hpp-corbaserver
4.10.1
Corba server for Humanoid Path Planner applications
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5 #ifndef __CORBA_H_EXTERNAL_GUARD__
6 #include <omniORB4/CORBA.h>
9 #ifndef USE_stub_in_nt_dll
10 # define USE_stub_in_nt_dll_NOT_DEFINED_problem
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_problem
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
21 #ifndef __common_hh_EXTERNAL_GUARD__
22 #define __common_hh_EXTERNAL_GUARD__
25 #ifndef __constraints_hh_EXTERNAL_GUARD__
26 #define __constraints_hh_EXTERNAL_GUARD__
29 #ifndef __distances_hh_EXTERNAL_GUARD__
30 #define __distances_hh_EXTERNAL_GUARD__
33 #ifndef __paths_hh_EXTERNAL_GUARD__
34 #define __paths_hh_EXTERNAL_GUARD__
37 #ifndef ____constraints_hh_EXTERNAL_GUARD__
38 #define ____constraints_hh_EXTERNAL_GUARD__
41 #ifndef __steering__methods_hh_EXTERNAL_GUARD__
42 #define __steering__methods_hh_EXTERNAL_GUARD__
45 #ifndef __path__planners_hh_EXTERNAL_GUARD__
46 #define __path__planners_hh_EXTERNAL_GUARD__
49 #ifndef __path__validations_hh_EXTERNAL_GUARD__
50 #define __path__validations_hh_EXTERNAL_GUARD__
53 #ifndef ____problem_hh_EXTERNAL_GUARD__
54 #define ____problem_hh_EXTERNAL_GUARD__
57 #ifndef __robots_hh_EXTERNAL_GUARD__
58 #define __robots_hh_EXTERNAL_GUARD__
61 #ifndef __configuration__shooters_hh_EXTERNAL_GUARD__
62 #define __configuration__shooters_hh_EXTERNAL_GUARD__
68 #ifdef USE_stub_in_nt_dll
69 # ifndef USE_core_stub_in_nt_dll
70 # define USE_core_stub_in_nt_dll
72 # ifndef USE_dyn_stub_in_nt_dll
73 # define USE_dyn_stub_in_nt_dll
78 # error "A local CPP macro _core_attr has already been defined."
80 # ifdef USE_core_stub_in_nt_dll
81 # define _core_attr _OMNIORB_NTDLL_IMPORT
88 # error "A local CPP macro _dyn_attr has already been defined."
90 # ifdef USE_dyn_stub_in_nt_dll
91 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
103 _CORBA_MODULE corbaserver
107 #ifndef __hpp_mcorbaserver_mProblem__
108 #define __hpp_mcorbaserver_mProblem__
128 typedef _CORBA_ObjRef_Var<_objref_Problem, Problem_Helper>
Problem_var;
129 typedef _CORBA_ObjRef_OUT_arg<_objref_Problem,Problem_Helper >
Problem_out;
149 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
170 public virtual ::CORBA::Object,
171 public virtual omniObjRef
180 void setParameter(
const char* name, const ::CORBA::Any& value);
185 ::CORBA::Boolean
loadPlugin(
const char* pluginName);
195 ::CORBA::Boolean
generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError);
216 void getConstraintDimensions(
const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize);
254 ::CORBA::Boolean
reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId);
259 void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end);
261 ::CORBA::Boolean
projectPath(::CORBA::ULong patId);
264 ::CORBA::Double
pathLength(::CORBA::ULong inPathId);
275 void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2);
303 virtual void* _ptrToObjRef(
const char*);
317 virtual omniObjRef*
newObjRef(omniIOR*,omniIdentity*);
318 virtual _CORBA_Boolean
is_a(
const char*)
const;
322 public virtual omniServant
332 virtual void setParameter(
const char* name, const ::CORBA::Any& value) = 0;
333 virtual ::CORBA::Any*
getParameter(
const char* name) = 0;
335 virtual ::CORBA::Boolean
selectProblem(
const char* name) = 0;
337 virtual ::CORBA::Boolean
loadPlugin(
const char* pluginName) = 0;
347 virtual ::CORBA::Boolean
generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0;
368 virtual void getConstraintDimensions(
const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize) = 0;
399 virtual void selectPathValidation(
const char* pathValidationType, ::CORBA::Double tolerance) = 0;
400 virtual void selectPathProjector(
const char* pathProjectorType, ::CORBA::Double tolerance) = 0;
406 virtual ::CORBA::Boolean
reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId) = 0;
410 virtual void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId) = 0;
411 virtual void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end) = 0;
