hpp-corbaserver  4.13.0
Corba server for Humanoid Path Planner applications
_problem.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_PROBLEM_IDL
12 #define HPP_CORE_PROBLEM_IDL
13 #include <hpp/common.idl>
14 
15 module hpp
16 {
17  module pinocchio_idl {
18  interface Device;
19  interface CollisionObject;
20  }; // module pinocchio
21 
22  module core_idl {
23  interface Distance;
24  interface SteeringMethod;
25  interface ConfigValidation;
26  interface PathValidation;
27  interface ConfigurationShooter;
28  interface Constraint;
29  interface ConstraintSet;
30 
31  interface Problem
32  {
34 
35  pinocchio_idl::Device robot () raises (Error);
36 
37  void setInitConfig (in floatSeq init) raises (Error);
38  //* pinocchio::ConfigurationPtr_t q (corbaServer::floatSeqToConfigPtr(getT()->robot(), init, true));
39  //* getT()->initConfig (q);
40  floatSeq getInitConfig () raises (Error);
41  //-> initConfig
42  void addGoalConfig (in floatSeq goal) raises (Error);
43  //* pinocchio::ConfigurationPtr_t q (corbaServer::floatSeqToConfigPtr(getT()->robot(), goal, true));
44  //* getT()->addGoalConfig (q);
45  void resetGoalConfigs () raises (Error);
46 
47  Constraint getConstraints () raises (Error);
48  //-> constraints
49  void setConstraints (in Constraint constraints) raises (Error);
50  //* hpp::core::ConstraintPtr_t c = ::hpp::corbaServer::reference_to_servant_base<hpp::core::Constraint>(server_, constraints)->get();
51  //* hpp::core::ConstraintSetPtr_t cs = HPP_DYNAMIC_PTR_CAST(hpp::core::ConstraintSet, c);
52  //* if (!cs) throw hpp::Error("Constraint is not of type ConstraintSet");
53  //* (getT()->constraints (cs));
54 
55  Distance getDistance () raises (Error);
56  //-> distance
57  void setDistance (in Distance d) raises (Error);
58  //-> distance
59  SteeringMethod getSteeringMethod () raises (Error);
60  //-> steeringMethod
61  void setSteeringMethod (in SteeringMethod d) raises (Error);
62  //-> steeringMethod
63  PathValidation getPathValidation () raises (Error);
64  //-> pathValidation
65  void setPathValidation (in PathValidation d) raises (Error);
66  //-> pathValidation
67 
68  ConfigValidation getConfigValidations () raises (Error);
69  //-> configValidations
70  void clearConfigValidations () raises (Error);
71  void addConfigValidation (in ConfigValidation cfgValidation) raises (Error);
72 
73  ConfigurationShooter getConfigurationShooter () raises (Error);
74  //-> configurationShooter
75  void setConfigurationShooter (in ConfigurationShooter d) raises (Error);
76  //-> configurationShooter
77 
78  void filterCollisionPairs () raises (Error);
79 
83  void setSecurityMargins (in floatSeqSeq margins) raises (Error);
84 
85  void addObstacle (in pinocchio_idl::CollisionObject _object) raises (Error);
86 
87  void setParameter (in string name, in any value) raises (Error);
88  //* getT()->setParameter(name, hpp::corbaServer::toParameter(value));
89 
90  any getParameter (in string name) raises (Error);
91  //* return hpp::corbaServer::toCorbaAnyPtr(getT()->getParameter(name));
92  }; // interface Problem
93 
94  }; // module core
95 }; // module hpp
96 
97 //* #include <hpp/core/problem.hh>
98 //* #include <hpp/pinocchio_idl/robots.hh>
99 //* #include <hpp/core_idl/distances.hh>
100 //* #include <hpp/core_idl/steering_methods.hh>
101 //* #include <hpp/core_idl/path_validations.hh>
102 //* #include <hpp/core_idl/configuration_shooters.hh>
103 //* #include <hpp/core/config-validations.hh>
104 
110 
111 #endif // HPP_CORE_PROBLEM_IDL
Definition: steering_methods-idl.hh:106
Definition: configuration_shooters.idl:20
#define HPP_EXPOSE_MEMORY_DEALLOCATION(ErrorType)
Definition: common.idl:14
Definition: robots.idl:28
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:35
Definition: _constraints-idl.hh:242
Definition: robots.idl:109
Definition: configuration_shooters-idl.hh:94
Definition: path_validations-idl.hh:118
Definition: distances.idl:19
Corba exception travelling through the Corba channel.
Definition: common.idl:26
Definition: path_validations.idl:63
Definition: _constraints-idl.hh:503
Definition: common-idl.hh:803
Definition: _constraints.idl:26
Definition: distances-idl.hh:94
Definition: steering_methods.idl:22
Definition: _problem.idl:31
Definition: common-idl.hh:689
Definition: path_validations.idl:30
Definition: path_validations-idl.hh:475