hpp-corbaserver  4.10.1
Corba server for Humanoid Path Planner applications
constraints.idl
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1 // Copyright (C) 2019 by Joseph Mirabel, LAAS-CNRS.
2 //
3 // This file is part of the hpp-corbaserver.
4 //
5 // This software is provided "as is" without warranty of any kind,
6 // either expressed or implied, including but not limited to the
7 // implied warranties of fitness for a particular purpose.
8 //
9 // See the COPYING file for more information.
10 
11 #ifndef HPP_CONSTRAINTS_CONSTRAINTS_IDL
12 #define HPP_CONSTRAINTS_CONSTRAINTS_IDL
13 #include <hpp/common.idl>
14 
15 module hpp
16 {
17  module constraints_idl {
18 
20  {
21  floatSeq value (in floatSeq arg) raises (Error);
22  //* return corbaServer::vectorToFloatSeq (
23  //* (*get()) (corbaServer::floatSeqToVector(arg, get()->inputSize())).vector()
24  //* );
25 
26  floatSeqSeq jacobian (in floatSeq arg) raises (Error);
27  //* constraints::matrix_t J (get()->outputDerivativeSize(), get()->inputDerivativeSize());
28  //* get()->jacobian (J, corbaServer::floatSeqToVector(arg));
29  //* return corbaServer::matrixToFloatSeqSeq (J);
30 
31  size_type inputSize () raises (Error);
32  size_type inputDerivativeSize () raises (Error);
33  size_type outputSize () raises (Error);
34  size_type outputDerivativeSize () raises (Error);
35  string name () raises (Error);
36 
37  string str () raises (Error);
38  };
39 
40  interface Implicit
41  {
42  DifferentiableFunction function () raises (Error);
43  //-> functionPtr
44 
45  void setRightHandSideFromConfig (in floatSeq config) raises (Error);
46  //-> rightHandSideFromConfig
47 
48  void setRightHandSide (in floatSeq rhs) raises (Error);
49  //-> rightHandSide
50 
51  floatSeq getRightHandSide () raises (Error);
52  //-> rightHandSide
53 
54  size_type rightHandSideSize () raises (Error);
55 
56  size_type parameterSize () raises (Error);
57 
58  floatSeq rightHandSideAt (in value_type s) raises (Error);
59  }; // interface Implicit
60 
61  interface LockedJoint : Implicit
62  {
63  string jointName () raises (Error);
64  }; // interface LockedJoint
65 
67  {
68  floatSeq getWeights () raises (Error);
69  //-> weights
70  void setWeights (in floatSeq weights) raises (Error);
71  //-> weights
72  floatSeq getGoal () raises (Error);
73  //* return corbaServer::vectorToFloatSeq(getT()->goal().vector());
74  }; // interface ConfigurationConstraint
75 
76  }; // module core
77 }; // module hpp
78 //* #include <hpp/constraints/differentiable-function.hh>
79 //* #include <hpp/constraints/implicit.hh>
80 //* #include <hpp/constraints/locked-joint.hh>
81 //* #include <hpp/constraints/configuration-constraint.hh>
82 
83 #endif // HPP_CORE_PATHS_IDL
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
double value_type
Definition: common.idl:18
Definition: constraints.idl:40
Corba exception travelling through the Corba channel.
Definition: common.idl:24
Definition: constraints.idl:66
Definition: common-idl.hh:684
Definition: constraints.idl:61
Definition: common-idl.hh:570
Definition: constraints.idl:19
long long size_type
Definition: common.idl:19