412 virtual void erasePath(::CORBA::ULong pathId) = 0;
413 virtual ::CORBA::Boolean
projectPath(::CORBA::ULong patId) = 0;
416 virtual ::CORBA::Double
pathLength(::CORBA::ULong inPathId) = 0;
427 virtual void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2) = 0;
433 virtual void saveRoadmap(
const char* filename) = 0;
434 virtual void readRoadmap(
const char* filename) = 0;
447 virtual _CORBA_Boolean
_dispatch(omniCallHandle&);
450 virtual void* _ptrToInterface(
const char*);
451 virtual const char* _mostDerivedRepoId();
462 _CORBA_MODULE POA_hpp
465 _CORBA_MODULE corbaserver
469 public virtual hpp::corbaserver::_impl_Problem,
470 public virtual ::PortableServer::ServantBase
486 _CORBA_MODULE OBV_hpp
489 _CORBA_MODULE corbaserver
507 omniObjRef::_marshal(obj->_PR_getobj(),s);
512 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_problem
513 # undef USE_stub_in_nt_dll
514 # undef USE_stub_in_nt_dll_NOT_DEFINED_problem
516 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_problem
517 # undef USE_core_stub_in_nt_dll
518 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_problem
520 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
521 # undef USE_dyn_stub_in_nt_dll
522 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
525 #endif // __problem_hh__
floatSeq * getInitialConfig()
virtual void resetConstraintMap()=0
virtual ::CORBA::Long numberConnectedComponents()=0
void resetConstraintMap()
static void release(_ptr_type)
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)
virtual ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)=0
core_idl::SteeringMethod_ptr getSteeringMethod()
virtual ::CORBA::Long numberNodes()=0
virtual void setRightHandSideFromConfigByName(const char *constraintName, const ::hpp::floatSeq &config)=0
virtual ::CORBA::Boolean prepareSolveStepByStep()=0
void selectDistance(const char *distanceType)
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
Definition: common-idl.hh:570
virtual ::CORBA::Boolean directPath(const ::hpp::floatSeq &startConfig, const ::hpp::floatSeq &endConfig, ::CORBA::Boolean validate, ::CORBA::ULong &pathId, ::CORBA::String_out report)=0
void setRobot(::hpp::pinocchio_idl::Device_ptr robot)
virtual void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq &config, ::CORBA::Boolean validate)=0
virtual ::CORBA::Boolean executeOneStep()=0
virtual void clearRoadmap()=0
void scCreateScalarMultiply(const char *outName, ::CORBA::Double scalar, const char *inName)
virtual void selectPathPlanner(const char *pathPlannerType)=0
void setDistance(::hpp::core_idl::Distance_ptr distance)
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
virtual void createTransformationSE3Constraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)=0
::CORBA::Boolean executeOneStep()
void createLockedJointWithComp(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value, const ::hpp::ComparisonTypes_t &comp)
virtual void setMaxIterPathPlanning(::CORBA::ULong iterations)=0
virtual ::CORBA::Boolean loadPlugin(const char *pluginName)=0
Problem_ptr _ptr_type
Definition: problem-idl.hh:137
void createStaticStabilityConstraint(const char *constraintName, const ::hpp::Names_t &jointNames, const ::hpp::floatSeqSeq &points, const ::hpp::floatSeqSeq &normals, const char *comRootJointName)
::CORBA::Long numberNodes()
static _ptr_type _narrow(::CORBA::Object_ptr)
floatSeq * derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)
virtual void createRelativeComConstraint(const char *constraintName, const char *comName, const char *jointLName, const ::hpp::floatSeq &point, const ::hpp::boolSeq &mask)=0
::CORBA::Boolean loadPlugin(const char *pluginName)
core_idl::PathValidation_ptr getPathValidation()
virtual void addGoalConfig(const ::hpp::floatSeq &dofArray)=0
virtual constraints_idl::Implicit_ptr getConstraint(const char *constraintName)=0
virtual void clearConfigValidations()=0
void clearPathOptimizers()
sequence< string > Names_t
Sequence of names.
