hpp-corbaserver  4.11.0
Corba server for Humanoid Path Planner applications
problem-idl.hh
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1 // This file is generated by omniidl (C++ backend)- omniORB_4_2. Do not edit.
2 #ifndef __problem_hh__
3 #define __problem_hh__
4 
5 #ifndef __CORBA_H_EXTERNAL_GUARD__
6 #include <omniORB4/CORBA.h>
7 #endif
8 
9 #ifndef USE_stub_in_nt_dll
10 # define USE_stub_in_nt_dll_NOT_DEFINED_problem
11 #endif
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_problem
14 #endif
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
17 #endif
18 
19 
20 
21 #ifndef __common_hh_EXTERNAL_GUARD__
22 #define __common_hh_EXTERNAL_GUARD__
23 #include <hpp/common-idl.hh>
24 #endif
25 #ifndef __constraints_hh_EXTERNAL_GUARD__
26 #define __constraints_hh_EXTERNAL_GUARD__
28 #endif
29 #ifndef __distances_hh_EXTERNAL_GUARD__
30 #define __distances_hh_EXTERNAL_GUARD__
32 #endif
33 #ifndef __paths_hh_EXTERNAL_GUARD__
34 #define __paths_hh_EXTERNAL_GUARD__
36 #endif
37 #ifndef ____constraints_hh_EXTERNAL_GUARD__
38 #define ____constraints_hh_EXTERNAL_GUARD__
40 #endif
41 #ifndef __steering__methods_hh_EXTERNAL_GUARD__
42 #define __steering__methods_hh_EXTERNAL_GUARD__
44 #endif
45 #ifndef __path__planners_hh_EXTERNAL_GUARD__
46 #define __path__planners_hh_EXTERNAL_GUARD__
48 #endif
49 #ifndef __path__validations_hh_EXTERNAL_GUARD__
50 #define __path__validations_hh_EXTERNAL_GUARD__
52 #endif
53 #ifndef ____problem_hh_EXTERNAL_GUARD__
54 #define ____problem_hh_EXTERNAL_GUARD__
56 #endif
57 #ifndef __robots_hh_EXTERNAL_GUARD__
58 #define __robots_hh_EXTERNAL_GUARD__
60 #endif
61 #ifndef __configuration__shooters_hh_EXTERNAL_GUARD__
62 #define __configuration__shooters_hh_EXTERNAL_GUARD__
64 #endif
65 
66 
67 
68 #ifdef USE_stub_in_nt_dll
69 # ifndef USE_core_stub_in_nt_dll
70 # define USE_core_stub_in_nt_dll
71 # endif
72 # ifndef USE_dyn_stub_in_nt_dll
73 # define USE_dyn_stub_in_nt_dll
74 # endif
75 #endif
76 
77 #ifdef _core_attr
78 # error "A local CPP macro _core_attr has already been defined."
79 #else
80 # ifdef USE_core_stub_in_nt_dll
81 # define _core_attr _OMNIORB_NTDLL_IMPORT
82 # else
83 # define _core_attr
84 # endif
85 #endif
86 
87 #ifdef _dyn_attr
88 # error "A local CPP macro _dyn_attr has already been defined."
89 #else
90 # ifdef USE_dyn_stub_in_nt_dll
91 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
92 # else
93 # define _dyn_attr
94 # endif
95 #endif
96 
97 
98 
99 _CORBA_MODULE hpp
100 
101 _CORBA_MODULE_BEG
102 
103  _CORBA_MODULE corbaserver
104 
105  _CORBA_MODULE_BEG
106 
107 #ifndef __hpp_mcorbaserver_mProblem__
108 #define __hpp_mcorbaserver_mProblem__
109  class Problem;
110  class _objref_Problem;
112 
113  typedef _objref_Problem* Problem_ptr;
115 
117  public:
119 
120  static _ptr_type _nil();
121  static _CORBA_Boolean is_nil(_ptr_type);
122  static void release(_ptr_type);
123  static void duplicate(_ptr_type);
124  static void marshalObjRef(_ptr_type, cdrStream&);
125  static _ptr_type unmarshalObjRef(cdrStream&);
126  };
127 
128  typedef _CORBA_ObjRef_Var<_objref_Problem, Problem_Helper> Problem_var;
129  typedef _CORBA_ObjRef_OUT_arg<_objref_Problem,Problem_Helper > Problem_out;
130 
131 #endif
132 
133  // interface Problem
134  class Problem {
135  public:
136  // Declarations for this interface type.
