hpp-corbaserver  4.9.0
Corba server for Humanoid Path Planner applications
problem-idl.hh
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1 // This file is generated by omniidl (C++ backend)- omniORB_4_2. Do not edit.
2 #ifndef __problem_hh__
3 #define __problem_hh__
4 
5 #ifndef __CORBA_H_EXTERNAL_GUARD__
6 #include <omniORB4/CORBA.h>
7 #endif
8 
9 #ifndef USE_stub_in_nt_dll
10 # define USE_stub_in_nt_dll_NOT_DEFINED_problem
11 #endif
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_problem
14 #endif
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
17 #endif
18 
19 
20 
21 #ifndef __common_hh_EXTERNAL_GUARD__
22 #define __common_hh_EXTERNAL_GUARD__
23 #include <hpp/common-idl.hh>
24 #endif
25 #ifndef __constraints_hh_EXTERNAL_GUARD__
26 #define __constraints_hh_EXTERNAL_GUARD__
28 #endif
29 #ifndef __distances_hh_EXTERNAL_GUARD__
30 #define __distances_hh_EXTERNAL_GUARD__
32 #endif
33 #ifndef __paths_hh_EXTERNAL_GUARD__
34 #define __paths_hh_EXTERNAL_GUARD__
36 #endif
37 #ifndef ____constraints_hh_EXTERNAL_GUARD__
38 #define ____constraints_hh_EXTERNAL_GUARD__
40 #endif
41 #ifndef __steering__methods_hh_EXTERNAL_GUARD__
42 #define __steering__methods_hh_EXTERNAL_GUARD__
44 #endif
45 #ifndef __path__planners_hh_EXTERNAL_GUARD__
46 #define __path__planners_hh_EXTERNAL_GUARD__
48 #endif
49 #ifndef __path__validations_hh_EXTERNAL_GUARD__
50 #define __path__validations_hh_EXTERNAL_GUARD__
52 #endif
53 #ifndef ____problem_hh_EXTERNAL_GUARD__
54 #define ____problem_hh_EXTERNAL_GUARD__
56 #endif
57 #ifndef __robots_hh_EXTERNAL_GUARD__
58 #define __robots_hh_EXTERNAL_GUARD__
60 #endif
61 #ifndef __configuration__shooters_hh_EXTERNAL_GUARD__
62 #define __configuration__shooters_hh_EXTERNAL_GUARD__
64 #endif
65 
66 
67 
68 #ifdef USE_stub_in_nt_dll
69 # ifndef USE_core_stub_in_nt_dll
70 # define USE_core_stub_in_nt_dll
71 # endif
72 # ifndef USE_dyn_stub_in_nt_dll
73 # define USE_dyn_stub_in_nt_dll
74 # endif
75 #endif
76 
77 #ifdef _core_attr
78 # error "A local CPP macro _core_attr has already been defined."
79 #else
80 # ifdef USE_core_stub_in_nt_dll
81 # define _core_attr _OMNIORB_NTDLL_IMPORT
82 # else
83 # define _core_attr
84 # endif
85 #endif
86 
87 #ifdef _dyn_attr
88 # error "A local CPP macro _dyn_attr has already been defined."
89 #else
90 # ifdef USE_dyn_stub_in_nt_dll
91 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
92 # else
93 # define _dyn_attr
94 # endif
95 #endif
96 
97 
98 
99 _CORBA_MODULE hpp
100 
101 _CORBA_MODULE_BEG
102 
103  _CORBA_MODULE corbaserver
104 
105  _CORBA_MODULE_BEG
106 
107 #ifndef __hpp_mcorbaserver_mProblem__
108 #define __hpp_mcorbaserver_mProblem__
109  class Problem;
110  class _objref_Problem;
112 
113  typedef _objref_Problem* Problem_ptr;
115 
117  public:
119 
120  static _ptr_type _nil();
121  static _CORBA_Boolean is_nil(_ptr_type);
122  static void release(_ptr_type);
123  static void duplicate(_ptr_type);
124  static void marshalObjRef(_ptr_type, cdrStream&);
125  static _ptr_type unmarshalObjRef(cdrStream&);
126  };
127 
128  typedef _CORBA_ObjRef_Var<_objref_Problem, Problem_Helper> Problem_var;
129  typedef _CORBA_ObjRef_OUT_arg<_objref_Problem,Problem_Helper > Problem_out;
130 
131 #endif
132 
133  // interface Problem
134  class Problem {
135  public:
136  // Declarations for this interface type.