Definition: common.idl:22
virtual ::CORBA::UShort getMaxNumThreads()=0
virtual void addEdgeToRoadmap(const ::hpp::floatSeq &config1, const ::hpp::floatSeq &config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)=0
floatSeq * getRightHandSide()
::CORBA::Double Quaternion_[4]
Definition: common-idl.hh:958
static void duplicate(_ptr_type)
::CORBA::Long numberPaths()
void addLockedJointConstraints(const char *configProjName, const ::hpp::Names_t &lockedJointNames)
static _ptr_type _duplicate(_ptr_type)
virtual pinocchio_idl::Device_ptr robot()=0
void createPositionConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::floatSeq &point1, const ::hpp::floatSeq &point2, const ::hpp::boolSeq &mask)
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
_objref_Problem * Problem_ptr
Definition: problem-idl.hh:111
static void _marshalObjRef(_ptr_type, cdrStream &)
inline ::hpp::corbaserver::Problem_ptr _this()
Definition: problem-idl.hh:475
void getConstraintDimensions(const char *constraintName, ::CORBA::ULong &inputSize, ::CORBA::ULong &inputDerivativeSize, ::CORBA::ULong &outputSize, ::CORBA::ULong &outputDerivativeSize)
virtual void computeValueAndJacobian(const ::hpp::floatSeq &config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)=0
::CORBA::Double pathLength(::CORBA::ULong inPathId)
virtual void setErrorThreshold(::CORBA::Double threshold)=0
virtual void selectSteeringMethod(const char *steeringMethodType)=0
void createManipulability(const char *name, const char *function)
virtual void selectDistance(const char *distanceType)=0
::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)
virtual void erasePath(::CORBA::ULong pathId)=0
_objref_Distance * Distance_ptr
Definition: _problem-idl.hh:135
::CORBA::ULong getMaxIterPathPlanning()
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
virtual void addNumericalConstraints(const char *configProjName, const ::hpp::Names_t &constraintNames, const ::hpp::intSeq &priorities)=0
Definition: common-idl.hh:684
::CORBA::Long numberConnectedComponents()
virtual void resetConstraints()=0
sequence< floatSeq > floatSeqSeq
Definition: common.idl:33
void setDefaultLineSearchType(const char *type)
pinocchio_idl::Device_ptr robot()
virtual void clearPathOptimizers()=0
constraints_idl::Implicit_ptr getConstraint(const char *constraintName)
::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId)
void setRightHandSideFromConfig(const ::hpp::floatSeq &config)
_objref_Problem()
Definition: problem-idl.hh:295
::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path)
virtual void selectConfigurationShooter(const char *configurationShooterType)=0
floatSeq * node(::CORBA::ULong nodeId)
void createRelativeComConstraint(const char *constraintName, const char *comName, const char *jointLName, const ::hpp::floatSeq &point, const ::hpp::boolSeq &mask)
virtual void addPassiveDofs(const char *constraintName, const ::hpp::Names_t &jointNames)=0
virtual void addConfigValidation(const char *configValidationType)=0
virtual void createOrientationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq &mask)=0
::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong &reversedPathId)
virtual ::CORBA::Double getErrorThreshold()=0
core_idl::Path_ptr getPath(::CORBA::ULong pathId)
virtual void resetGoalConfigs()=0
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
void interruptPathPlanning()
_objref_PathValidation * PathValidation_ptr
Definition: _problem-idl.hh:187
::CORBA::Boolean directPath(const ::hpp::floatSeq &startConfig, const ::hpp::floatSeq &endConfig, ::CORBA::Boolean validate, ::CORBA::ULong &pathId, ::CORBA::String_out report)
::CORBA::Any * getParameter(const char *name)
virtual void setDefaultLineSearchType(const char *type)=0
static const _core_attr char * _PD_repoId
Definition: problem-idl.hh:163
virtual ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong &reversedPathId)=0
_pof_Problem()
Definition: problem-idl.hh:314
virtual void saveRoadmap(const char *filename)=0
virtual void setRightHandSideFromConfig(const ::hpp::floatSeq &config)=0
