11 #ifndef HPP_CORBASERVER_PROBLEM_SERVER_IDL 12 #define HPP_CORBASERVER_PROBLEM_SERVER_IDL 29 void setRandomSeed (in
long seed) raises (
Error);
32 void setMaxNumThreads (in
unsigned short n) raises (
Error);
35 unsigned short getMaxNumThreads () raises (
Error);
50 void setParameter (in
string name, in any value) raises (
Error);
54 any getParameter (in
string name) raises (
Error);
58 string getParameterDoc (in
string name) raises (
Error);
64 boolean selectProblem (in
string name) raises (
Error);
67 void resetProblem () raises (
Error);
70 boolean loadPlugin (in
string pluginName) raises (
Error);
77 void movePathToProblem (in
unsigned long pathId, in
string problemName,
102 void resetGoalConfigs () raises (
Error);
116 out
double residualError)
150 boolean generateValidConfig (in
unsigned long maxIter, out
floatSeq output,
151 out
double residualError)
165 void createOrientationConstraint
166 (in
string constraintName, in
string joint1Name,
181 void createTransformationConstraint
182 (in
string constraintName, in
string joint1Name,
188 void createTransformationSE3Constraint
189 (in
string constraintName, in
string joint1Name, in
string joint2Name,
203 void createTransformationConstraint2
204 (in
string constraintName, in
string joint1Name,
212 void createLockedJoint (in
string lockedJointName,
221 void createLockedJointWithComp (in
string lockedJointName,
232 void createLockedExtraDof (in
string lockedDofName,
233 in
unsigned long index,
239 void createManipulability (in
string name,
240 in
string function) raises (
Error);
256 void createComBeetweenFeet (in
string constraintName, in
string comName,
257 in
string jointLName, in
string jointRName, in
floatSeq pointL,
271 void createRelativeComConstraint (in
string constraintName, in
string comName,
275 void createConvexShapeContactConstraint
276 (in
string constraintName, in
Names_t floorJoints, in
Names_t objectJoints,
280 void createStaticStabilityConstraint (in
string constraintName,
282 in
string comRootJointName)
296 void createPositionConstraint (in
string constraintName,
297 in
string joint1Name,
298 in
string joint2Name,
306 void createConfigurationConstraint (in
string constraintName,
319 void createDistanceBetweenJointConstraint
320 (in
string constraintName, in
string joint1Name, in
string joint2Name,
321 in
double distance) raises (
Error);
330 void createDistanceBetweenJointAndObjects
331 (in
string constraintName, in
string joint1Name, in
Names_t objects,
332 in
double distance) raises (
Error);
341 void createIdentityConstraint
342 (in
string constraintName, in
Names_t inJoints, in
Names_t outJoints)
346 void resetConstraints () raises (
Error);
349 void resetConstraintMap () raises (
Error);
354 void addPassiveDofs (in
string constraintName, in
Names_t jointNames)
358 void getConstraintDimensions (in
string constraintName,
359 out
unsigned long inputSize , out
unsigned long inputDerivativeSize,
360 out
unsigned long outputSize, out
unsigned long outputDerivativeSize)
369 void setConstantRightHandSide (in
string constraintName,
376 boolean getConstantRightHandSide (in
string constraintName)
393 void setRightHandSideFromConfig (in
floatSeq config) raises (
Error);
399 void setRightHandSideByName (in
string constraintName, in
floatSeq rhs)
406 void setRightHandSideFromConfigByName (in
string constraintName, in
floatSeq config)
415 void addNumericalConstraints (in
string configProjName,
423 void setNumericalConstraintsLastPriorityOptional (in
boolean optional)
432 void addLockedJointConstraints (in
string configProjName,
436 string displayConstraints () raises (
Error);
439 double getErrorThreshold () raises (
Error);
442 void setErrorThreshold (in
double threshold) raises (
Error);
444 void setDefaultLineSearchType (in
string type) raises (
Error);