139 
140  static _ptr_type _duplicate(_ptr_type);
141  static _ptr_type _narrow(::CORBA::Object_ptr);
142  static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
143 
144  static _ptr_type _nil();
145 
146  static inline void _marshalObjRef(_ptr_type, cdrStream&);
147 
148  static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
149  omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
150  if (o)
151  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
152  else
153  return _nil();
154  }
155 
156  static inline _ptr_type _fromObjRef(omniObjRef* o) {
157  if (o)
158  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
159  else
160  return _nil();
161  }
162 
163  static _core_attr const char* _PD_repoId;
164 
165  // Other IDL defined within this scope.
166 
167  };
168 
170  public virtual ::CORBA::Object,
171  public virtual omniObjRef
172  {
173  public:
174  // IDL operations
175  void setRandomSeed(::CORBA::Long seed);
176  void setMaxNumThreads(::CORBA::UShort n);
177  ::CORBA::UShort getMaxNumThreads();
178  Names_t* getAvailable(const char* type);
179  Names_t* getSelected(const char* type);
180  void setParameter(const char* name, const ::CORBA::Any& value);
181  ::CORBA::Any* getParameter(const char* name);
182  char* getParameterDoc(const char* name);
183  ::CORBA::Boolean selectProblem(const char* name);
184  void resetProblem();
185  ::CORBA::Boolean loadPlugin(const char* pluginName);
186  void movePathToProblem(::CORBA::ULong pathId, const char* problemName, const ::hpp::Names_t& jointNames);
187  void setInitialConfig(const ::hpp::floatSeq& dofArray);
188  floatSeq* getInitialConfig();
189  void addGoalConfig(const ::hpp::floatSeq& dofArray);
190  floatSeqSeq* getGoalConfigs();
191  void resetGoalConfigs();
192  ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError);
193  ::CORBA::Boolean optimize(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError);
194  void computeValueAndJacobian(const ::hpp::floatSeq& config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian);
195  ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError);
196  void createOrientationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq& mask);
197  void createTransformationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq& mask);
198  void createTransformationSE3Constraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask);
199  void createTransformationConstraint2(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask);
200  void createLockedJoint(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value);
201  void createLockedExtraDof(const char* lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq& value);
202  void createManipulability(const char* name, const char* function);
203  void createComBeetweenFeet(const char* constraintName, const char* comName, const char* jointLName, const char* jointRName, const ::hpp::floatSeq& pointL, const ::hpp::floatSeq& pointR, const char* jointRefName, const ::hpp::floatSeq& pointRef, const ::hpp::boolSeq& mask);
204  void createRelativeComConstraint(const char* constraintName, const char* comName, const char* jointLName, const ::hpp::floatSeq& point, const ::hpp::boolSeq& mask);
205  void createConvexShapeContactConstraint(const char* constraintName, const ::hpp::Names_t& floorJoints, const ::hpp::Names_t& objectJoints, const ::hpp::floatSeqSeq& pts, const ::hpp::intSeqSeq& objectTriangles, const ::hpp::intSeqSeq& floorTriangles);
206  void createStaticStabilityConstraint(const char* constraintName, const ::hpp::Names_t& jointNames, const ::hpp::floatSeqSeq& points, const ::hpp::floatSeqSeq& normals, const char* comRootJointName);
207  void createPositionConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::floatSeq& point1, const ::hpp::floatSeq& point2, const ::hpp::boolSeq& mask);
208  void createConfigurationConstraint(const char* constraintName, const ::hpp::floatSeq& goal, const ::hpp::floatSeq& weights);