void addPassiveDofs(const char *constraintName, const ::hpp::Names_t &jointNames)
virtual void createTransformationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &mask)=0
virtual void addPathOptimizer(const char *pathOptimizerType)=0
void clearConfigValidations()
virtual void setTimeOutPathPlanning(::CORBA::Double timeOut)=0
virtual core_idl::SteeringMethod_ptr getSteeringMethod()=0
void createTransformationConstraint2(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)
void setErrorThreshold(::CORBA::Double threshold)
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
virtual void selectPathValidation(const char *pathValidationType, ::CORBA::Double tolerance)=0
::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId)
virtual void setMaxIterProjection(::CORBA::ULong iterations)=0
virtual floatSeqSeq * nodes()=0
void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq &config, ::CORBA::Boolean validate)
void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional)
Problem_ptr ProblemRef
Definition: problem-idl.hh:114
virtual floatSeq * getNearestConfig(const ::hpp::floatSeq &config, ::CORBA::Long connectedComponentId, ::CORBA::Double &distance)=0
virtual void getConstraintDimensions(const char *constraintName, ::CORBA::ULong &inputSize, ::CORBA::ULong &inputDerivativeSize, ::CORBA::ULong &outputSize, ::CORBA::ULong &outputDerivativeSize)=0
::CORBA::Boolean selectProblem(const char *name)
virtual ~_objref_Problem()
Definition: problem-idl.hh:312
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
virtual void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId)=0
void addEdgeToRoadmap(const ::hpp::floatSeq &config1, const ::hpp::floatSeq &config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)
void createTransformationSE3Constraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)
virtual ::CORBA::Boolean optimize(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)=0
static void marshalObjRef(_ptr_type, cdrStream &)
void computeValueAndJacobian(const ::hpp::floatSeq &config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)
Names_t * getAvailable(const char *type)
intSeq * optimizePath(::CORBA::ULong inPathId)
virtual ::CORBA::Long numberPaths()=0
void movePathToProblem(::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)
virtual void setParameter(const char *name, const ::CORBA::Any &value)=0
virtual void resetProblem()=0
virtual floatSeq * derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)=0
void setMaxNumThreads(::CORBA::UShort n)
void setMaxIterProjection(::CORBA::ULong iterations)
core_idl::Distance_ptr getDistance()
virtual void selectPathProjector(const char *pathProjectorType, ::CORBA::Double tolerance)=0
sequence< ComparisonType > ComparisonTypes_t
Definition: common.idl:48
void createLockedExtraDof(const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &value)
virtual void readRoadmap(const char *filename)=0
virtual void setRobot(::hpp::pinocchio_idl::Device_ptr robot)=0
virtual ::CORBA::Double getTimeOutPathPlanning()=0
virtual floatSeq * node(::CORBA::ULong nodeId)=0
Definition: problem-idl.hh:134
void readRoadmap(const char *filename)
virtual void setRightHandSideByName(const char *constraintName, const ::hpp::floatSeq &rhs)=0
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:27
::CORBA::Double Transform_[7]
Definition: common-idl.hh:796
virtual core_idl::Path_ptr getPath(::CORBA::ULong pathId)=0
::CORBA::ULong getMaxIterProjection()
void setRightHandSide(const ::hpp::floatSeq &rhs)
void setRightHandSideFromConfigByName(const char *constraintName, const ::hpp::floatSeq &config)
::CORBA::Boolean projectPath(::CORBA::ULong patId)
virtual void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional)=0
virtual ::CORBA::Boolean selectProblem(const char *name)=0
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: problem-idl.hh:156
void createOrientationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq &mask)
void selectConfigurationShooter(const char *configurationShooterType)