139 
140  static _ptr_type _duplicate(_ptr_type);
141  static _ptr_type _narrow(::CORBA::Object_ptr);
142  static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
143 
144  static _ptr_type _nil();
145 
146  static inline void _marshalObjRef(_ptr_type, cdrStream&);
147 
148  static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
149  omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
150  if (o)
151  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
152  else
153  return _nil();
154  }
155 
156  static inline _ptr_type _fromObjRef(omniObjRef* o) {
157  if (o)
158  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
159  else
160  return _nil();
161  }
162 
163  static _core_attr const char* _PD_repoId;
164 
165  // Other IDL defined within this scope.
166 
167  };
168 
170  public virtual ::CORBA::Object,
171  public virtual omniObjRef
172  {
173  public:
174  // IDL operations
175  void setRandomSeed(::CORBA::Long seed);
176  void setMaxNumThreads(::CORBA::UShort n);
177  ::CORBA::UShort getMaxNumThreads();
178  Names_t* getAvailable(const char* type);
179  Names_t* getSelected(const char* type);
180  void setParameter(const char* name, const ::CORBA::Any& value);
181  ::CORBA::Any* getParameter(const char* name);
182  char* getParameterDoc(const char* name);
183  ::CORBA::Boolean selectProblem(const char* name);
184  void resetProblem();
185  ::CORBA::Boolean loadPlugin(const char* pluginName);
186  void movePathToProblem(::CORBA::ULong pathId, const char* problemName, const ::hpp::Names_t& jointNames);
187  void setInitialConfig(const ::hpp::floatSeq& dofArray);
188  floatSeq* getInitialConfig();
189  void addGoalConfig(const ::hpp::floatSeq& dofArray);
190  floatSeqSeq* getGoalConfigs();
191  void resetGoalConfigs();
192  ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError);
193  ::CORBA::Boolean optimize(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError);
194  void computeValueAndJacobian(const ::hpp::floatSeq& config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian);
195  ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError);
196  void createOrientationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq& mask);
197  void createTransformationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq& mask);
198  void createTransformationR3xSO3Constraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask);
199  void createTransformationConstraint2(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask);
200  void createLockedJoint(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value);
201  void createLockedJointWithComp(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value, const ::hpp::ComparisonTypes_t& comp);
202  void createLockedExtraDof(const char* lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq& value);
203  void createManipulability(const char* name, const char* function);
204  void createComBeetweenFeet(const char* constraintName, const char* comName, const char* jointLName, const char* jointRName, const ::hpp::floatSeq& pointL, const ::hpp::floatSeq& pointR, const char* jointRefName, const ::hpp::floatSeq& pointRef, const ::hpp::boolSeq& mask);
205  void createRelativeComConstraint(const char* constraintName, const char* comName, const char* jointLName, const ::hpp::floatSeq& point, const ::hpp::boolSeq& mask);
206  void createConvexShapeContactConstraint(const char* constraintName, const ::hpp::Names_t& floorJoints, const ::hpp::Names_t& objectJoints, const ::hpp::floatSeqSeq& pts, const ::hpp::intSeqSeq& objectTriangles, const ::hpp::intSeqSeq& floorTriangles);
207  void createStaticStabilityConstraint(const char* constraintName, const ::hpp::Names_t& jointNames, const ::hpp::floatSeqSeq& points, const ::hpp::floatSeqSeq& normals, const char* comRootJointName);