209  void createDistanceBetweenJointConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, ::CORBA::Double distance);
210  void createDistanceBetweenJointAndObjects(const char* constraintName, const char* joint1Name, const ::hpp::Names_t& objects, ::CORBA::Double distance);
211  void createIdentityConstraint(const char* constraintName, const ::hpp::Names_t& inJoints, const ::hpp::Names_t& outJoints);
212  void resetConstraints();
213  void resetConstraintMap();
214  void addPassiveDofs(const char* constraintName, const ::hpp::Names_t& jointNames);
215  void getConstraintDimensions(const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize);
216  void setConstantRightHandSide(const char* constraintName, ::CORBA::Boolean constant);
217  ::CORBA::Boolean getConstantRightHandSide(const char* constraintName);
218  floatSeq* getRightHandSide();
219  void setRightHandSide(const ::hpp::floatSeq& rhs);
220  void setRightHandSideFromConfig(const ::hpp::floatSeq& config);
221  void setRightHandSideByName(const char* constraintName, const ::hpp::floatSeq& rhs);
222  void setRightHandSideFromConfigByName(const char* constraintName, const ::hpp::floatSeq& config);
223  void addNumericalConstraints(const char* configProjName, const ::hpp::Names_t& constraintNames, const ::hpp::intSeq& priorities);
224  void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional);
225  void addLockedJointConstraints(const char* configProjName, const ::hpp::Names_t& lockedJointNames);
226  char* displayConstraints();
227  ::CORBA::Double getErrorThreshold();
228  void setErrorThreshold(::CORBA::Double threshold);
229  void setDefaultLineSearchType(const char* type);
230  ::CORBA::ULong getMaxIterProjection();
231  void setMaxIterProjection(::CORBA::ULong iterations);
232  ::CORBA::ULong getMaxIterPathPlanning();
233  void setMaxIterPathPlanning(::CORBA::ULong iterations);
234  void scCreateScalarMultiply(const char* outName, ::CORBA::Double scalar, const char* inName);
235  ::CORBA::Double getTimeOutPathPlanning();
236  void setTimeOutPathPlanning(::CORBA::Double timeOut);
237  void filterCollisionPairs();
238  void selectPathPlanner(const char* pathPlannerType);
239  void selectConfigurationShooter(const char* configurationShooterType);
240  void selectDistance(const char* distanceType);
241  void selectSteeringMethod(const char* steeringMethodType);
242  void addPathOptimizer(const char* pathOptimizerType);
243  void clearPathOptimizers();
244  void addConfigValidation(const char* configValidationType);
245  void clearConfigValidations();
246  void selectPathValidation(const char* pathValidationType, ::CORBA::Double tolerance);
247  void selectPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance);
248  ::CORBA::Boolean prepareSolveStepByStep();
249  ::CORBA::Boolean executeOneStep();
250  void finishSolveStepByStep();
251  intSeq* solve();
252  ::CORBA::Boolean directPath(const ::hpp::floatSeq& startConfig, const ::hpp::floatSeq& endConfig, ::CORBA::Boolean validate, ::CORBA::ULong& pathId, ::CORBA::String_out report);
253  ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId);
254  void addConfigToRoadmap(const ::hpp::floatSeq& config);
255  void addEdgeToRoadmap(const ::hpp::floatSeq& config1, const ::hpp::floatSeq& config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges);
256  void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq& config, ::CORBA::Boolean validate);
257  void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId);
258  void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end);
259  void erasePath(::CORBA::ULong pathId);
260  ::CORBA::Boolean projectPath(::CORBA::ULong patId);
261  ::CORBA::Long numberPaths();
262  intSeq* optimizePath(::CORBA::ULong inPathId);
263  ::CORBA::Double pathLength(::CORBA::ULong inPathId);
264  floatSeq* configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance);
265  floatSeq* derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance);
266  floatSeqSeq* getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times);
267  void interruptPathPlanning();
