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)
161 void addNumericalConstraints (in
long graphComponentId, in Names_t constraintNames)
167 void getNumericalConstraints (in
long graphComponentId, out Names_t constraintNames)
171 void setNumericalConstraintsForPath (in
long nodeId, in Names_t constraintNames)
177 void addNumericalConstraintsForPath (in
long nodeId, in Names_t constraintNames)
184 void removeCollisionPairFromEdge (in
ID edgeId, in
string joint1,
185 in
string joint2) raises (Error);
190 void getNode (in floatSeq dofArray, out
ID nodeId)
199 boolean applyNodeConstraints (in
ID idComp, in floatSeq input, out floatSeq output,
200 out
double residualError)
210 boolean applyEdgeLeafConstraints
211 (in
ID idedge, in floatSeq qleaf, in floatSeq input,
212 out floatSeq output, out
double residualError) raises (Error);
221 boolean generateTargetConfig (in
ID IDedge, in floatSeq qleaf,
222 in floatSeq input, out floatSeq output,
223 out
double residualError)
235 boolean getConfigErrorForNode (in
ID nodeId, in floatSeq config,
236 out floatSeq errorVector) raises (Error);
249 boolean getConfigErrorForEdge (in
ID EdgeId, in floatSeq config,
250 out floatSeq errorVector) raises (Error);
263 boolean getConfigErrorForEdgeLeaf
264 (in
ID EdgeId, in floatSeq leafConfig, in floatSeq config,
265 out floatSeq errorVector) raises (Error);
278 boolean getConfigErrorForEdgeTarget
279 (in
ID EdgeId, in floatSeq leafConfig, in floatSeq config,
280 out floatSeq errorVector) raises (Error);
287 void displayNodeConstraints (in
ID nodeId, out
string constraints)
296 void displayEdgeTargetConstraints (in
ID edgeId, out
string constraints)
304 void displayEdgeConstraints (in
ID edgeId, out
string constraints)
312 void getNodesConnectedByEdge (in
ID edgeId, out
string from,
313 out
string to) raises (Error);
315 void display (in
string filename)
318 void getHistogramValue (in
ID edgeId, out floatSeq freq, out floatSeqSeq values)
321 void setShort (in
ID edgeId, in
boolean isShort)
324 boolean isShort (in
ID edgeId)
369 long autoBuild (in
string graphName,
370 in Names_t grippers, in Names_t objects,
371 in Namess_t handlesPerObject, in Namess_t contactsPerObject,
372 in Names_t envNames, in Rules rulesList)
378 void setWeight (in
ID edgeID, in
long weight)
384 long getWeight (in
ID edgeID)
390 string getName (in
ID elmtID)
400 void getRelativeMotionMatrix (in
ID edgeID, out intSeqSeq matrix)
409 void setSecurityMarginForEdge(in
ID edgeID, in
string joint1,
410 in
string joint2, in
double margin)
417 #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