29 #ifndef HPP_MANIPULATION_GRAPH_IDL 30 #define HPP_MANIPULATION_GRAPH_IDL 33 #include <hpp/common.idl> 34 #include <hpp/constraints_idl/constraints.idl> 35 #include <hpp/core_idl/steering_methods.idl> 36 #include <hpp/core_idl/path_validations.idl> 39 module constraints_idl {
41 interface LockedJoint;
45 interface SteeringMethod;
46 interface PathValidation;
48 module manipulation_idl {
52 typedef sequence<State>
States;
54 typedef sequence<Edge>
Edges;
58 string name () raises (Error);
59 size_t id () raises (Error);
61 Graph parentGraph () raises (Error);
63 void addNumericalConstraint (in constraints_idl::Implicit nm) raises (Error);
64 void addNumericalCost (in constraints_idl::Implicit nm) raises (Error);
66 constraints_idl::Implicits numericalConstraints () raises (Error);
68 constraints_idl::Implicits numericalCosts () raises (Error);
70 void resetNumericalConstraints () raises (Error);
75 string name () raises (Error);
77 Graph parentGraph () raises (Error);
79 States getStates () raises (Error);
87 size_t nbComponents () raises (Error);
88 void initialize () raises (Error);
90 State getState (in floatSeq config) raises (Error);
96 boolean contains (in floatSeq config) raises (Error);
97 Edge linkTo (in
string name, in
State to, in size_type weight) raises (Error);
99 Edges neighborEdges () raises (Error);
100 Edges hiddenNeighbors () raises (Error);
107 State stateFrom () raises (Error);
108 State stateTo () raises (Error);
109 State getState () raises (Error);
111 void setState (in
State st) raises (Error);
113 intSeqSeq getRelativeMotion () raises (Error);
115 floatSeqSeq getSecurityMargins () raises (Error);
117 void setSecurityMarginForPair(in size_type row, in size_type col, in value_type margin) raises (Error);
120 boolean generateTargetConfig(in floatSeq qStart, inout floatSeq q)
123 core_idl::SteeringMethod getSteeringMethod () raises (Error);
125 core_idl::PathValidation getPathValidation () raises (Error);
139 constraints_idl::Implicits paramConstraints() raises(Error);
140 constraints_idl::Implicits conditionConstraints() raises(Error);
141 boolean generateTargetConfigOnLeaf(in floatSeq qStart,
143 inout floatSeq q) raises(Error);
148 string str () raises (Error);
150 boolean hasErrors () raises (Error);
152 boolean hasWarnings () raises (Error);
154 stringSeqSeq getCollisionsForNode (in
string name) raises (Error);
174 #endif // HPP_MANIPULATION_STEERING_METHODS_IDL unsigned long long size_t
Definition: _graph.idl:50
Definition: _graph.idl:73
Definition: _graph.idl:82
Definition: _graph.idl:57
sequence< Edge > Edges
Definition: _graph.idl:53
core::ConstraintSet ConstraintSet
Definition: fwd.hh:38
sequence< LockedJoint > LockedJoints
Definition: _graph.idl:41
sequence< State > States
Definition: _graph.idl:51
Definition: _graph.idl:94
Definition: _graph.idl:105
Definition: _graph.idl:137
Definition: _graph.idl:146