268  floatSeqSeq* nodes();
269  ::CORBA::Long numberNodes();
270  floatSeq* node(::CORBA::ULong nodeId);
271  ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId);
272  ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId);
273  ::CORBA::Long numberEdges();
274  void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2);
275  ::CORBA::Long numberConnectedComponents();
276  floatSeqSeq* nodesConnectedComponent(::CORBA::ULong connectedComponentId);
277  floatSeq* getNearestConfig(const ::hpp::floatSeq& config, ::CORBA::Long connectedComponentId, ::CORBA::Double& distance);
278  void clearRoadmap();
279  void resetRoadmap();
280  void saveRoadmap(const char* filename);
281  void readRoadmap(const char* filename);
282  core_idl::Distance_ptr getDistance();
283  void setDistance(::hpp::core_idl::Distance_ptr distance);
284  core_idl::Path_ptr getPath(::CORBA::ULong pathId);
285  ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path);
286  core_idl::SteeringMethod_ptr getSteeringMethod();
287  core_idl::PathValidation_ptr getPathValidation();
288  core_idl::PathPlanner_ptr getPathPlanner();
289  core_idl::Problem_ptr getProblem();
290  constraints_idl::Implicit_ptr getConstraint(const char* constraintName);
291  void setRobot(::hpp::pinocchio_idl::Device_ptr robot);
292 
293  // Constructors
294  inline _objref_Problem() { _PR_setobj(0); } // nil
295  _objref_Problem(omniIOR*, omniIdentity*);
296 
297  protected:
298  virtual ~_objref_Problem();
299 
300 
301  private:
302  virtual void* _ptrToObjRef(const char*);
303 
305  _objref_Problem& operator = (const _objref_Problem&);
306  // not implemented
307 
308  friend class Problem;
309  };
310 
311  class _pof_Problem : public _OMNI_NS(proxyObjectFactory) {
312  public:
313  inline _pof_Problem() : _OMNI_NS(proxyObjectFactory)(Problem::_PD_repoId) {}
314  virtual ~_pof_Problem();
315 
316  virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
317  virtual _CORBA_Boolean is_a(const char*) const;
318  };
319 
321  public virtual omniServant
322  {
323  public:
324  virtual ~_impl_Problem();
325 
326  virtual void setRandomSeed(::CORBA::Long seed) = 0;
327  virtual void setMaxNumThreads(::CORBA::UShort n) = 0;
328  virtual ::CORBA::UShort getMaxNumThreads() = 0;
329  virtual Names_t* getAvailable(const char* type) = 0;
330  virtual Names_t* getSelected(const char* type) = 0;
331  virtual void setParameter(const char* name, const ::CORBA::Any& value) = 0;
332  virtual ::CORBA::Any* getParameter(const char* name) = 0;
333  virtual char* getParameterDoc(const char* name) = 0;
334  virtual ::CORBA::Boolean selectProblem(const char* name) = 0;
335  virtual void resetProblem() = 0;
336  virtual ::CORBA::Boolean loadPlugin(const char* pluginName) = 0;
337  virtual void movePathToProblem(::CORBA::ULong pathId, const char* problemName, const ::hpp::Names_t& jointNames) = 0;
338  virtual void setInitialConfig(const ::hpp::floatSeq& dofArray) = 0;
339  virtual floatSeq* getInitialConfig() = 0;
340  virtual void addGoalConfig(const ::hpp::floatSeq& dofArray) = 0;
341  virtual floatSeqSeq* getGoalConfigs() = 0;
342  virtual void resetGoalConfigs() = 0;
343  virtual ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0;
344  virtual ::CORBA::Boolean optimize(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError) = 0;
345  virtual void computeValueAndJacobian(const ::hpp::floatSeq& config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian) = 0;
346  virtual ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0;
347  virtual void createOrientationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq& mask) = 0;
348  virtual void createTransformationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq& mask) = 0;
349  virtual void createTransformationSE3Constraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask) = 0;
350  virtual void createTransformationConstraint2(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask) = 0;
351  virtual void createLockedJoint(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value) = 0;
