11 #ifndef HPP_CORBASERVER_PROBLEM_IMPL_HH 12 # define HPP_CORBASERVER_PROBLEM_IMPL_HH 52 virtual void setParameter (
const char* name,
const Any& value);
62 virtual bool loadPlugin (
const char* pluginName);
91 (
const char* constraintName,
const char* joint1Name,
92 const char* joint2Name,
const Double* p,
const hpp::boolSeq& mask);
95 (
const char* constraintName,
const char* joint1Name,
99 (
const char* constraintName,
const char* joint1Name,
100 const char* joint2Name,
const Transform_ frame1,
104 (
const char* constraintName,
const char* joint1Name,
105 const char* joint2Name,
const Transform_ frame1,
109 const char* jointName,
113 (
const char* lockedJointName,
const char* jointName,
123 const char* comn,
const char* jointName,
const floatSeq& point,
127 const char* jointLName,
const char* jointRName,
129 const char* jointRefName,
const floatSeq& pRef,
133 (
const char* constraintName,
const Names_t& floorJoints,
139 const char* constraintName,
const hpp::Names_t& jointNames,
141 const char* comRootJointName);
144 const char* joint1Name,
145 const char* joint2Name,
155 (
const char* constraintName,
const char* joint1Name,
156 const char* joint2Name, Double distance);
159 (
const char* constraintName,
const char* joint1Name,
163 (
const char* constraintName,
const Names_t& inJoints,
167 hpp::floatSeq_out output,
168 Double& residualError);
171 hpp::floatSeq_out output,
172 hpp::floatSeq_out residualError);
176 hpp::floatSeqSeq_out jacobian);
179 hpp::floatSeq_out output,
180 Double& residualError);
186 ULong& inputSize , ULong& inputDerivativeSize,
187 ULong& outputSize, ULong& outputDerivativeSize);
190 CORBA::Boolean constant);
209 (
const char* constraintName,
const hpp::Names_t& constraintNames,
212 (
const bool optional);
215 (
const char* configProjName,
const hpp::Names_t& lockedJointNames);
261 CORBA::Boolean validate,
263 CORBA::String_out report);
265 virtual bool reversePath(ULong pathId, ULong& reversedPathId);
271 ULong pathId,
bool bothEdges);
279 virtual void extractPath (ULong pathId, Double start, Double end);
303 virtual void edge (ULong edgeId, hpp::floatSeq_out q1,
304 hpp::floatSeq_out q2);
346 core::ProblemSolverPtr_t problemSolver ();
virtual void setRightHandSideFromConfigByName(const char *constraintName, const hpp::floatSeq &config)
virtual hpp::intSeq * solve()
virtual void edge(ULong edgeId, hpp::floatSeq_out q1, hpp::floatSeq_out q2)
Definition: server-plugin.hh:44
_objref_PathPlanner * PathPlanner_ptr
Definition: path_planners-idl.hh:242
virtual void addLockedJointConstraints(const char *configProjName, const hpp::Names_t &lockedJointNames)
virtual void addPathOptimizer(const char *pathOptimizerType)
virtual void extractPath(ULong pathId, Double start, Double end)
hpp::core_idl::Problem_ptr getProblem()
virtual hpp::floatSeq * node(ULong nodeId)
virtual ULong getMaxIterProjection()
virtual void setMaxNumThreads(UShort n)
virtual void scCreateScalarMultiply(const char *outName, Double scalar, const char *inName)
virtual hpp::floatSeq * derivativeAtParam(ULong pathId, ULong order, Double atDistance)
virtual bool prepareSolveStepByStep()
hpp::core_idl::PathPlanner_ptr getPathPlanner()
virtual bool executeOneStep()
virtual void addGoalConfig(const hpp::floatSeq &dofArray)
_objref_SteeringMethod * SteeringMethod_ptr
Definition: _problem-idl.hh:161
virtual void createPositionConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const hpp::floatSeq &point1, const hpp::floatSeq &point2, const hpp::boolSeq &mask)
virtual void setRandomSeed(const Long seed)
Definition: problem.impl.hh:72
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
virtual ULong getMaxIterPathPlanning()
virtual void setParameter(const char *name, const Any &value)
virtual void setDefaultLineSearchType(const char *type)
virtual void createLockedJointWithComp(const char *lockedJointName, const char *jointName, const hpp::floatSeq &value, const hpp::ComparisonTypes_t &comp)
virtual Long connectedComponentOfEdge(ULong edgeId)
virtual bool reversePath(ULong pathId, ULong &reversedPathId)
virtual Long numberPaths()
virtual hpp::floatSeq * getNearestConfig(const hpp::floatSeq &config, const Long connectedComponentId, hpp::core::value_type &distance)
virtual hpp::intSeq * optimizePath(ULong pathId)
Implement CORBA interface ``Problem''.
