5 #ifndef __CORBA_H_EXTERNAL_GUARD__ 6 #include <omniORB4/CORBA.h> 9 #ifndef USE_stub_in_nt_dll 10 # define USE_stub_in_nt_dll_NOT_DEFINED_problem 12 #ifndef USE_core_stub_in_nt_dll 13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_problem 15 #ifndef USE_dyn_stub_in_nt_dll 16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem 21 #ifndef __common_hh_EXTERNAL_GUARD__ 22 #define __common_hh_EXTERNAL_GUARD__ 25 #ifndef __constraints_hh_EXTERNAL_GUARD__ 26 #define __constraints_hh_EXTERNAL_GUARD__ 29 #ifndef __distances_hh_EXTERNAL_GUARD__ 30 #define __distances_hh_EXTERNAL_GUARD__ 33 #ifndef __paths_hh_EXTERNAL_GUARD__ 34 #define __paths_hh_EXTERNAL_GUARD__ 37 #ifndef ____constraints_hh_EXTERNAL_GUARD__ 38 #define ____constraints_hh_EXTERNAL_GUARD__ 41 #ifndef __steering__methods_hh_EXTERNAL_GUARD__ 42 #define __steering__methods_hh_EXTERNAL_GUARD__ 45 #ifndef __path__planners_hh_EXTERNAL_GUARD__ 46 #define __path__planners_hh_EXTERNAL_GUARD__ 49 #ifndef __path__projectors_hh_EXTERNAL_GUARD__ 50 #define __path__projectors_hh_EXTERNAL_GUARD__ 53 #ifndef __path__validations_hh_EXTERNAL_GUARD__ 54 #define __path__validations_hh_EXTERNAL_GUARD__ 57 #ifndef ____problem_hh_EXTERNAL_GUARD__ 58 #define ____problem_hh_EXTERNAL_GUARD__ 61 #ifndef __robots_hh_EXTERNAL_GUARD__ 62 #define __robots_hh_EXTERNAL_GUARD__ 65 #ifndef __configuration__shooters_hh_EXTERNAL_GUARD__ 66 #define __configuration__shooters_hh_EXTERNAL_GUARD__ 72 #ifdef USE_stub_in_nt_dll 73 # ifndef USE_core_stub_in_nt_dll 74 # define USE_core_stub_in_nt_dll 76 # ifndef USE_dyn_stub_in_nt_dll 77 # define USE_dyn_stub_in_nt_dll 82 # error "A local CPP macro _core_attr has already been defined." 84 # ifdef USE_core_stub_in_nt_dll 85 # define _core_attr _OMNIORB_NTDLL_IMPORT 92 # error "A local CPP macro _dyn_attr has already been defined." 94 # ifdef USE_dyn_stub_in_nt_dll 95 # define _dyn_attr _OMNIORB_NTDLL_IMPORT 107 _CORBA_MODULE corbaserver
111 #ifndef __hpp_mcorbaserver_mProblem__ 112 #define __hpp_mcorbaserver_mProblem__ 132 typedef _CORBA_ObjRef_Var<_objref_Problem, Problem_Helper>
Problem_var;
133 typedef _CORBA_ObjRef_OUT_arg<_objref_Problem,Problem_Helper >
Problem_out;
153 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
174 public virtual ::CORBA::Object,
175 public virtual omniObjRef
184 void setParameter(
const char* name, const ::CORBA::Any& value);
189 ::CORBA::Boolean
loadPlugin(
const char* pluginName);
201 ::CORBA::Boolean
generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError);
221 void getConstraintDimensions(
const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize);
259 ::CORBA::Boolean
reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId);
264 void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end);
266 ::CORBA::Boolean
projectPath(::CORBA::ULong patId);
269 ::CORBA::Double
pathLength(::CORBA::ULong inPathId);
280 void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2);
321 virtual void* _ptrToObjRef(
const char*);
335 virtual omniObjRef*
newObjRef(omniIOR*,omniIdentity*);
336 virtual _CORBA_Boolean
is_a(
const char*)
const;
340 public virtual omniServant
350 virtual void setParameter(
const char* name, const ::CORBA::Any& value) = 0;
351 virtual ::CORBA::Any*
getParameter(
const char* name) = 0;
353 virtual ::CORBA::Boolean
selectProblem(
const char* name) = 0;
355 virtual ::CORBA::Boolean
loadPlugin(
const char* pluginName) = 0;
367 virtual ::CORBA::Boolean
generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0;
387 virtual void getConstraintDimensions(
const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize) = 0;
418 virtual void selectPathValidation(
const char* pathValidationType, ::CORBA::Double tolerance) = 0;
419 virtual void selectPathProjector(
const char* pathProjectorType, ::CORBA::Double tolerance) = 0;
425 virtual ::CORBA::Boolean
reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId) = 0;
429 virtual void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId) = 0;
430 virtual void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end) = 0;
431 virtual void erasePath(::CORBA::ULong pathId) = 0;
432 virtual ::CORBA::Boolean
projectPath(::CORBA::ULong patId) = 0;
435 virtual ::CORBA::Double
pathLength(::CORBA::ULong inPathId) = 0;
446 virtual void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2) = 0;
452 virtual void saveRoadmap(
const char* filename) = 0;
453 virtual void loadRoadmap(
const char* filename) = 0;
479 virtual _CORBA_Boolean
_dispatch(omniCallHandle&);
482 virtual void* _ptrToInterface(
const char*);
483 virtual const char* _mostDerivedRepoId();
494 _CORBA_MODULE POA_hpp
497 _CORBA_MODULE corbaserver
501 public virtual hpp::corbaserver::_impl_Problem,
502 public virtual ::PortableServer::ServantBase
518 _CORBA_MODULE OBV_hpp
521 _CORBA_MODULE corbaserver
539 omniObjRef::_marshal(obj->_PR_getobj(),s);
544 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_problem 545 # undef USE_stub_in_nt_dll 546 # undef USE_stub_in_nt_dll_NOT_DEFINED_problem 548 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_problem 549 # undef USE_core_stub_in_nt_dll 550 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_problem 552 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem 553 # undef USE_dyn_stub_in_nt_dll 554 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem 557 #endif // __problem_hh__ 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:339
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:152
::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:313
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:191
Definition: common-idl.hh:461
virtual core_idl::ConfigValidation_ptr createConfigValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot)=0
_objref_PathProjector * PathProjector_ptr
Definition: _problem-idl.hh:243
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’'.
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:133
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:167
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:269
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:118
Problem_ptr _ptr_type
Definition: problem-idl.hh:141
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:138
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
core_idl::Roadmap_ptr readRoadmap(const char *filename, ::hpp::pinocchio_idl::Device_ptr robot)
::CORBA::ULong getMaxIterProjection()
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)
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:115
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)
::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:217
::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)
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:87
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:295
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)
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
virtual void setMaxIterPathPlanning(::CORBA::ULong iterations)=0
virtual core_idl::PathProjector_ptr createPathProjector(const char *type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter)=0
Definition: problem-idl.hh:120
Definition: problem-idl.hh:173
_CORBA_ObjRef_OUT_arg< _objref_Problem, Problem_Helper > Problem_out
Definition: problem-idl.hh:133
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:332
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:507
virtual void setDistance(::hpp::core_idl::Distance_ptr distance)=0
void movePathToProblem(::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)
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:142
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:122
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:132
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()
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:160
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 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:107
::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 ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId)=0
Definition: problem-idl.hh:330
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:165
core_idl::PathProjector_ptr createPathProjector(const char *type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter)
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)