void addPathOptimizer(const char *pathOptimizerType)
virtual void setDistance(::hpp::core_idl::Distance_ptr distance)=0
void addGoalConfig(const ::hpp::floatSeq &dofArray)
virtual void createConfigurationConstraint(const char *constraintName, const ::hpp::floatSeq &goal, const ::hpp::floatSeq &weights)=0
virtual _CORBA_Boolean is_a(const char *) const
#define _core_attr
Definition: problem-idl.hh:83
virtual ::CORBA::Boolean getConstantRightHandSide(const char *constraintName)=0
::CORBA::UShort getMaxNumThreads()
virtual core_idl::PathValidation_ptr getPathValidation()=0
virtual void resetRoadmap()=0
void addConfigToRoadmap(const ::hpp::floatSeq &config)
virtual core_idl::PathPlanner_ptr getPathPlanner()=0
virtual void setInitialConfig(const ::hpp::floatSeq &dofArray)=0
void setMaxIterPathPlanning(::CORBA::ULong iterations)
virtual void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)=0
void finishSolveStepByStep()
void setInitialConfig(const ::hpp::floatSeq &dofArray)
static _CORBA_Boolean is_nil(_ptr_type)
void selectPathProjector(const char *pathProjectorType, ::CORBA::Double tolerance)
::CORBA::Boolean applyConstraints(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)
virtual char * displayConstraints()=0
::CORBA::Boolean getConstantRightHandSide(const char *constraintName)
virtual void setRightHandSide(const ::hpp::floatSeq &rhs)=0
Problem_ptr _ptr_type
Definition: problem-idl.hh:118
virtual intSeq * optimizePath(::CORBA::ULong inPathId)=0
virtual intSeq * solve()=0
void addNumericalConstraints(const char *configProjName, const ::hpp::Names_t &constraintNames, const ::hpp::intSeq &priorities)
floatSeqSeq * getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times)
void createConfigurationConstraint(const char *constraintName, const ::hpp::floatSeq &goal, const ::hpp::floatSeq &weights)
virtual void createIdentityConstraint(const char *constraintName, const ::hpp::Names_t &inJoints, const ::hpp::Names_t &outJoints)=0
void setRightHandSideByName(const char *constraintName, const ::hpp::floatSeq &rhs)
::CORBA::Double getErrorThreshold()
void setTimeOutPathPlanning(::CORBA::Double timeOut)
virtual void createDistanceBetweenJointConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, ::CORBA::Double distance)=0
virtual Names_t * getSelected(const char *type)=0
virtual void createLockedJointWithComp(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value, const ::hpp::ComparisonTypes_t &comp)=0
floatSeq * getNearestConfig(const ::hpp::floatSeq &config, ::CORBA::Long connectedComponentId, ::CORBA::Double &distance)
void selectPathValidation(const char *pathValidationType, ::CORBA::Double tolerance)
virtual floatSeqSeq * nodesConnectedComponent(::CORBA::ULong connectedComponentId)=0
virtual ::CORBA::Boolean projectPath(::CORBA::ULong patId)=0
::CORBA::Long numberEdges()
_objref_SteeringMethod * SteeringMethod_ptr
Definition: _problem-idl.hh:161
virtual void movePathToProblem(::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)=0
virtual floatSeq * configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance)=0
void addConfigValidation(const char *configValidationType)
char * displayConstraints()
virtual char * getParameterDoc(const char *name)=0
virtual void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)=0
virtual void filterCollisionPairs()=0
::CORBA::Double getTimeOutPathPlanning()
virtual void createDistanceBetweenJointAndObjects(const char *constraintName, const char *joint1Name, const ::hpp::Names_t &objects, ::CORBA::Double distance)=0
void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: problem-idl.hh:148
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82
void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)
Definition: problem-idl.hh:116
void createDistanceBetweenJointAndObjects(const char *constraintName, const char *joint1Name, const ::hpp::Names_t &objects, ::CORBA::Double distance)
void createLockedJoint(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value)