208  void createPositionConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::floatSeq& point1, const ::hpp::floatSeq& point2, const ::hpp::boolSeq& mask);
209  void createConfigurationConstraint(const char* constraintName, const ::hpp::floatSeq& goal, const ::hpp::floatSeq& weights);
210  void createDistanceBetweenJointConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, ::CORBA::Double distance);
211  void createDistanceBetweenJointAndObjects(const char* constraintName, const char* joint1Name, const ::hpp::Names_t& objects, ::CORBA::Double distance);
212  void createIdentityConstraint(const char* constraintName, const ::hpp::Names_t& inJoints, const ::hpp::Names_t& outJoints);
213  void resetConstraints();
214  void resetConstraintMap();
215  void addPassiveDofs(const char* constraintName, const ::hpp::Names_t& jointNames);
216  void getConstraintDimensions(const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize);
217  void setConstantRightHandSide(const char* constraintName, ::CORBA::Boolean constant);
218  ::CORBA::Boolean getConstantRightHandSide(const char* constraintName);
219  floatSeq* getRightHandSide();
220  void setRightHandSide(const ::hpp::floatSeq& rhs);
221  void setRightHandSideFromConfig(const ::hpp::floatSeq& config);
222  void setRightHandSideByName(const char* constraintName, const ::hpp::floatSeq& rhs);
223  void setRightHandSideFromConfigByName(const char* constraintName, const ::hpp::floatSeq& config);
224  void addNumericalConstraints(const char* configProjName, const ::hpp::Names_t& constraintNames, const ::hpp::intSeq& priorities);
225  void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional);
226  void addLockedJointConstraints(const char* configProjName, const ::hpp::Names_t& lockedJointNames);
227  char* displayConstraints();
228  ::CORBA::Double getErrorThreshold();
229  void setErrorThreshold(::CORBA::Double threshold);
230  void setDefaultLineSearchType(const char* type);
231  ::CORBA::ULong getMaxIterProjection();
232  void setMaxIterProjection(::CORBA::ULong iterations);
233  ::CORBA::ULong getMaxIterPathPlanning();
234  void setMaxIterPathPlanning(::CORBA::ULong iterations);
235  void scCreateScalarMultiply(const char* outName, ::CORBA::Double scalar, const char* inName);
236  ::CORBA::Double getTimeOutPathPlanning();
237  void setTimeOutPathPlanning(::CORBA::Double timeOut);
238  void filterCollisionPairs();
239  void selectPathPlanner(const char* pathPlannerType);
240  void selectConfigurationShooter(const char* configurationShooterType);
241  void selectDistance(const char* distanceType);
242  void selectSteeringMethod(const char* steeringMethodType);
243  void addPathOptimizer(const char* pathOptimizerType);
244  void clearPathOptimizers();
245  void addConfigValidation(const char* configValidationType);
246  void clearConfigValidations();
247  void selectPathValidation(const char* pathValidationType, ::CORBA::Double tolerance);
248  void selectPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance);
249  ::CORBA::Boolean prepareSolveStepByStep();
250  ::CORBA::Boolean executeOneStep();
251  void finishSolveStepByStep();
252  intSeq* solve();
253  ::CORBA::Boolean directPath(const ::hpp::floatSeq& startConfig, const ::hpp::floatSeq& endConfig, ::CORBA::Boolean validate, ::CORBA::ULong& pathId, ::CORBA::String_out report);
254  ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId);
255  void addConfigToRoadmap(const ::hpp::floatSeq& config);
256  void addEdgeToRoadmap(const ::hpp::floatSeq& config1, const ::hpp::floatSeq& config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges);
257  void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq& config, ::CORBA::Boolean validate);
258  void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId);
259  void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end);
260  void erasePath(::CORBA::ULong pathId);
261  ::CORBA::Boolean projectPath(::CORBA::ULong patId);
