18 #ifndef HPP_MANIPULATION_CORBA_PROBLEM_IDL 19 #define HPP_MANIPULATION_CORBA_PROBLEM_IDL 22 #include <hpp/common.idl> 24 #include <hpp/pinocchio_idl/robots.idl> 25 #include <hpp/core_idl/path_planners.idl> 26 #include <hpp/core_idl/distances.idl> 41 boolean selectProblem (in
string name) raises (Error);
44 void resetProblem () raises (Error);
49 Names_t getAvailable (in
string type) raises (Error);
55 Names_t getSelected (in
string type) raises (Error);
59 void loadRoadmap (in
string filename) raises (Error);
80 void createGrasp (in
string graspName, in
string gripperName,
104 void createPreGrasp (in
string name, in
string gripper,
105 in
string handle) raises (Error);
110 Names_t getEnvironmentContactNames ()
116 Names_t getRobotContactNames ()
129 Names_t getEnvironmentContact (in
string name, out intSeq indices,
130 out floatSeqSeq points)
143 Names_t getRobotContact (in
string name, out intSeq indexes,
144 out floatSeqSeq points)
158 void createPlacementConstraint (in
string placementName,
159 in Names_t shapeName, in Names_t envContactName)
174 void createPrePlacementConstraint (in
string placementName,
175 in Names_t shapeName, in Names_t envContactName, in
double witdh)
182 void createQPStabilityConstraint (in
string constraintName,
183 in Names_t shapesName)
192 boolean setConstraints (in
ID idComp, in
boolean target)
209 void registerConstraints(in
string constraint, in
string complement,
219 boolean applyConstraints (in
ID idComp, in floatSeq input, out floatSeq output,
220 out
double residualError)
233 boolean applyConstraintsWithOffset (in
ID IDedge, in floatSeq qnear, in floatSeq input, out floatSeq output,
234 out
double residualError)
250 boolean buildAndProjectPath (in
ID IDedge, in floatSeq qb, in floatSeq qe, out
long indexNotProj,
257 void setTargetState(in
ID IDstate) raises (Error);
261 ID edgeAtParam (in
unsigned long inPathId, in
double atDistance, out
string graphName)
276 core_idl::Roadmap readRoadmap(in
string filename, in pinocchio_idl::Device robot,
288 void writeRoadmap(in
string filename, in core_idl::Roadmap roadmap,
289 in pinocchio_idl::Device robot,
292 core_idl::Roadmap createRoadmap(in core_idl::Distance distance,
293 in pinocchio_idl::Device robot) raises (Error);
299 #endif // HPP_MANIPULATION_CORBA_ROBOT_IDL Definition: _graph.idl:71
long ID
Definition: gcommon.idl:23
Definition: problem.idl:34
Definition: _graph.idl:135