28 #ifndef HPP_MANIPULATION_CORBA_PROBLEM_IDL 29 #define HPP_MANIPULATION_CORBA_PROBLEM_IDL 32 #include <hpp/common.idl> 34 #include <hpp/pinocchio_idl/robots.idl> 35 #include <hpp/core_idl/path_planners.idl> 36 #include <hpp/core_idl/distances.idl> 51 boolean selectProblem (in
string name) raises (Error);
54 void resetProblem () raises (Error);
59 Names_t getAvailable (in
string type) raises (Error);
65 Names_t getSelected (in
string type) raises (Error);
69 void loadRoadmap (in
string filename) raises (Error);
90 void createGrasp (in
string graspName, in
string gripperName,
114 void createPreGrasp (in
string name, in
string gripper,
115 in
string handle) raises (Error);
120 Names_t getEnvironmentContactNames ()
126 Names_t getRobotContactNames ()
139 Names_t getEnvironmentContact (in
string name, out intSeq indices,
140 out floatSeqSeq points)
153 Names_t getRobotContact (in
string name, out intSeq indexes,
154 out floatSeqSeq points)
168 void createPlacementConstraint (in
string placementName,
169 in Names_t shapeName, in Names_t envContactName)
184 void createPrePlacementConstraint (in
string placementName,
185 in Names_t shapeName, in Names_t envContactName, in
double witdh)
195 void createQPStabilityConstraint(in
string constraintName,
196 in
string comRootJointName, in Names_t shapesName)
205 boolean setConstraints (in
ID idComp, in
boolean target)
222 void registerConstraints(in
string constraint, in
string complement,
232 boolean applyConstraints (in
ID idComp, in floatSeq input, out floatSeq output,
233 out
double residualError)
246 boolean applyConstraintsWithOffset (in
ID IDedge, in floatSeq qnear, in floatSeq input, out floatSeq output,
247 out
double residualError)
263 boolean buildAndProjectPath (in
ID IDedge, in floatSeq qb, in floatSeq qe, out
long indexNotProj,
270 void setTargetState(in
ID IDstate) raises (Error);
274 ID edgeAtParam (in
unsigned long inPathId, in
double atDistance, out
string graphName)
289 core_idl::Roadmap readRoadmap(in
string filename, in pinocchio_idl::Device robot,
301 void writeRoadmap(in
string filename, in core_idl::Roadmap roadmap,
302 in pinocchio_idl::Device robot,
305 core_idl::Roadmap createRoadmap(in core_idl::Distance distance,
306 in pinocchio_idl::Device robot) raises (Error);
312 #endif // HPP_MANIPULATION_CORBA_ROBOT_IDL Definition: _graph.idl:87
long ID
Definition: gcommon.idl:34
Definition: problem.idl:44
Definition: _graph.idl:151