hpp-corbaserver  4.14.0
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_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 
60  ComparisonTypes_t getComparisonType () raises (Error);
61  //->comparisonType
62 
63  void setComparisonType (in ComparisonTypes_t compType) raises (Error);
64  //->comparisonType
65  }; // interface Implicit
66 
67  interface LockedJoint : Implicit
68  {
69  string jointName () raises (Error);
70  }; // interface LockedJoint
71 
73  {
74  floatSeq getWeights () raises (Error);
75  //-> weights
76  void setWeights (in floatSeq weights) raises (Error);
77  //-> weights
78  floatSeq getGoal () raises (Error);
79  //* return corbaServer::vectorToFloatSeq(getT()->goal().vector());
80  }; // interface ConfigurationConstraint
81 
82  }; // module core
83 }; // module hpp
84 //* #include <hpp/constraints/differentiable-function.hh>
85 //* #include <hpp/constraints/implicit.hh>
86 //* #include <hpp/constraints/locked-joint.hh>
87 //* #include <hpp/constraints/configuration-constraint.hh>
88 
89 #endif // HPP_CORE_PATHS_IDL
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:72
Definition: common-idl.hh:803
Definition: common-idl.hh:1138
Definition: constraints.idl:67
Definition: common-idl.hh:689
Definition: constraints.idl:19
long long size_type
Definition: common.idl:19