29 #ifndef HPP_MANIPULATION_CORBA_GRAPH_IDL 30 #define HPP_MANIPULATION_CORBA_GRAPH_IDL 33 #include <hpp/common.idl> 51 long createGraph(in
string graphName)
54 void deleteGraph(in
string graphName)
59 void selectGraph(in
string graphName)
63 void createSubGraph(in
string subgraphName)
66 void setTargetNodeList(in
ID graphId, in
IDseq nodes)
76 long createNode (in
long graphId, in
string nodeName, in
boolean waypoint, in
long priority)
85 long createEdge (in
long nodeFromId, in
long nodeToId, in
string edgeName, in
long weight, in
long isInNodeId)
91 void setContainingNode (in
ID edgeId, in
ID nodeId)
97 string getContainingNode (in
ID edgeId)
104 long createWaypointEdge (in
long nodeFromId, in
long nodeToId,
105 in
string edgeName, in
long number,
106 in
long weight, in
long isInNode)
113 long getWaypoint (in
long edgeId, in
long index, out
ID nodeId)
116 void setWaypoint (in
ID waypointEdgeId, in
long index,
117 in
ID edgeId, in
ID nodeId)
125 void getEdgeStat (in
ID edgeId, out Names_t reasons, out intSeq freqs)
131 long getFrequencyOfNodeInRoadmap (in
ID nodeId, out intSeq freqPerConnectedComponent)
148 long createLevelSetEdge(in
long nodeFromId, in
long nodeToId, in
string edgeName, in
long weight, in
ID isInNodeId)
157 void addLevelSetFoliation (in
long edgeId, in Names_t condNC,
163 void resetConstraints(in
long graphComponentId) raises (Error);
166 void setNumericalConstraints (in
long graphComponentId, in Names_t constraintNames)
172 void addNumericalConstraints (in
long graphComponentId, in Names_t constraintNames)
178 void getNumericalConstraints (in
long graphComponentId, out Names_t constraintNames)
182 void setNumericalConstraintsForPath (in
long nodeId, in Names_t constraintNames)
188 void addNumericalConstraintsForPath (in
long nodeId, in Names_t constraintNames)
195 void removeCollisionPairFromEdge (in
ID edgeId, in
string joint1,
196 in
string joint2) raises (Error);
201 void getNode (in floatSeq dofArray, out
ID nodeId)
210 boolean applyNodeConstraints (in
ID idComp, in floatSeq input, out floatSeq output,
211 out
double residualError)
221 boolean applyEdgeLeafConstraints
222 (in
ID idedge, in floatSeq qleaf, in floatSeq input,
223 out floatSeq output, out
double residualError) raises (Error);
232 boolean generateTargetConfig (in
ID IDedge, in floatSeq qleaf,
233 in floatSeq input, out floatSeq output,
234 out
double residualError)
246 boolean getConfigErrorForNode (in
ID nodeId, in floatSeq config,
247 out floatSeq errorVector) raises (Error);
260 boolean getConfigErrorForEdge (in
ID EdgeId, in floatSeq config,
261 out floatSeq errorVector) raises (Error);
274 boolean getConfigErrorForEdgeLeaf
275 (in
ID EdgeId, in floatSeq leafConfig, in floatSeq config,
276 out floatSeq errorVector) raises (Error);
289 boolean getConfigErrorForEdgeTarget
290 (in
ID EdgeId, in floatSeq leafConfig, in floatSeq config,
291 out floatSeq errorVector) raises (Error);
298 void displayNodeConstraints (in
ID nodeId, out
string constraints)
307 void displayEdgeTargetConstraints (in
ID edgeId, out
string constraints)
315 void displayEdgeConstraints (in
ID edgeId, out
string constraints)
323 void getNodesConnectedByEdge (in
ID edgeId, out
string from,
324 out
string to) raises (Error);
326 void display (in
string filename)
329 void getHistogramValue (in
ID edgeId, out floatSeq freq, out floatSeqSeq values)
332 void setShort (in
ID edgeId, in
boolean isShort)
335 boolean isShort (in
ID edgeId)
380 long autoBuild (in
string graphName,
381 in Names_t grippers, in Names_t objects,
383 in Names_t envNames, in
Rules rulesList)
389 void setWeight (in
ID edgeID, in
long weight)
395 long getWeight (in
ID edgeID)
401 string getName (in
ID elmtID)
411 void getRelativeMotionMatrix (in
ID edgeID, out intSeqSeq matrix)
420 void setSecurityMarginForEdge(in
ID edgeID, in
string joint1,
421 in
string joint2, in
double margin)
429 void getSecurityMarginMatrixForEdge(in
ID edgeID,
430 out floatSeqSeq margin)
438 #endif // HPP_MANIPULATION_CORBA_GRAPH_IDL Definition: gcommon.idl:49
Definition: gcommon.idl:42
Names_t handles
Definition: graph.idl:43
boolean link
Definition: graph.idl:44
sequence< Names_t > Namess_t
Definition: graph.idl:38
sequence< Rule > Rules
Definition: graph.idl:46
Names_t grippers
Definition: graph.idl:42
long ID
Definition: gcommon.idl:34
sequence< ID > IDseq
Definition: gcommon.idl:35
Definition: gcommon.idl:37
Describe a rule to link or not, a gripper and a handle.
Definition: graph.idl:41