virtual void createLockedJoint(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value)=0
void setParameter(const char *name, const ::CORBA::Any &value)
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
_CORBA_ObjRef_OUT_arg< _objref_Problem, Problem_Helper > Problem_out
Definition: problem-idl.hh:129
virtual floatSeq * getRightHandSide()=0
virtual floatSeqSeq * getGoalConfigs()=0
virtual ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId)=0
Definition: common-idl.hh:342
char * getParameterDoc(const char *name)
virtual void addLockedJointConstraints(const char *configProjName, const ::hpp::Names_t &lockedJointNames)=0
virtual ::CORBA::ULong getMaxIterPathPlanning()=0
virtual ::CORBA::Long numberEdges()=0
Definition: problem-idl.hh:169
virtual ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId)=0
virtual ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path)=0
void createIdentityConstraint(const char *constraintName, const ::hpp::Names_t &inJoints, const ::hpp::Names_t &outJoints)
Names_t * getSelected(const char *type)
virtual void createLockedExtraDof(const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &value)=0
sequence< intSeq > intSeqSeq
Definition: common.idl:30
static _ptr_type unmarshalObjRef(cdrStream &)
floatSeqSeq * nodesConnectedComponent(::CORBA::ULong connectedComponentId)
virtual Names_t * getAvailable(const char *type)=0
void createTransformationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &mask)
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
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)
::CORBA::Boolean optimize(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)
Problem_var _var_type
Definition: problem-idl.hh:138
void saveRoadmap(const char *filename)
void setRandomSeed(::CORBA::Long seed)
virtual void scCreateScalarMultiply(const char *outName, ::CORBA::Double scalar, const char *inName)=0
_CORBA_ObjRef_Var< _objref_Problem, Problem_Helper > Problem_var
Definition: problem-idl.hh:128
floatSeqSeq * getGoalConfigs()
core_idl::Problem_ptr getProblem()
virtual ::CORBA::Any * getParameter(const char *name)=0
virtual ::CORBA::Double pathLength(::CORBA::ULong inPathId)=0
void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId)
Definition: problem-idl.hh:321
sequence< boolean > boolSeq
Definition: common.idl:28
virtual ::CORBA::ULong getMaxIterProjection()=0
virtual floatSeq * getInitialConfig()=0
core_idl::PathPlanner_ptr getPathPlanner()
virtual void createManipulability(const char *name, const char *function)=0
virtual void interruptPathPlanning()=0
void erasePath(::CORBA::ULong pathId)
virtual core_idl::Problem_ptr getProblem()=0
virtual void addConfigToRoadmap(const ::hpp::floatSeq &config)=0
virtual void setRandomSeed(::CORBA::Long seed)=0
void selectSteeringMethod(const char *steeringMethodType)
virtual void createStaticStabilityConstraint(const char *constraintName, const ::hpp::Names_t &jointNames, const ::hpp::floatSeqSeq &points, const ::hpp::floatSeqSeq &normals, const char *comRootJointName)=0
void filterCollisionPairs()
void selectPathPlanner(const char *pathPlannerType)
virtual void setMaxNumThreads(::CORBA::UShort n)=0
virtual floatSeqSeq * getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times)=0
floatSeq * configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance)
void createDistanceBetweenJointConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, ::CORBA::Double distance)
void setConstantRightHandSide(const char *constraintName, ::CORBA::Boolean constant)
virtual ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)=0
virtual void setConstantRightHandSide(const char *constraintName, ::CORBA::Boolean constant)=0
virtual void finishSolveStepByStep()=0
Definition: common-idl.hh:73
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
_objref_Device * Device_ptr
Definition: _problem-idl.hh:103
sequence< long > intSeq
Definition: common.idl:29
virtual core_idl::Distance_ptr getDistance()=0
_objref_PathPlanner * PathPlanner_ptr
Definition: path_planners-idl.hh:242
::CORBA::Boolean prepareSolveStepByStep()