262  ::CORBA::Long numberPaths();
263  intSeq* optimizePath(::CORBA::ULong inPathId);
264  ::CORBA::Double pathLength(::CORBA::ULong inPathId);
265  floatSeq* configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance);
266  floatSeq* derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance);
267  floatSeqSeq* getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times);
268  void interruptPathPlanning();
269  floatSeqSeq* nodes();
270  ::CORBA::Long numberNodes();
271  floatSeq* node(::CORBA::ULong nodeId);
272  ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId);
273  ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId);
274  ::CORBA::Long numberEdges();
275  void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2);
276  ::CORBA::Long numberConnectedComponents();
277  floatSeqSeq* nodesConnectedComponent(::CORBA::ULong connectedComponentId);
278  floatSeq* getNearestConfig(const ::hpp::floatSeq& config, ::CORBA::Long connectedComponentId, ::CORBA::Double& distance);
279  void clearRoadmap();
280  void resetRoadmap();
281  void saveRoadmap(const char* filename);
282  void loadRoadmap(const char* filename);
283  core_idl::Distance_ptr getDistance();
284  void setDistance(::hpp::core_idl::Distance_ptr distance);
285  core_idl::Path_ptr getPath(::CORBA::ULong pathId);
286  ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path);
287  core_idl::SteeringMethod_ptr getSteeringMethod();
288  core_idl::PathValidation_ptr getPathValidation();
289  core_idl::PathPlanner_ptr getPathPlanner();
290  core_idl::Problem_ptr getProblem();
291  constraints_idl::Implicit_ptr getConstraint(const char* constraintName);
292  void setRobot(::hpp::pinocchio_idl::Device_ptr robot);
293  pinocchio_idl::CollisionObject_ptr getObstacle(const char* name);
296  core_idl::Roadmap_ptr readRoadmap(const char* filename, ::hpp::pinocchio_idl::Device_ptr robot);
297  void writeRoadmap(const char* filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot);
298  core_idl::PathPlanner_ptr createPathPlanner(const char* type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap);
299  core_idl::PathOptimizer_ptr createPathOptimizer(const char* type, ::hpp::core_idl::Problem_ptr problem);
300  core_idl::ConfigValidation_ptr createConfigValidation(const char* type, ::hpp::pinocchio_idl::Device_ptr robot);
301  core_idl::PathValidation_ptr createPathValidation(const char* type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter);
302  core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char* type, ::hpp::core_idl::Problem_ptr problem);
303  core_idl::Distance_ptr createDistance(const char* type, ::hpp::core_idl::Problem_ptr problem);
304  core_idl::SteeringMethod_ptr createSteeringMethod(const char* type, ::hpp::core_idl::Problem_ptr problem);
305 
306  // Constructors
307  inline _objref_Problem() { _PR_setobj(0); } // nil
308  _objref_Problem(omniIOR*, omniIdentity*);
309 
310  protected:
311  virtual ~_objref_Problem();
312 
313 
314  private:
315  virtual void* _ptrToObjRef(const char*);
316 
318  _objref_Problem& operator = (const _objref_Problem&);
319  // not implemented
320 
321  friend class Problem;
322  };
323 
324  class _pof_Problem : public _OMNI_NS(proxyObjectFactory) {
325  public:
326  inline _pof_Problem() : _OMNI_NS(proxyObjectFactory)(Problem::_PD_repoId) {}
327  virtual ~_pof_Problem();
328 
329  virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
330  virtual _CORBA_Boolean is_a(const char*) const;
331  };
332 
334  public virtual omniServant
335  {
336  public:
337  virtual ~_impl_Problem();
338 
339  virtual void setRandomSeed(::CORBA::Long seed) = 0;
340  virtual void setMaxNumThreads(::CORBA::UShort n) = 0;
341  virtual ::CORBA::UShort getMaxNumThreads() = 0;
342  virtual Names_t* getAvailable(const char* type) = 0;
343  virtual Names_t* getSelected(const char* type) = 0;
