18 #ifndef HPP_MANIPULATION_CORBA_GRAPH_IDL 19 #define HPP_MANIPULATION_CORBA_GRAPH_IDL 22 #include <hpp/common.idl> 40 long createGraph(in
string graphName)
43 void deleteGraph(in
string graphName)
48 void selectGraph(in
string graphName)
52 void createSubGraph(in
string subgraphName)
55 void setTargetNodeList(in
ID graphId, in
IDseq nodes)
65 long createNode (in
long graphId, in
string nodeName, in
boolean waypoint, in
long priority)
74 long createEdge (in
long nodeFromId, in
long nodeToId, in
string edgeName, in
long weight, in
long isInNodeId)
80 void setContainingNode (in
ID edgeId, in
ID nodeId)
86 string getContainingNode (in
ID edgeId)
93 long createWaypointEdge (in
long nodeFromId, in
long nodeToId,
94 in
string edgeName, in
long number,
95 in
long weight, in
long isInNode)
102 long getWaypoint (in
long edgeId, in
long index, out
ID nodeId)
105 void setWaypoint (in
ID waypointEdgeId, in
long index,
106 in
ID edgeId, in
ID nodeId)
114 void getEdgeStat (in
ID edgeId, out Names_t reasons, out intSeq freqs)
120 long getFrequencyOfNodeInRoadmap (in
ID nodeId, out intSeq freqPerConnectedComponent)
137 long createLevelSetEdge(in
long nodeFromId, in
long nodeToId, in
string edgeName, in
long weight, in
ID isInNodeId)
146 void addLevelSetFoliation (in
long edgeId, in Names_t condNC,
152 void resetConstraints(in
long graphComponentId) raises (Error);
155 void setNumericalConstraints (in
long graphComponentId, in Names_t constraintNames, in Names_t passiveDofsNames)
164 void addNumericalConstraints (in
long graphComponentId, in Names_t constraintNames, in Names_t passiveDofsNames)
170 void getNumericalConstraints (in
long graphComponentId, out Names_t constraintNames)
174 void setNumericalConstraintsForPath (in
long nodeId, in Names_t constraintNames, in Names_t passiveDofsNames)
183 void addNumericalConstraintsForPath (in
long nodeId, in Names_t constraintNames, in Names_t passiveDofsNames)
190 void removeCollisionPairFromEdge (in
ID edgeId, in
string joint1,
191 in
string joint2) raises (Error);
196 void getNode (in floatSeq dofArray, out
ID nodeId)
205 boolean applyNodeConstraints (in
ID idComp, in floatSeq input, out floatSeq output,
206 out
double residualError)
216 boolean applyEdgeLeafConstraints
217 (in
ID idedge, in floatSeq qleaf, in floatSeq input,
218 out floatSeq output, out
double residualError) raises (Error);
227 boolean generateTargetConfig (in
ID IDedge, in floatSeq qleaf,
228 in floatSeq input, out floatSeq output,
229 out
double residualError)
241 boolean getConfigErrorForNode (in
ID nodeId, in floatSeq config,
242 out floatSeq errorVector) raises (Error);
255 boolean getConfigErrorForEdge (in
ID EdgeId, in floatSeq config,
256 out floatSeq errorVector) raises (Error);
269 boolean getConfigErrorForEdgeLeaf
270 (in
ID EdgeId, in floatSeq leafConfig, in floatSeq config,
271 out floatSeq errorVector) raises (Error);
284 boolean getConfigErrorForEdgeTarget
285 (in
ID EdgeId, in floatSeq leafConfig, in floatSeq config,
286 out floatSeq errorVector) raises (Error);
293 void displayNodeConstraints (in
ID nodeId, out
string constraints)
302 void displayEdgeTargetConstraints (in
ID edgeId, out
string constraints)
310 void displayEdgeConstraints (in
ID edgeId, out
string constraints)
318 void getNodesConnectedByEdge (in
ID edgeId, out
string from,
319 out
string to) raises (Error);
321 void display (in
string filename)
324 void getHistogramValue (in
ID edgeId, out floatSeq freq, out floatSeqSeq values)
327 void setShort (in
ID edgeId, in
boolean isShort)
330 boolean isShort (in
ID edgeId)
375 long autoBuild (in
string graphName,
376 in Names_t grippers, in Names_t objects,
377 in Namess_t handlesPerObject, in Namess_t contactsPerObject,
378 in Names_t envNames, in Rules rulesList)
384 void setWeight (in
ID edgeID, in
long weight)
390 long getWeight (in
ID edgeID)
396 string getName (in
ID elmtID)
406 void getRelativeMotionMatrix (in
ID edgeID, out intSeqSeq matrix)
415 void setSecurityMarginForEdge(in
ID edgeID, in
string joint1,
416 in
string joint2, in
double margin)
423 #endif // HPP_MANIPULATION_CORBA_GRAPH_IDL Definition: gcommon.idl:38
Definition: gcommon.idl:31
Names_t handles
Definition: graph.idl:32
boolean link
Definition: graph.idl:33
sequence< Names_t > Namess_t
Definition: graph.idl:27
sequence< Rule > Rules
Definition: graph.idl:35
Names_t grippers
Definition: graph.idl:31
long ID
Definition: gcommon.idl:23
sequence< ID > IDseq
Definition: gcommon.idl:24
Definition: gcommon.idl:26
Describe a rule to link or not, a gripper and a handle.
Definition: graph.idl:30