447 unsigned long getMaxIterProjection () raises (
Error);
450 void setMaxIterProjection (in
unsigned long iterations) raises (
Error);
453 unsigned long getMaxIterPathPlanning () raises (
Error);
456 void setMaxIterPathPlanning (in
unsigned long iterations) raises (
Error);
462 void scCreateScalarMultiply (in
string outName, in
double scalar, in
string inName) raises (
Error);
465 double getTimeOutPathPlanning () raises (
Error);
468 void setTimeOutPathPlanning (in
double timeOut) raises (
Error);
480 void filterCollisionPairs () raises (
Error);
491 void selectPathPlanner (in
string pathPlannerType) raises (
Error);
497 void selectConfigurationShooter (in
string configurationShooterType) raises (
Error);
503 void selectDistance (in
string distanceType) raises (
Error);
510 void selectSteeringMethod (in
string steeringMethodType) raises (
Error);
515 void addPathOptimizer (in
string pathOptimizerType) raises (
Error);
518 void clearPathOptimizers () raises (
Error);
524 void addConfigValidation (in
string configValidationType) raises (
Error);
527 void clearConfigValidations () raises (
Error);
534 void selectPathValidation (in
string pathValidationType,
535 in
double tolerance) raises (
Error);
542 void selectPathProjector (in
string pathProjectorType,
543 in
double tolerance) raises (
Error);
548 boolean prepareSolveStepByStep () raises (
Error);
554 boolean executeOneStep () raises (
Error);
558 void finishSolveStepByStep () raises (
Error);
576 out
unsigned long pathId, out
string report)
581 boolean reversePath (in
unsigned long pathId, out
unsigned long reversedPathId)
600 in
unsigned long pathId, in
boolean bothEdges)
604 void appendDirectPath (in
unsigned long pathId, in
floatSeq config, in
boolean validate)
608 void concatenatePath (in
unsigned long startId, in
unsigned long endId)
612 void extractPath (in
unsigned long pathId, in
double start, in
double end)
616 void erasePath (in
unsigned long pathId)
621 boolean projectPath (in
unsigned long patId) raises (
Error);
624 long numberPaths () raises (
Error);
631 intSeq optimizePath(in
unsigned long inPathId) raises (
Error);
636 double pathLength(in
unsigned long inPathId) raises (
Error);
642 floatSeq configAtParam(in
unsigned long inPathId, in
double atDistance)
650 floatSeq derivativeAtParam(in
unsigned long inPathId, in
unsigned long orderId, in
double atDistance)
666 void interruptPathPlanning() raises (
Error);
676 long numberNodes() raises (
Error);
682 long connectedComponentOfEdge(in
unsigned long edgeId) raises(
Error);
685 long connectedComponentOfNode(in
unsigned long nodeId) raises(
Error);
688 long numberEdges () raises (
Error);
695 long numberConnectedComponents ();
700 floatSeqSeq nodesConnectedComponent (in
unsigned long connectedComponentId)
709 floatSeq getNearestConfig(in
floatSeq config, in
long connectedComponentId, out
double distance)
713 void clearRoadmap () raises (
Error);
718 void resetRoadmap () raises (
Error);
722 void saveRoadmap (in
string filename) raises (
Error);
726 void readRoadmap (in
string filename) raises (
Error);
Definition: robots.idl:28
Definition: path_planners.idl:67
Definition: common-idl.hh:342
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
Definition: constraints.idl:40
Definition: distances.idl:19
Corba exception travelling through the Corba channel.
Definition: common.idl:24
Definition: path_validations.idl:22
::CORBA::Double Transform_[7]
Definition: common-idl.hh:796
::CORBA::Double Quaternion_[4]
Definition: common-idl.hh:958
Definition: common-idl.hh:73
Definition: common-idl.hh:684
Definition: common-idl.hh:228
Definition: steering_methods.idl:22
Definition: common-idl.hh:1019
Definition: common-idl.hh:456
Definition: _problem.idl:28
To define and solve a path planning problem.
Definition: problem.idl:26
Definition: common-idl.hh:570