344  virtual void setParameter(const char* name, const ::CORBA::Any& value) = 0;
345  virtual ::CORBA::Any* getParameter(const char* name) = 0;
346  virtual char* getParameterDoc(const char* name) = 0;
347  virtual ::CORBA::Boolean selectProblem(const char* name) = 0;
348  virtual void resetProblem() = 0;
349  virtual ::CORBA::Boolean loadPlugin(const char* pluginName) = 0;
350  virtual void movePathToProblem(::CORBA::ULong pathId, const char* problemName, const ::hpp::Names_t& jointNames) = 0;
351  virtual void setInitialConfig(const ::hpp::floatSeq& dofArray) = 0;
352  virtual floatSeq* getInitialConfig() = 0;
353  virtual void addGoalConfig(const ::hpp::floatSeq& dofArray) = 0;
354  virtual floatSeqSeq* getGoalConfigs() = 0;
355  virtual void resetGoalConfigs() = 0;
356  virtual ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0;
357  virtual ::CORBA::Boolean optimize(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError) = 0;
358  virtual void computeValueAndJacobian(const ::hpp::floatSeq& config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian) = 0;
359  virtual ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0;
360  virtual void createOrientationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq& mask) = 0;
361  virtual void createTransformationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq& mask) = 0;
362  virtual void createTransformationR3xSO3Constraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask) = 0;
363  virtual void createTransformationConstraint2(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask) = 0;
364  virtual void createLockedJoint(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value) = 0;
365  virtual void createLockedJointWithComp(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value, const ::hpp::ComparisonTypes_t& comp) = 0;
366  virtual void createLockedExtraDof(const char* lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq& value) = 0;
367  virtual void createManipulability(const char* name, const char* function) = 0;
368  virtual void createComBeetweenFeet(const char* constraintName, const char* comName, const char* jointLName, const char* jointRName, const ::hpp::floatSeq& pointL, const ::hpp::floatSeq& pointR, const char* jointRefName, const ::hpp::floatSeq& pointRef, const ::hpp::boolSeq& mask) = 0;
369  virtual void createRelativeComConstraint(const char* constraintName, const char* comName, const char* jointLName, const ::hpp::floatSeq& point, const ::hpp::boolSeq& mask) = 0;
370  virtual void createConvexShapeContactConstraint(const char* constraintName, const ::hpp::Names_t& floorJoints, const ::hpp::Names_t& objectJoints, const ::hpp::floatSeqSeq& pts, const ::hpp::intSeqSeq& objectTriangles, const ::hpp::intSeqSeq& floorTriangles) = 0;
371  virtual void createStaticStabilityConstraint(const char* constraintName, const ::hpp::Names_t& jointNames, const ::hpp::floatSeqSeq& points, const ::hpp::floatSeqSeq& normals, const char* comRootJointName) = 0;
372  virtual void createPositionConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::floatSeq& point1, const ::hpp::floatSeq& point2, const ::hpp::boolSeq& mask) = 0;
373  virtual void createConfigurationConstraint(const char* constraintName, const ::hpp::floatSeq& goal, const ::hpp::floatSeq& weights) = 0;
374  virtual void createDistanceBetweenJointConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, ::CORBA::Double distance) = 0;
375  virtual void createDistanceBetweenJointAndObjects(const char* constraintName, const char* joint1Name, const ::hpp::Names_t& objects, ::CORBA::Double distance) = 0;
376  virtual void createIdentityConstraint(const char* constraintName, const ::hpp::Names_t& inJoints, const ::hpp::Names_t& outJoints) = 0;
377  virtual void resetConstraints() = 0;
378  virtual void resetConstraintMap() = 0;
379  virtual void addPassiveDofs(const char* constraintName, const ::hpp::Names_t& jointNames) = 0;
