hpp-corbaserver: src/hpp/corbaserver/problem-idl.hh Source File

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

problem-idl.hh
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1 // This file is generated by omniidl (C++ backend)- omniORB_4_3. Do not edit.
2 #ifndef __problem_hh__
3 #define __problem_hh__
4
5 #ifndef __CORBA_H_EXTERNAL_GUARD__
6 #include <omniORB4/CORBA.h>
7 #endif
8
9 #ifndef USE_stub_in_nt_dll
10 # define USE_stub_in_nt_dll_NOT_DEFINED_problem
11 #endif
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_problem
14 #endif
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
17 #endif
18
19
20
21 #ifndef __common_hh_EXTERNAL_GUARD__
22 #define __common_hh_EXTERNAL_GUARD__
23 #include <hpp/common-idl.hh>
24 #endif
25 #ifndef __constraints_hh_EXTERNAL_GUARD__
26 #define __constraints_hh_EXTERNAL_GUARD__
27 #include <hpp/constraints_idl/constraints-idl.hh>
28 #endif
29 #ifndef __distances_hh_EXTERNAL_GUARD__
30 #define __distances_hh_EXTERNAL_GUARD__
31 #include <hpp/core_idl/distances-idl.hh>
32 #endif
33 #ifndef __paths_hh_EXTERNAL_GUARD__
34 #define __paths_hh_EXTERNAL_GUARD__
35 #include <hpp/core_idl/paths-idl.hh>
36 #endif
37 #ifndef ____constraints_hh_EXTERNAL_GUARD__
38 #define ____constraints_hh_EXTERNAL_GUARD__
39 #include <hpp/core_idl/_constraints-idl.hh>
40 #endif
41 #ifndef __steering__methods_hh_EXTERNAL_GUARD__
42 #define __steering__methods_hh_EXTERNAL_GUARD__
43 #include <hpp/core_idl/steering_methods-idl.hh>
44 #endif
45 #ifndef __path__planners_hh_EXTERNAL_GUARD__
46 #define __path__planners_hh_EXTERNAL_GUARD__
47 #include <hpp/core_idl/path_planners-idl.hh>
48 #endif
49 #ifndef __path__projectors_hh_EXTERNAL_GUARD__
50 #define __path__projectors_hh_EXTERNAL_GUARD__
51 #include <hpp/core_idl/path_projectors-idl.hh>
52 #endif
53 #ifndef __path__validations_hh_EXTERNAL_GUARD__
54 #define __path__validations_hh_EXTERNAL_GUARD__
55 #include <hpp/core_idl/path_validations-idl.hh>
56 #endif
57 #ifndef ____problem_hh_EXTERNAL_GUARD__
58 #define ____problem_hh_EXTERNAL_GUARD__
59 #include <hpp/core_idl/_problem-idl.hh>
60 #endif
61 #ifndef __robots_hh_EXTERNAL_GUARD__
62 #define __robots_hh_EXTERNAL_GUARD__
63 #include <hpp/pinocchio_idl/robots-idl.hh>
64 #endif
65 #ifndef __configuration__shooters_hh_EXTERNAL_GUARD__
66 #define __configuration__shooters_hh_EXTERNAL_GUARD__
67 #include <hpp/core_idl/configuration_shooters-idl.hh>
68 #endif
69
70
71
72 #ifdef USE_stub_in_nt_dll
73 # ifndef USE_core_stub_in_nt_dll
74 # define USE_core_stub_in_nt_dll
75 # endif
76 # ifndef USE_dyn_stub_in_nt_dll
77 # define USE_dyn_stub_in_nt_dll
78 # endif
79 #endif
80
81 #ifdef _core_attr
82 # error "A local CPP macro _core_attr has already been defined."
83 #else
84 # ifdef USE_core_stub_in_nt_dll
85 # define _core_attr _OMNIORB_NTDLL_IMPORT
86 # else
87 # define _core_attr
88 # endif
89 #endif
90
91 #ifdef _dyn_attr
92 # error "A local CPP macro _dyn_attr has already been defined."