Definition: problem.impl.hh:38
virtual void selectConfigurationShooter(const char *configurationShooterType)
_objref_PathValidation * PathValidation_ptr
Definition: _problem-idl.hh:187
void setServer(ServerPlugin *server)
Definition: problem.impl.hh:43
virtual void setNumericalConstraintsLastPriorityOptional(const bool optional)
virtual bool selectProblem(const char *problemName)
ULong addPath(hpp::core_idl::PathVector_ptr _path)
sequence< floatSeq > floatSeqSeq
Definition: common.idl:33
virtual void createOrientationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const Double *p, const hpp::boolSeq &mask)
virtual bool optimize(const hpp::floatSeq &input, hpp::floatSeq_out output, hpp::floatSeq_out residualError)
virtual void addEdgeToRoadmap(const hpp::floatSeq &config1, const hpp::floatSeq &config2, ULong pathId, bool bothEdges)
virtual hpp::floatSeq * getInitialConfig()
virtual Long connectedComponentOfNode(ULong nodeId)
virtual bool applyConstraints(const hpp::floatSeq &input, hpp::floatSeq_out output, Double &residualError)
virtual void createConfigurationConstraint(const char *constraintName, const hpp::floatSeq &goal, const hpp::floatSeq &weights)
virtual hpp::floatSeqSeq * nodes()
virtual void resetGoalConfigs()
virtual bool generateValidConfig(ULong maxIter, hpp::floatSeq_out output, Double &residualError)
virtual void appendDirectPath(ULong pathId, const hpp::floatSeq &config, Boolean validate)
_objref_Problem * Problem_ptr
Definition: problem-idl.hh:111
virtual void filterCollisionPairs()
void createStaticStabilityConstraint(const char *constraintName, const hpp::Names_t &jointNames, const hpp::floatSeqSeq &points, const hpp::floatSeqSeq &normals, const char *comRootJointName)
virtual void resetConstraintMap()
virtual void setRightHandSide(const hpp::floatSeq &rhs)
virtual Long numberConnectedComponents()
sequence< string > Names_t
Sequence of names.
Definition: common.idl:22
virtual Names_t * getAvailable(const char *what)
sequence< long > intSeq
Definition: common.idl:29
virtual hpp::floatSeqSeq * nodesConnectedComponent(ULong connectedComponentId)
virtual UShort getMaxNumThreads()
virtual bool getConstantRightHandSide(const char *constraintName)
virtual void resetConstraints()
virtual void createDistanceBetweenJointAndObjects(const char *constraintName, const char *joint1Name, const hpp::Names_t &objects, Double distance)
virtual Any * getParameter(const char *name)
virtual void createLockedJoint(const char *lockedJointName, const char *jointName, const hpp::floatSeq &value)
virtual Names_t * getSelected(const char *what)
virtual bool directPath(const hpp::floatSeq &startConfig, const hpp::floatSeq &endConfig, CORBA::Boolean validate, ULong &pathId, CORBA::String_out report)
Definition: common-idl.hh:73
virtual void setErrorThreshold(Double threshold)
virtual void setConstantRightHandSide(const char *constraintName, CORBA::Boolean constant)
virtual void createIdentityConstraint(const char *constraintName, const Names_t &inJoints, const hpp::Names_t &outJoints)
virtual void clearRoadmap()
virtual void createLockedExtraDof(const char *lockedDofName, ULong index, const hpp::floatSeq &value)
virtual void selectDistance(const char *distanceType)
virtual void addNumericalConstraints(const char *constraintName, const hpp::Names_t &constraintNames, const hpp::intSeq &priorities)
virtual Long numberEdges()
sequence< boolean > boolSeq
Definition: common.idl:28
virtual void setTimeOutPathPlanning(double timeOut)
virtual void interruptPathPlanning()
virtual bool projectPath(ULong pathId)
void setDistance(hpp::core_idl::Distance_ptr distance)
virtual void getConstraintDimensions(const char *constraintName, ULong &inputSize, ULong &inputDerivativeSize, ULong &outputSize, ULong &outputDerivativeSize)
virtual void resetRoadmap()
virtual double getTimeOutPathPlanning()
virtual char * displayConstraints()
virtual void readRoadmap(const char *filename)
virtual void saveRoadmap(const char *filename)
ProblemServant< POA_hpp::core_idl::Problem, core::ProblemPtr_t > Problem
Definition: problem.hh:116
virtual void selectSteeringMethod(const char *steeringMethodType)
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82
virtual void clearPathOptimizers()
virtual hpp::floatSeqSeq * getGoalConfigs()
virtual void setRightHandSideFromConfig(const hpp::floatSeq &config)
virtual void selectPathProjector(const char *pathProjectorType, Double tolerance)
virtual Long numberNodes()
virtual void concatenatePath(ULong startId, ULong endId)
void setRobot(hpp::pinocchio_idl::Device_ptr robot)
virtual void addPassiveDofs(const char *constraintName, const hpp::Names_t &dofName)
virtual void movePathToProblem(ULong pathId, const char *problemName, const Names_t &jointNames)
double Transform_[7]
Element of SE(3) represented by a vector and a unit quaternion.