380  virtual void getConstraintDimensions(const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize) = 0;
381  virtual void setConstantRightHandSide(const char* constraintName, ::CORBA::Boolean constant) = 0;
382  virtual ::CORBA::Boolean getConstantRightHandSide(const char* constraintName) = 0;
383  virtual floatSeq* getRightHandSide() = 0;
384  virtual void setRightHandSide(const ::hpp::floatSeq& rhs) = 0;
385  virtual void setRightHandSideFromConfig(const ::hpp::floatSeq& config) = 0;
386  virtual void setRightHandSideByName(const char* constraintName, const ::hpp::floatSeq& rhs) = 0;
387  virtual void setRightHandSideFromConfigByName(const char* constraintName, const ::hpp::floatSeq& config) = 0;
388  virtual void addNumericalConstraints(const char* configProjName, const ::hpp::Names_t& constraintNames, const ::hpp::intSeq& priorities) = 0;
389  virtual void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional) = 0;
390  virtual void addLockedJointConstraints(const char* configProjName, const ::hpp::Names_t& lockedJointNames) = 0;
391  virtual char* displayConstraints() = 0;
392  virtual ::CORBA::Double getErrorThreshold() = 0;
393  virtual void setErrorThreshold(::CORBA::Double threshold) = 0;
394  virtual void setDefaultLineSearchType(const char* type) = 0;
395  virtual ::CORBA::ULong getMaxIterProjection() = 0;
396  virtual void setMaxIterProjection(::CORBA::ULong iterations) = 0;
397  virtual ::CORBA::ULong getMaxIterPathPlanning() = 0;
398  virtual void setMaxIterPathPlanning(::CORBA::ULong iterations) = 0;
399  virtual void scCreateScalarMultiply(const char* outName, ::CORBA::Double scalar, const char* inName) = 0;
400  virtual ::CORBA::Double getTimeOutPathPlanning() = 0;
401  virtual void setTimeOutPathPlanning(::CORBA::Double timeOut) = 0;
402  virtual void filterCollisionPairs() = 0;
403  virtual void selectPathPlanner(const char* pathPlannerType) = 0;
404  virtual void selectConfigurationShooter(const char* configurationShooterType) = 0;
405  virtual void selectDistance(const char* distanceType) = 0;
406  virtual void selectSteeringMethod(const char* steeringMethodType) = 0;
407  virtual void addPathOptimizer(const char* pathOptimizerType) = 0;
408  virtual void clearPathOptimizers() = 0;
409  virtual void addConfigValidation(const char* configValidationType) = 0;
410  virtual void clearConfigValidations() = 0;
411  virtual void selectPathValidation(const char* pathValidationType, ::CORBA::Double tolerance) = 0;
412  virtual void selectPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance) = 0;
413  virtual ::CORBA::Boolean prepareSolveStepByStep() = 0;
414  virtual ::CORBA::Boolean executeOneStep() = 0;
415  virtual void finishSolveStepByStep() = 0;
416  virtual intSeq* solve() = 0;
417  virtual ::CORBA::Boolean directPath(const ::hpp::floatSeq& startConfig, const ::hpp::floatSeq& endConfig, ::CORBA::Boolean validate, ::CORBA::ULong& pathId, ::CORBA::String_out report) = 0;
418  virtual ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId) = 0;
419  virtual void addConfigToRoadmap(const ::hpp::floatSeq& config) = 0;
420  virtual void addEdgeToRoadmap(const ::hpp::floatSeq& config1, const ::hpp::floatSeq& config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges) = 0;
421  virtual void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq& config, ::CORBA::Boolean validate) = 0;
422  virtual void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId) = 0;
423  virtual void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end) = 0;
424  virtual void erasePath(::CORBA::ULong pathId) = 0;
425  virtual ::CORBA::Boolean projectPath(::CORBA::ULong patId) = 0;
426  virtual ::CORBA::Long numberPaths() = 0;
427  virtual intSeq* optimizePath(::CORBA::ULong inPathId) = 0;
428  virtual ::CORBA::Double pathLength(::CORBA::ULong inPathId) = 0;
