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);
72 void setSolveLevelByLevel(in
boolean input) raises(Error);
74 boolean getSolveLevelByLevel() raises(Error);
80 string name () raises (Error);
82 Graph parentGraph () raises (Error);
84 States getStates () raises (Error);
92 size_t nbComponents () raises (Error);
93 void initialize () raises (Error);
95 State getState (in floatSeq config) raises (Error);
101 boolean contains (in floatSeq config) raises (Error);
102 Edge linkTo (in
string name, in
State to, in size_type weight) raises (Error);
104 Edges neighborEdges () raises (Error);
105 Edges hiddenNeighbors () raises (Error);
112 State stateFrom () raises (Error);
113 State stateTo () raises (Error);
114 State getState () raises (Error);
116 void setState (in
State st) raises (Error);
118 intSeqSeq getRelativeMotion () raises (Error);
120 floatSeqSeq getSecurityMargins () raises (Error);
122 void setSecurityMarginForPair(in size_type row, in size_type col, in value_type margin) raises (Error);
125 boolean generateTargetConfig(in floatSeq qStart, inout floatSeq q)
128 core_idl::SteeringMethod getSteeringMethod () raises (Error);
130 core_idl::PathValidation getPathValidation () raises (Error);
144 constraints_idl::Implicits paramConstraints() raises(Error);
145 constraints_idl::Implicits conditionConstraints() raises(Error);
146 boolean generateTargetConfigOnLeaf(in floatSeq qStart,
148 inout floatSeq q) raises(Error);
153 string str () raises (Error);
155 boolean hasErrors () raises (Error);
157 boolean hasWarnings () raises (Error);
159 stringSeqSeq getCollisionsForNode (in
string name) raises (Error);
179 #endif // HPP_MANIPULATION_STEERING_METHODS_IDL unsigned long long size_t
Definition: _graph.idl:50
Definition: _graph.idl:78
Definition: _graph.idl:87
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:99
Definition: _graph.idl:110
Definition: _graph.idl:142
Definition: _graph.idl:151