352  virtual void createLockedExtraDof(const char* lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq& value) = 0;
353  virtual void createManipulability(const char* name, const char* function) = 0;
354  virtual void createComBeetweenFeet(const char* constraintName, const char* comName, const char* jointLName, const char* jointRName, const ::hpp::floatSeq& pointL, const ::hpp::floatSeq& pointR, const char* jointRefName, const ::hpp::floatSeq& pointRef, const ::hpp::boolSeq& mask) = 0;
355  virtual void createRelativeComConstraint(const char* constraintName, const char* comName, const char* jointLName, const ::hpp::floatSeq& point, const ::hpp::boolSeq& mask) = 0;
356  virtual void createConvexShapeContactConstraint(const char* constraintName, const ::hpp::Names_t& floorJoints, const ::hpp::Names_t& objectJoints, const ::hpp::floatSeqSeq& pts, const ::hpp::intSeqSeq& objectTriangles, const ::hpp::intSeqSeq& floorTriangles) = 0;
357  virtual void createStaticStabilityConstraint(const char* constraintName, const ::hpp::Names_t& jointNames, const ::hpp::floatSeqSeq& points, const ::hpp::floatSeqSeq& normals, const char* comRootJointName) = 0;
358  virtual void createPositionConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::floatSeq& point1, const ::hpp::floatSeq& point2, const ::hpp::boolSeq& mask) = 0;
359  virtual void createConfigurationConstraint(const char* constraintName, const ::hpp::floatSeq& goal, const ::hpp::floatSeq& weights) = 0;
360  virtual void createDistanceBetweenJointConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, ::CORBA::Double distance) = 0;
361  virtual void createDistanceBetweenJointAndObjects(const char* constraintName, const char* joint1Name, const ::hpp::Names_t& objects, ::CORBA::Double distance) = 0;
362  virtual void createIdentityConstraint(const char* constraintName, const ::hpp::Names_t& inJoints, const ::hpp::Names_t& outJoints) = 0;
363  virtual void resetConstraints() = 0;
364  virtual void resetConstraintMap() = 0;
365  virtual void addPassiveDofs(const char* constraintName, const ::hpp::Names_t& jointNames) = 0;
366  virtual void getConstraintDimensions(const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize) = 0;
367  virtual void setConstantRightHandSide(const char* constraintName, ::CORBA::Boolean constant) = 0;
368  virtual ::CORBA::Boolean getConstantRightHandSide(const char* constraintName) = 0;
369  virtual floatSeq* getRightHandSide() = 0;
370  virtual void setRightHandSide(const ::hpp::floatSeq& rhs) = 0;
371  virtual void setRightHandSideFromConfig(const ::hpp::floatSeq& config) = 0;
372  virtual void setRightHandSideByName(const char* constraintName, const ::hpp::floatSeq& rhs) = 0;
373  virtual void setRightHandSideFromConfigByName(const char* constraintName, const ::hpp::floatSeq& config) = 0;
374  virtual void addNumericalConstraints(const char* configProjName, const ::hpp::Names_t& constraintNames, const ::hpp::intSeq& priorities) = 0;
375  virtual void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional) = 0;
376  virtual void addLockedJointConstraints(const char* configProjName, const ::hpp::Names_t& lockedJointNames) = 0;
377  virtual char* displayConstraints() = 0;
378  virtual ::CORBA::Double getErrorThreshold() = 0;
379  virtual void setErrorThreshold(::CORBA::Double threshold) = 0;
380  virtual void setDefaultLineSearchType(const char* type) = 0;
381  virtual ::CORBA::ULong getMaxIterProjection() = 0;
382  virtual void setMaxIterProjection(::CORBA::ULong iterations) = 0;
383  virtual ::CORBA::ULong getMaxIterPathPlanning() = 0;
384  virtual void setMaxIterPathPlanning(::CORBA::ULong iterations) = 0;
385  virtual void scCreateScalarMultiply(const char* outName, ::CORBA::Double scalar, const char* inName) = 0;
386  virtual ::CORBA::Double getTimeOutPathPlanning() = 0;
387  virtual void setTimeOutPathPlanning(::CORBA::Double timeOut) = 0;
388  virtual void filterCollisionPairs() = 0;
389  virtual void selectPathPlanner(const char* pathPlannerType) = 0;
