hpp-corbaserver  4.13.0
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_CORE_CONSTRAINTS_IDL
12 #define HPP_CORE_CONSTRAINTS_IDL
13 #include <hpp/common.idl>
14 
16 
17 module hpp
18 {
19  module constraints_idl {
20  interface Implicit;
21  typedef sequence <Implicit> Implicits;
22  };
23 
24  module core_idl {
25 
26  interface Constraint
27  {
28  boolean apply (inout floatSeq config) raises (Error);
29 
30  string name () raises (Error);
31  string str () raises (Error);
32  boolean isSatisfied (in floatSeq config) raises (Error);
33 
34  Constraint copy() raises (Error);
35  }; // interface Constraint
36 
38  {
39  void setRightHandSideFromConfig (in floatSeq config) raises (Error);
40  //-> rightHandSideFromConfig
41  void setRightHandSideOfConstraintFromConfig (in constraints_idl::Implicit nm, in floatSeq config) raises (Error);
42  //-> rightHandSideFromConfig
43  void setRightHandSide (in floatSeq param) raises (Error);
44  //-> rightHandSide
45  void setRightHandSideOfConstraint (in constraints_idl::Implicit nm, in floatSeq rhs) raises (Error);
46  //-> rightHandSide
47  floatSeq getRightHandSide () raises (Error);
48  //-> rightHandSide
49  void setRightHandSideAt (in value_type s) raises (Error);
50  //-> rightHandSideAt
51  boolean isConstraintSatisfied (in constraints_idl::Implicit nm,
52  in floatSeq arg, out floatSeq err,
53  out boolean constraintFound) raises (Error);
54  //* hpp::core::vector_t _arg = hpp::corbaServer::floatSeqToVector (arg);
55  //* hpp::constraints::ImplicitPtr_t _nm = hpp::corbaServer::reference_to_servant_base<hpp::constraints::Implicit>(server_, nm)->get();
56  //* hpp::core::vector_t errorOut (_nm->function ().outputSpace ()->nv ());
57  //* bool res = getT ()->solver ().isConstraintSatisfied
58  //* (_nm, _arg,errorOut, constraintFound);
59  //* err = hpp::corbaServer::vectorToFloatSeq (errorOut);
60  //* return res;
61 
62  constraints_idl::Implicits numericalConstraints() raises(Error);
63 
64  boolean add (in constraints_idl::Implicit numconstraint, in unsigned long priority);
65 
66  void setLastIsOptional (in boolean optional);
67  //-> lastIsOptional
68 
69  boolean getLastIsOptional ();
70  //-> lastIsOptional
71 
72  void setErrorThreshold (in value_type threshold) raises(Error);
73  //-> errorThreshold
74  value_type getErrorThreshold () raises(Error);
75  //-> errorThreshold
76  }; // interface ConfigProjector
77 
79  {
83  Constraint getConfigProjector () raises (Error);
84  //-> configProjector
85  }; // interface ConstraintSet
86 
87  }; // module core
88 }; // module hpp
89 //* #include <hpp/core/constraint.hh>
90 //* #include <hpp/core/constraint-set.hh>
91 //* #include <hpp/core/config-projector.hh>
92 //* #include <hpp/constraints_idl/constraints.hh>
93 //* #include <hpp/constraints/solver/by-substitution.hh>
94 
95 #endif // HPP_CORE_CONSTRAINTS_IDL
sequence< Implicit > Implicits
Definition: _constraints.idl:20
Definition: _constraints.idl:78
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:35
double value_type
Definition: common.idl:18
Definition: constraints.idl:40
Corba exception travelling through the Corba channel.
Definition: common.idl:26
Definition: _constraints.idl:37
Definition: _constraints.idl:26
Definition: common-idl.hh:689