429  virtual floatSeq* configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance) = 0;
430  virtual floatSeq* derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance) = 0;
431  virtual floatSeqSeq* getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times) = 0;
432  virtual void interruptPathPlanning() = 0;
433  virtual floatSeqSeq* nodes() = 0;
434  virtual ::CORBA::Long numberNodes() = 0;
435  virtual floatSeq* node(::CORBA::ULong nodeId) = 0;
436  virtual ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId) = 0;
437  virtual ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId) = 0;
438  virtual ::CORBA::Long numberEdges() = 0;
439  virtual void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2) = 0;
440  virtual ::CORBA::Long numberConnectedComponents() = 0;
441  virtual floatSeqSeq* nodesConnectedComponent(::CORBA::ULong connectedComponentId) = 0;
442  virtual floatSeq* getNearestConfig(const ::hpp::floatSeq& config, ::CORBA::Long connectedComponentId, ::CORBA::Double& distance) = 0;
443  virtual void clearRoadmap() = 0;
444  virtual void resetRoadmap() = 0;
445  virtual void saveRoadmap(const char* filename) = 0;
446  virtual void loadRoadmap(const char* filename) = 0;
447  virtual core_idl::Distance_ptr getDistance() = 0;
448  virtual void setDistance(::hpp::core_idl::Distance_ptr distance) = 0;
449  virtual core_idl::Path_ptr getPath(::CORBA::ULong pathId) = 0;
450  virtual ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path) = 0;
451  virtual core_idl::SteeringMethod_ptr getSteeringMethod() = 0;
452  virtual core_idl::PathValidation_ptr getPathValidation() = 0;
453  virtual core_idl::PathPlanner_ptr getPathPlanner() = 0;
454  virtual core_idl::Problem_ptr getProblem() = 0;
455  virtual constraints_idl::Implicit_ptr getConstraint(const char* constraintName) = 0;
456  virtual void setRobot(::hpp::pinocchio_idl::Device_ptr robot) = 0;
457  virtual pinocchio_idl::CollisionObject_ptr getObstacle(const char* name) = 0;
458  virtual core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot) = 0;
459  virtual core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
460  virtual core_idl::Roadmap_ptr readRoadmap(const char* filename, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
461  virtual void writeRoadmap(const char* filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
462  virtual core_idl::PathPlanner_ptr createPathPlanner(const char* type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap) = 0;
463  virtual core_idl::PathOptimizer_ptr createPathOptimizer(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
464  virtual core_idl::ConfigValidation_ptr createConfigValidation(const char* type, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
465  virtual core_idl::PathValidation_ptr createPathValidation(const char* type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter) = 0;
466  virtual core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
467  virtual core_idl::Distance_ptr createDistance(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
468  virtual core_idl::SteeringMethod_ptr createSteeringMethod(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
469 
470  public: // Really protected, workaround for xlC
471  virtual _CORBA_Boolean _dispatch(omniCallHandle&);
472 
473  private:
474  virtual void* _ptrToInterface(const char*);
475  virtual const char* _mostDerivedRepoId();
476 
477  };
478 
479 
480  _CORBA_MODULE_END
481 
482 _CORBA_MODULE_END
483 
484 
485 
486 _CORBA_MODULE POA_hpp
487 _CORBA_MODULE_BEG
488 
489  _CORBA_MODULE corbaserver
490  _CORBA_MODULE_BEG
491 
492  class Problem :
493  public virtual hpp::corbaserver::_impl_Problem,
494  public virtual ::PortableServer::ServantBase
495  {
496  public:
497  virtual ~Problem();
498 
500  return (::hpp::corbaserver::Problem_ptr) _do_this(::hpp::corbaserver::Problem::_PD_repoId);
501  }
502  };
503 
504  _CORBA_MODULE_END