390  virtual void selectConfigurationShooter(const char* configurationShooterType) = 0;
391  virtual void selectDistance(const char* distanceType) = 0;
392  virtual void selectSteeringMethod(const char* steeringMethodType) = 0;
393  virtual void addPathOptimizer(const char* pathOptimizerType) = 0;
394  virtual void clearPathOptimizers() = 0;
395  virtual void addConfigValidation(const char* configValidationType) = 0;
396  virtual void clearConfigValidations() = 0;
397  virtual void selectPathValidation(const char* pathValidationType, ::CORBA::Double tolerance) = 0;
398  virtual void selectPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance) = 0;
399  virtual ::CORBA::Boolean prepareSolveStepByStep() = 0;
400  virtual ::CORBA::Boolean executeOneStep() = 0;
401  virtual void finishSolveStepByStep() = 0;
402  virtual intSeq* solve() = 0;
403  virtual ::CORBA::Boolean directPath(const ::hpp::floatSeq& startConfig, const ::hpp::floatSeq& endConfig, ::CORBA::Boolean validate, ::CORBA::ULong& pathId, ::CORBA::String_out report) = 0;
404  virtual ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId) = 0;
405  virtual void addConfigToRoadmap(const ::hpp::floatSeq& config) = 0;
406  virtual void addEdgeToRoadmap(const ::hpp::floatSeq& config1, const ::hpp::floatSeq& config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges) = 0;
407  virtual void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq& config, ::CORBA::Boolean validate) = 0;
408  virtual void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId) = 0;
409  virtual void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end) = 0;
410  virtual void erasePath(::CORBA::ULong pathId) = 0;
411  virtual ::CORBA::Boolean projectPath(::CORBA::ULong patId) = 0;
412  virtual ::CORBA::Long numberPaths() = 0;
413  virtual intSeq* optimizePath(::CORBA::ULong inPathId) = 0;
414  virtual ::CORBA::Double pathLength(::CORBA::ULong inPathId) = 0;
415  virtual floatSeq* configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance) = 0;
416  virtual floatSeq* derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance) = 0;
417  virtual floatSeqSeq* getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times) = 0;
418  virtual void interruptPathPlanning() = 0;
419  virtual floatSeqSeq* nodes() = 0;
420  virtual ::CORBA::Long numberNodes() = 0;
421  virtual floatSeq* node(::CORBA::ULong nodeId) = 0;
422  virtual ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId) = 0;
423  virtual ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId) = 0;
424  virtual ::CORBA::Long numberEdges() = 0;
425  virtual void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2) = 0;
426  virtual ::CORBA::Long numberConnectedComponents() = 0;
427  virtual floatSeqSeq* nodesConnectedComponent(::CORBA::ULong connectedComponentId) = 0;
428  virtual floatSeq* getNearestConfig(const ::hpp::floatSeq& config, ::CORBA::Long connectedComponentId, ::CORBA::Double& distance) = 0;
429  virtual void clearRoadmap() = 0;
430  virtual void resetRoadmap() = 0;
431  virtual void saveRoadmap(const char* filename) = 0;
432  virtual void readRoadmap(const char* filename) = 0;
433  virtual core_idl::Distance_ptr getDistance() = 0;
434  virtual void setDistance(::hpp::core_idl::Distance_ptr distance) = 0;
435  virtual core_idl::Path_ptr getPath(::CORBA::ULong pathId) = 0;
436  virtual ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path) = 0;
437  virtual core_idl::SteeringMethod_ptr getSteeringMethod() = 0;
438  virtual core_idl::PathValidation_ptr getPathValidation() = 0;
439  virtual core_idl::PathPlanner_ptr getPathPlanner() = 0;
440  virtual core_idl::Problem_ptr getProblem() = 0;
441  virtual constraints_idl::Implicit_ptr getConstraint(const char* constraintName) = 0;
442  virtual void setRobot(::hpp::pinocchio_idl::Device_ptr robot) = 0;
443 
444  public: // Really protected, workaround for xlC
445  virtual _CORBA_Boolean _dispatch(omniCallHandle&);
446 
447  private:
448  virtual void* _ptrToInterface(const char*);