Definition: common.idl:36
virtual hpp::floatSeqSeq * getWaypoints(ULong inPathId, floatSeq_out times)
virtual void createManipulability(const char *name, const char *function)
Definition: common-idl.hh:649
virtual void addConfigValidation(const char *configValidationType)
virtual void setInitialConfig(const hpp::floatSeq &dofArray)
hpp::core_idl::Path_ptr getPath(ULong pathId)
void createRelativeComConstraint(const char *constraintName, const char *comn, const char *jointName, const floatSeq &point, const hpp::boolSeq &mask)
virtual void setRightHandSideByName(const char *constraintName, const hpp::floatSeq &rhs)
virtual Double getErrorThreshold()
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
hpp::core_idl::SteeringMethod_ptr getSteeringMethod()
virtual void setMaxIterProjection(ULong iterations)
virtual void selectPathValidation(const char *pathValidationType, Double tolerance)
virtual Double pathLength(ULong pathId)
virtual void createDistanceBetweenJointConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, Double distance)
virtual void erasePath(ULong pathId)
virtual void computeValueAndJacobian(const hpp::floatSeq &config, hpp::floatSeq_out value, hpp::floatSeqSeq_out jacobian)
virtual void finishSolveStepByStep()
hpp::constraints_idl::Implicit_ptr getConstraint(const char *name)
virtual void createTransformationConstraint2(const char *constraintName, const char *joint1Name, const char *joint2Name, const Transform_ frame1, const Transform_ frame2, const hpp::boolSeq &mask)
::CORBA::Double value_type
Definition: common-idl.hh:61
Definition: common-idl.hh:570
virtual void resetProblem()
sequence< ComparisonType > ComparisonTypes_t
Definition: common.idl:48
virtual void clearConfigValidations()
virtual char * getParameterDoc(const char *name)
virtual void createTransformationSE3Constraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const Transform_ frame1, const Transform_ frame2, const hpp::boolSeq &mask)
virtual void addConfigToRoadmap(const hpp::floatSeq &config)
virtual floatSeq * getRightHandSide()
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
virtual hpp::floatSeq * configAtParam(ULong pathId, Double atDistance)
_objref_Device * Device_ptr
Definition: _problem-idl.hh:103
void createComBeetweenFeet(const char *constraintName, const char *comn, const char *jointLName, const char *jointRName, const floatSeq &pointL, const floatSeq &pointR, const char *jointRefName, const floatSeq &pRef, const hpp::boolSeq &mask)
virtual bool loadPlugin(const char *pluginName)
virtual void setMaxIterPathPlanning(ULong iterations)
_objref_Distance * Distance_ptr
Definition: _problem-idl.hh:135
sequence< intSeq > intSeqSeq
Definition: common.idl:30
virtual void createConvexShapeContactConstraint(const char *constraintName, const Names_t &floorJoints, const Names_t &objectJoints, const hpp::floatSeqSeq &points, const hpp::intSeqSeq &objTriangles, const hpp::intSeqSeq &floorTriangles)
hpp::core_idl::PathValidation_ptr getPathValidation()
virtual void createTransformationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const Transform_ p, const hpp::boolSeq &mask)
virtual void selectPathPlanner(const char *pathPlannerType)
hpp::core_idl::Distance_ptr getDistance()