hpp-corbaserver  4.10.1
Corba server for Humanoid Path Planner applications
_problem.idl
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1 // Copyright (C) 2019 by Joseph Mirabel, LAAS-CNRS.
2 //
3 // This file is part of the hpp-corbaserver.
4 //
5 // This software is provided "as is" without warranty of any kind,
6 // either expressed or implied, including but not limited to the
7 // implied warranties of fitness for a particular purpose.
8 //
9 // See the COPYING file for more information.
10 
11 #ifndef HPP_CORE_PROBLEM_IDL
12 #define HPP_CORE_PROBLEM_IDL
13 #include <hpp/common.idl>
14 
15 module hpp
16 {
17  module pinocchio_idl {
18  interface Device;
19  }; // module pinocchio
20 
21  module core_idl {
22  interface Distance;
23  interface SteeringMethod;
24  interface PathValidation;
25  interface ConfigurationShooter;
26  interface Constraint;
27 
28  interface Problem
29  {
31 
32  pinocchio_idl::Device robot () raises (Error);
33 
34  void setInitConfig (in floatSeq init) raises (Error);
35  //* pinocchio::ConfigurationPtr_t q (corbaServer::floatSeqToConfigPtr(getT()->robot(), init, true));
36  //* getT()->initConfig (q);
37  floatSeq getInitConfig () raises (Error);
38  //-> initConfig
39  void resetGoalConfigs () raises (Error);
40 
41  Constraint getConstraints () raises (Error);
42  //-> constraints
43 
44  Distance getDistance () raises (Error);
45  //-> distance
46  void setDistance (in Distance d) raises (Error);
47  //-> distance
48  SteeringMethod getSteeringMethod () raises (Error);
49  //-> steeringMethod
50  void setSteeringMethod (in SteeringMethod d) raises (Error);
51  //-> steeringMethod
52  PathValidation getPathValidation () raises (Error);
53  //-> pathValidation
54  void setPathValidation (in PathValidation d) raises (Error);
55  //-> pathValidation
56  ConfigurationShooter getConfigurationShooter () raises (Error);
57  //-> configurationShooter
58  void setConfigurationShooter (in ConfigurationShooter d) raises (Error);
59  //-> configurationShooter
60 
61  void filterCollisionPairs () raises (Error);
62 
66  void setSecurityMargins (in floatSeqSeq margins) raises (Error);
67  }; // interface Problem
68 
69  }; // module core
70 }; // module hpp
71 
72 //* #include <hpp/core/problem.hh>
73 //* #include <hpp/pinocchio_idl/robots.hh>
74 //* #include <hpp/core_idl/distances.hh>
75 //* #include <hpp/core_idl/steering_methods.hh>
76 //* #include <hpp/core_idl/path_validations.hh>
77 //* #include <hpp/core_idl/configuration_shooters.hh>
78 
84 
85 #endif // HPP_CORE_PROBLEM_IDL
Definition: steering_methods-idl.hh:106
Definition: configuration_shooters.idl:20
#define HPP_EXPOSE_MEMORY_DEALLOCATION(ErrorType)
Definition: common.idl:14
Definition: robots.idl:28
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
Definition: _constraints-idl.hh:242
Definition: configuration_shooters-idl.hh:94
Definition: distances.idl:19
Corba exception travelling through the Corba channel.
Definition: common.idl:24
Definition: path_validations.idl:22
Definition: common-idl.hh:684
Definition: _constraints.idl:26
Definition: distances-idl.hh:94
Definition: steering_methods.idl:22
Definition: _problem.idl:28
Definition: common-idl.hh:570
Definition: path_validations-idl.hh:110