18 #ifndef HPP_MANIPULATION_CORBA_PROBLEM_IDL 19 #define HPP_MANIPULATION_CORBA_PROBLEM_IDL 22 #include <hpp/common.idl> 36 boolean selectProblem (in
string name) raises (Error);
39 void resetProblem () raises (Error);
44 Names_t getAvailable (in
string type) raises (Error);
50 Names_t getSelected (in
string type) raises (Error);
71 void createGrasp (in
string graspName, in
string gripperName,
95 void createPreGrasp (in
string name, in
string gripper,
96 in
string handle) raises (Error);
101 Names_t getEnvironmentContactNames ()
107 Names_t getRobotContactNames ()
120 Names_t getEnvironmentContact (in
string name, out intSeq indices,
121 out floatSeqSeq points)
134 Names_t getRobotContact (in
string name, out intSeq indexes,
135 out floatSeqSeq points)
149 void createPlacementConstraint (in
string placementName,
150 in Names_t shapeName, in Names_t envContactName)
165 void createPrePlacementConstraint (in
string placementName,
166 in Names_t shapeName, in Names_t envContactName, in
double witdh)
173 void createQPStabilityConstraint (in
string constraintName,
174 in Names_t shapesName)
183 boolean setConstraints (in
ID idComp, in
boolean target)
193 boolean applyConstraints (in
ID idComp, in floatSeq input, out floatSeq output,
194 out
double residualError)
207 boolean applyConstraintsWithOffset (in
ID IDedge, in floatSeq qnear, in floatSeq input, out floatSeq output,
208 out
double residualError)
224 boolean buildAndProjectPath (in
ID IDedge, in floatSeq qb, in floatSeq qe, out
long indexNotProj,
231 void setTargetState(in
ID IDstate) raises (Error);
235 ID edgeAtParam (in
unsigned long inPathId, in
double atDistance, out
string graphName)
245 #endif // HPP_MANIPULATION_CORBA_ROBOT_IDL
long ID
Definition: gcommon.idl:23
Definition: problem.idl:29
Definition: _graph.idl:135