93 #else
94 # ifdef USE_dyn_stub_in_nt_dll
95 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
96 # else
97 # define _dyn_attr
98 # endif
99 #endif
100
101
102
103 _CORBA_MODULE hpp
104
105 _CORBA_MODULE_BEG
106
107 _CORBA_MODULE corbaserver
108
109 _CORBA_MODULE_BEG
110
111 #ifndef __hpp_mcorbaserver_mProblem__
112 #define __hpp_mcorbaserver_mProblem__
113 class Problem;
114 class _objref_Problem;
115 class _impl_Problem;
116
117 typedef _objref_Problem* Problem_ptr;
118 typedef Problem_ptr ProblemRef;
119
120 class Problem_Helper {
121 public:
122 typedef Problem_ptr _ptr_type;
123
124 static _ptr_type _nil();
125 static _CORBA_Boolean is_nil(_ptr_type);
126 static void release(_ptr_type);
127 static void duplicate(_ptr_type);
128 static void marshalObjRef(_ptr_type, cdrStream&);
129 static _ptr_type unmarshalObjRef(cdrStream&);
130 };
131
132 typedef _CORBA_ObjRef_Var<_objref_Problem, Problem_Helper> Problem_var;
133 typedef _CORBA_ObjRef_OUT_arg<_objref_Problem,Problem_Helper > Problem_out;
134
135 #endif
136
137 // interface Problem
138 class Problem {
139 public:
140 // Declarations for this interface type.
141 typedef Problem_ptr _ptr_type;
142 typedef Problem_var _var_type;
143
144 static _ptr_type _duplicate(_ptr_type);
145 static _ptr_type _narrow(::CORBA::Object_ptr);
146 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
147
148 static _ptr_type _nil();
149
150 static inline void _marshalObjRef(_ptr_type, cdrStream&);
151
152 static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
153 omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
154 if (o)
155 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
156 else
157 return _nil();
158 }
159
160 static inline _ptr_type _fromObjRef(omniObjRef* o) {
161 if (o)
162 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
163 else
164 return _nil();
165 }
166
167 static _core_attr const char* _PD_repoId;
168
169 // Other IDL defined within this scope.
170
171 };
172
173 class _objref_Problem :
174 public virtual ::CORBA::Object,
175 public virtual omniObjRef
176 {
177 public:
178 // IDL operations
179 void setRandomSeed(::CORBA::Long seed);
180 void setMaxNumThreads(::CORBA::UShort n);
181 ::CORBA::UShort getMaxNumThreads();
182 Names_t* getAvailable(const char* type);
183 Names_t* getSelected(const char* type);
184 void setParameter(const char* name, const ::CORBA::Any& value);
185 ::CORBA::Any* getParameter(const char* name);
186 char* getParameterDoc(const char* name);
187 ::CORBA::Boolean selectProblem(const char* name);
188 void resetProblem();
189 ::CORBA::Boolean loadPlugin(const char* pluginName);
190 void movePathToProblem(::CORBA::ULong pathId, const char* problemName, const ::hpp::Names_t& jointNames);
191 void setInitialConfig(const ::hpp::floatSeq& dofArray);
192 floatSeq* getInitialConfig();
193 void addGoalConfig(const ::hpp::floatSeq& dofArray);
194 floatSeqSeq* getGoalConfigs();
195 void resetGoalConfigs();
196 void setGoalConstraints(const ::hpp::Names_t& constraints);
197 void resetGoalConstraints();
198 ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError);
199 ::CORBA::Boolean optimize(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError);
200 void computeValueAndJacobian(const ::hpp::floatSeq& config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian);
201 ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError);
202 void createOrientationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq& mask);
203 void createTransformationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq& mask);
204 void createTransformationR3xSO3Constraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask);
205 void createTransformationConstraint2(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask);
206 void createLockedJoint(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value);
207 void createLockedJointWithComp(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value, const ::hpp::ComparisonTypes_t& comp);
208 void createLockedExtraDof(const char* lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq& value);
209 void createManipulability(const char* name, const char* function);
210 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);
211 void createRelativeComConstraint(const char* constraintName, const char* comName, const char* jointLName, const ::hpp::floatSeq& point, const ::hpp::boolSeq& mask);
212 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);
213 void createPositionConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::floatSeq& point1, const ::hpp::floatSeq& point2, const ::hpp::boolSeq& mask);
214 void createConfigurationConstraint(const char* constraintName, const ::hpp::floatSeq& goal, const ::hpp::floatSeq& weights);
215 void createDistanceBetweenJointConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, ::CORBA::Double distance);
