idl::Distance_ptr createDistance(const char *type, ::hpp::core_idl::Problem_ptr problem)
void createTransformationR3xSO3Constraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)
virtual void computeValueAndJacobian(const ::hpp::floatSeq &config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)=0
virtual void filterCollisionPairs()=0
virtual void setMaxIterProjection(::CORBA::ULong iterations)=0
virtual void createDistanceBetweenJointAndObjects(const char *constraintName, const char *joint1Name, const ::hpp::Names_t &objects, ::CORBA::Double distance)=0
::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)
_objref_Distance * Distance_ptr
Definition: _problem-idl.hh:161
virtual ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong &reversedPathId)=0
virtual void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId)=0
sequence< intSeq > intSeqSeq
Definition: common.idl:32
virtual ::CORBA::Long numberConnectedComponents()=0
virtual void clearRoadmap()=0
::CORBA::Boolean loadPlugin(const char *pluginName)
virtual floatSeqSeq * getGoalConfigs()=0
::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId)
core_idl::PathValidation_ptr createPathValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter)
void createOrientationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq &mask)