hpp-manipulation-corba  4.11.0
Corba server for manipulation planning
problem.idl
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1 // Copyright (c) 2014 CNRS
2 // Author: Florent Lamiraux
3 //
4 // This file is part of hpp-manipulation-corba.
5 // hpp-manipulation-corba is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
9 //
10 // hpp-manipulation-corba is distributed in the hope that it will be
11 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
12 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 // General Lesser Public License for more details. You should have
14 // received a copy of the GNU Lesser General Public License along with
15 // hpp-manipulation-corba. If not, see
16 // <http://www.gnu.org/licenses/>.
17 
18 #ifndef HPP_MANIPULATION_CORBA_PROBLEM_IDL
19 #define HPP_MANIPULATION_CORBA_PROBLEM_IDL
20 
22 #include <hpp/common.idl>
23 
24 #include <hpp/pinocchio_idl/robots.idl>
25 #include <hpp/core_idl/path_planners.idl>
26 #include <hpp/core_idl/distances.idl>
27 
30 
31 module hpp {
32  module corbaserver {
33  module manipulation {
34  interface Problem
35  {
41  boolean selectProblem (in string name) raises (Error);
42 
44  void resetProblem () raises (Error);
45 
49  Names_t getAvailable (in string type) raises (Error);
50 
55  Names_t getSelected (in string type) raises (Error);
56 
59  void loadRoadmap (in string filename) raises (Error);
60 
80  void createGrasp (in string graspName, in string gripperName,
81  in string handleName)
82  raises (Error);
83 
104  void createPreGrasp (in string name, in string gripper,
105  in string handle) raises (Error);
106 
110  Names_t getEnvironmentContactNames ()
111  raises (Error);
112 
116  Names_t getRobotContactNames ()
117  raises (Error);
118 
129  Names_t getEnvironmentContact (in string name, out intSeq indices,
130  out floatSeqSeq points)
131  raises (Error);
132 
143  Names_t getRobotContact (in string name, out intSeq indexes,
144  out floatSeqSeq points)
145  raises (Error);
146 
158  void createPlacementConstraint (in string placementName,
159  in Names_t shapeName, in Names_t envContactName)
160  raises (Error);
161 
174  void createPrePlacementConstraint (in string placementName,
175  in Names_t shapeName, in Names_t envContactName, in double witdh)
176  raises (Error);
177 
182  void createQPStabilityConstraint (in string constraintName,
183  in Names_t shapesName)
184  raises (Error);
185 
192  boolean setConstraints (in ID idComp, in boolean target)
193  raises (Error);
194 
209  void registerConstraints(in string constraint, in string complement,
210  in string both);
211 
219  boolean applyConstraints (in ID idComp, in floatSeq input, out floatSeq output,
220  out double residualError)
221  raises (Error);
222 
233  boolean applyConstraintsWithOffset (in ID IDedge, in floatSeq qnear, in floatSeq input, out floatSeq output,
234  out double residualError)
235  raises (Error);
236 
250  boolean buildAndProjectPath (in ID IDedge, in floatSeq qb, in floatSeq qe, out long indexNotProj,
251  out long indexProj)
252  raises (Error);
253 
257  void setTargetState(in ID IDstate) raises (Error);
258 
261  ID edgeAtParam (in unsigned long inPathId, in double atDistance, out string graphName)
262  raises (Error);
263 
264  manipulation_idl::graph_idl::Validation createGraphValidation ()
265  raises (Error);
266 
276  core_idl::Roadmap readRoadmap(in string filename, in pinocchio_idl::Device robot,
277  in manipulation_idl::graph_idl::Graph graph) raises (Error);
278 
288  void writeRoadmap(in string filename, in core_idl::Roadmap roadmap,
289  in pinocchio_idl::Device robot,
290  in manipulation_idl::graph_idl::Graph graph) raises (Error);
291 
292  core_idl::Roadmap createRoadmap(in core_idl::Distance distance,
293  in pinocchio_idl::Device robot) raises (Error);
294  }; // interface Problem
295  }; // module manipulation
296  }; // module corbaserver
297 }; // module hpp
298 
299 #endif // HPP_MANIPULATION_CORBA_ROBOT_IDL
Definition: client.hh:24
long ID
Definition: gcommon.idl:23
Definition: problem.idl:34