449  virtual const char* _mostDerivedRepoId();
450 
451  };
452 
453 
454  _CORBA_MODULE_END
455 
456 _CORBA_MODULE_END
457 
458 
459 
460 _CORBA_MODULE POA_hpp
461 _CORBA_MODULE_BEG
462 
463  _CORBA_MODULE corbaserver
464  _CORBA_MODULE_BEG
465 
466  class Problem :
467  public virtual hpp::corbaserver::_impl_Problem,
468  public virtual ::PortableServer::ServantBase
469  {
470  public:
471  virtual ~Problem();
472 
474  return (::hpp::corbaserver::Problem_ptr) _do_this(::hpp::corbaserver::Problem::_PD_repoId);
475  }
476  };
477 
478  _CORBA_MODULE_END
479 
480 _CORBA_MODULE_END
481 
482 
483 
484 _CORBA_MODULE OBV_hpp
485 _CORBA_MODULE_BEG
486 
487  _CORBA_MODULE corbaserver
488  _CORBA_MODULE_BEG
489 
490  _CORBA_MODULE_END
491 
492 _CORBA_MODULE_END
493 
494 
495 
496 
497 
498 #undef _core_attr
499 #undef _dyn_attr
500 
501 
502 
503 inline void
504 hpp::corbaserver::Problem::_marshalObjRef(::hpp::corbaserver::Problem_ptr obj, cdrStream& s) {
505  omniObjRef::_marshal(obj->_PR_getobj(),s);
506 }
507 
508 
509 
510 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_problem
511 # undef USE_stub_in_nt_dll
512 # undef USE_stub_in_nt_dll_NOT_DEFINED_problem
513 #endif
514 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_problem
515 # undef USE_core_stub_in_nt_dll
516 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_problem
517 #endif
518 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
519 # undef USE_dyn_stub_in_nt_dll
520 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
521 #endif
522 
523 #endif // __problem_hh__
524 
_objref_PathPlanner * PathPlanner_ptr
Definition: path_planners-idl.hh:75
Definition: problem-idl.hh:320
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: problem-idl.hh:148
_objref_Problem()
Definition: problem-idl.hh:294
_objref_SteeringMethod * SteeringMethod_ptr
Definition: _problem-idl.hh:161
Definition: common-idl.hh:342
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
static _core_attr const char * _PD_repoId
Definition: problem-idl.hh:163
_objref_PathValidation * PathValidation_ptr
Definition: _problem-idl.hh:187
Problem_ptr ProblemRef
Definition: problem-idl.hh:114
Problem_ptr _ptr_type
Definition: problem-idl.hh:137
Definition: problem-idl.hh:134
sequence< floatSeq > floatSeqSeq
Definition: common.idl:33
static void marshalObjRef(_ptr_type, cdrStream &)
_objref_Problem * Problem_ptr
Definition: problem-idl.hh:111
sequence< string > Names_t
Sequence of names.
Definition: common.idl:22
sequence< long > intSeq
Definition: common.idl:29
::CORBA::Double Transform_[7]
Definition: common-idl.hh:796
_objref_Path * Path_ptr
Definition: paths-idl.hh:100
static _ptr_type _nil()
::CORBA::Double Quaternion_[4]
Definition: common-idl.hh:958
Definition: common-idl.hh:73
static _ptr_type unmarshalObjRef(cdrStream &)
Definition: common-idl.hh:684
sequence< boolean > boolSeq
Definition: common.idl:28
#define _core_attr
Definition: problem-idl.hh:83
static void duplicate(_ptr_type)
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:74
Definition: problem-idl.hh:116
Definition: problem-idl.hh:169
_CORBA_ObjRef_OUT_arg< _objref_Problem, Problem_Helper > Problem_out
Definition: problem-idl.hh:129
_pof_Problem()
Definition: problem-idl.hh:313
inline ::hpp::corbaserver::Problem_ptr _this()
Definition: problem-idl.hh:473
static void release(_ptr_type)
Problem_var _var_type
Definition: problem-idl.hh:138
Problem_ptr _ptr_type
Definition: problem-idl.hh:118
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
_CORBA_ObjRef_Var< _objref_Problem, Problem_Helper > Problem_var
Definition: problem-idl.hh:128
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: problem-idl.hh:156
Definition: common-idl.hh:570
static _CORBA_Boolean is_nil(_ptr_type)
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
_objref_Device * Device_ptr
Definition: _problem-idl.hh:103
Definition: problem-idl.hh:311
_objref_Distance * Distance_ptr
Definition: _problem-idl.hh:135
sequence< intSeq > intSeqSeq
Definition: common.idl:30