505 
506 _CORBA_MODULE_END
507 
508 
509 
510 _CORBA_MODULE OBV_hpp
511 _CORBA_MODULE_BEG
512 
513  _CORBA_MODULE corbaserver
514  _CORBA_MODULE_BEG
515 
516  _CORBA_MODULE_END
517 
518 _CORBA_MODULE_END
519 
520 
521 
522 
523 
524 #undef _core_attr
525 #undef _dyn_attr
526 
527 
528 
529 inline void
530 hpp::corbaserver::Problem::_marshalObjRef(::hpp::corbaserver::Problem_ptr obj, cdrStream& s) {
531  omniObjRef::_marshal(obj->_PR_getobj(),s);
532 }
533 
534 
535 
536 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_problem
537 # undef USE_stub_in_nt_dll
538 # undef USE_stub_in_nt_dll_NOT_DEFINED_problem
539 #endif
540 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_problem
541 # undef USE_core_stub_in_nt_dll
542 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_problem
543 #endif
544 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
545 # undef USE_dyn_stub_in_nt_dll
546 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
547 #endif
548 
549 #endif // __problem_hh__
550 
_objref_PathPlanner * PathPlanner_ptr
Definition: path_planners-idl.hh:244
Definition: problem-idl.hh:333
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: problem-idl.hh:148
_objref_Problem()
Definition: problem-idl.hh:307
_objref_SteeringMethod * SteeringMethod_ptr
Definition: _problem-idl.hh:187
Definition: common-idl.hh:347
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
_objref_CollisionObject * CollisionObject_ptr
Definition: _problem-idl.hh:129
static _core_attr const char * _PD_repoId
Definition: problem-idl.hh:163
double value_type
Definition: common.idl:18
_objref_PathValidation * PathValidation_ptr
Definition: _problem-idl.hh:239
Problem_ptr ProblemRef
Definition: problem-idl.hh:114
Problem_ptr _ptr_type
Definition: problem-idl.hh:137
Definition: problem-idl.hh:134
sequence< floatSeq > floatSeqSeq
Definition: common.idl:34
_objref_Roadmap * Roadmap_ptr
Definition: path_planners-idl.hh:109
static void marshalObjRef(_ptr_type, cdrStream &)
_objref_Problem * Problem_ptr
Definition: problem-idl.hh:111
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
sequence< long > intSeq
Definition: common.idl:30
::CORBA::Double Transform_[7]
Definition: common-idl.hh:801
static _ptr_type _nil()
::CORBA::Double Quaternion_[4]
Definition: common-idl.hh:963
_objref_ConfigValidation * ConfigValidation_ptr
Definition: _problem-idl.hh:213
Definition: common-idl.hh:78
_objref_PathOptimizer * PathOptimizer_ptr
Definition: path_planners-idl.hh:381
static _ptr_type unmarshalObjRef(cdrStream &)
Definition: common-idl.hh:689
sequence< boolean > boolSeq
Definition: common.idl:29
#define _core_attr
Definition: problem-idl.hh:83
static void duplicate(_ptr_type)
_objref_ConfigurationShooter * ConfigurationShooter_ptr
Definition: _problem-idl.hh:265
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82
Definition: problem-idl.hh:116
Definition: problem-idl.hh:169
_CORBA_ObjRef_OUT_arg< _objref_Problem, Problem_Helper > Problem_out
Definition: problem-idl.hh:129
_pof_Problem()
Definition: problem-idl.hh:326
inline ::hpp::corbaserver::Problem_ptr _this()
Definition: problem-idl.hh:499
static void release(_ptr_type)
Problem_var _var_type
Definition: problem-idl.hh:138
Problem_ptr _ptr_type
Definition: problem-idl.hh:118
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
_CORBA_ObjRef_Var< _objref_Problem, Problem_Helper > Problem_var
Definition: problem-idl.hh:128
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: problem-idl.hh:156
Definition: common-idl.hh:575
static _CORBA_Boolean is_nil(_ptr_type)
sequence< ComparisonType > ComparisonTypes_t
Definition: common.idl:49
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:33
_objref_Device * Device_ptr
Definition: _problem-idl.hh:103
Definition: problem-idl.hh:324
_objref_Distance * Distance_ptr
Definition: _problem-idl.hh:161
sequence< intSeq > intSeqSeq
Definition: common.idl:31