18 #ifndef HPP_MANIPULATION_GRAPH_IDL 19 #define HPP_MANIPULATION_GRAPH_IDL 22 #include <hpp/common.idl> 23 #include <hpp/constraints_idl/constraints.idl> 24 #include <hpp/core_idl/steering_methods.idl> 25 #include <hpp/core_idl/path_validations.idl> 28 module constraints_idl {
30 interface LockedJoint;
34 interface SteeringMethod;
35 interface PathValidation;
37 module manipulation_idl {
41 typedef sequence<State>
States;
43 typedef sequence<Edge>
Edges;
47 string name () raises (Error);
48 size_t id () raises (Error);
50 Graph parentGraph () raises (Error);
52 void addNumericalConstraint (in constraints_idl::Implicit nm) raises (Error);
53 void addNumericalCost (in constraints_idl::Implicit nm) raises (Error);
55 constraints_idl::Implicits numericalConstraints () raises (Error);
57 constraints_idl::Implicits numericalCosts () raises (Error);
59 void resetNumericalConstraints () raises (Error);
64 string name () raises (Error);
66 Graph parentGraph () raises (Error);
68 States getStates () raises (Error);
76 size_t nbComponents () raises (Error);
77 void initialize () raises (Error);
79 State getState (in floatSeq config) raises (Error);
80 Edges getEdges (in
State from, in
State to) raises (Error);
85 boolean contains (in floatSeq config) raises (Error);
86 Edge linkTo (in
string name, in
State to, in size_type weight) raises (Error);
88 Edges neighborEdges () raises (Error);
89 Edges hiddenNeighbors () raises (Error);
96 State stateFrom () raises (Error);
97 State stateTo () raises (Error);
98 State getState () raises (Error);
100 void setState (in
State st) raises (Error);
102 intSeqSeq getRelativeMotion () raises (Error);
104 floatSeqSeq getSecurityMargins () raises (Error);
106 void setSecurityMarginForPair(in size_type row, in size_type col, in value_type margin) raises (Error);
109 boolean generateTargetConfig(in floatSeq qStart, inout floatSeq q)
112 core_idl::SteeringMethod getSteeringMethod () raises (Error);
114 core_idl::PathValidation getPathValidation () raises (Error);
128 constraints_idl::Implicits paramConstraints() raises(Error);
129 constraints_idl::Implicits conditionConstraints() raises(Error);
130 boolean generateTargetConfigOnLeaf(in floatSeq qStart,
132 inout floatSeq q) raises(Error);
137 string str () raises (Error);
139 boolean hasErrors () raises (Error);
141 boolean hasWarnings () raises (Error);
158 #endif // HPP_MANIPULATION_STEERING_METHODS_IDL unsigned long long size_t
Definition: _graph.idl:39
Definition: _graph.idl:62
Definition: _graph.idl:71
Definition: _graph.idl:46
sequence< Edge > Edges
Definition: _graph.idl:42
core::ConstraintSet ConstraintSet
Definition: fwd.hh:29
sequence< LockedJoint > LockedJoints
Definition: _graph.idl:30
sequence< State > States
Definition: _graph.idl:40
Definition: _graph.idl:83
Definition: _graph.idl:94
Definition: _graph.idl:126
Definition: _graph.idl:135