216 void createDistanceBetweenJointAndObjects(const char* constraintName, const char* joint1Name, const ::hpp::Names_t& objects, ::CORBA::Double distance);
217 void createIdentityConstraint(const char* constraintName, const ::hpp::Names_t& inJoints, const ::hpp::Names_t& outJoints);
218 void resetConstraints();
219 void resetConstraintMap();
220 void addPassiveDofs(const char* constraintName, const ::hpp::Names_t& jointNames);
221 void getConstraintDimensions(const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize);
222 void setConstantRightHandSide(const char* constraintName, ::CORBA::Boolean constant);
223 ::CORBA::Boolean getConstantRightHandSide(const char* constraintName);
224 floatSeq* getRightHandSide();
225 void setRightHandSide(const ::hpp::floatSeq& rhs);
226 void setRightHandSideFromConfig(const ::hpp::floatSeq& config);
227 void setRightHandSideByName(const char* constraintName, const ::hpp::floatSeq& rhs);
228 void setRightHandSideFromConfigByName(const char* constraintName, const ::hpp::floatSeq& config);
229 void addNumericalConstraints(const char* configProjName, const ::hpp::Names_t& constraintNames, const ::hpp::intSeq& priorities);
230 void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional);
231 void addLockedJointConstraints(const char* configProjName, const ::hpp::Names_t& lockedJointNames);
232 char* displayConstraints();
233 ::CORBA::Double getErrorThreshold();
234 void setErrorThreshold(::CORBA::Double threshold);
235 void setDefaultLineSearchType(const char* type);
236 ::CORBA::ULong getMaxIterProjection();
237 void setMaxIterProjection(::CORBA::ULong iterations);
238 ::CORBA::ULong getMaxIterPathPlanning();
239 void setMaxIterPathPlanning(::CORBA::ULong iterations);
240 void scCreateScalarMultiply(const char* outName, ::CORBA::Double scalar, const char* inName);
241 ::CORBA::Double getTimeOutPathPlanning();
242 void setTimeOutPathPlanning(::CORBA::Double timeOut);
243 void filterCollisionPairs();
244 void selectPathPlanner(const char* pathPlannerType);
245 void selectConfigurationShooter(const char* configurationShooterType);
246 void selectDistance(const char* distanceType);
247 void selectSteeringMethod(const char* steeringMethodType);
248 void addPathOptimizer(const char* pathOptimizerType);
249 void clearPathOptimizers();
250 void addConfigValidation(const char* configValidationType);
251 void clearConfigValidations();
252 void selectPathValidation(const char* pathValidationType, ::CORBA::Double tolerance);
253 void selectPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance);
254 ::CORBA::Boolean prepareSolveStepByStep();
255 ::CORBA::Boolean executeOneStep();
256 void finishSolveStepByStep();
257 intSeq* solve();
258 ::CORBA::Boolean directPath(const ::hpp::floatSeq& startConfig, const ::hpp::floatSeq& endConfig, ::CORBA::Boolean validate, ::CORBA::ULong& pathId, ::CORBA::String_out report);
259 ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId);
260 void addConfigToRoadmap(const ::hpp::floatSeq& config);
261 void addEdgeToRoadmap(const ::hpp::floatSeq& config1, const ::hpp::floatSeq& config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges);
262 void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq& config, ::CORBA::Boolean validate);
263 void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId);
264 void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end);
265 void erasePath(::CORBA::ULong pathId);
266 ::CORBA::Boolean projectPath(::CORBA::ULong patId);
267 ::CORBA::Long numberPaths();
268 intSeq* optimizePath(::CORBA::ULong inPathId);
269 ::CORBA::Double pathLength(::CORBA::ULong inPathId);
270 floatSeq* configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance);
271 floatSeq* derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance);
272 floatSeqSeq* getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times);
273 void interruptPathPlanning();
274 floatSeqSeq* nodes();
275 ::CORBA::Long numberNodes();
276 floatSeq* node(::CORBA::ULong nodeId);
277 ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId);
278 ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId);
279 ::CORBA::Long numberEdges();
280 void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2);
281 ::CORBA::Long numberConnectedComponents();
282 floatSeqSeq* nodesConnectedComponent(::CORBA::ULong connectedComponentId);
283 floatSeq* getNearestConfig(const ::hpp::floatSeq& config, ::CORBA::Long connectedComponentId, ::CORBA::Double& distance);
284 void clearRoadmap();
285 void resetRoadmap();
286 void saveRoadmap(const char* filename);
287 void loadRoadmap(const char* filename);
288 core_idl::Distance_ptr getDistance();
289 void setDistance(::hpp::core_idl::Distance_ptr distance);
290 core_idl::Path_ptr getPath(::CORBA::ULong pathId);
291 ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path);
292 void savePath(::hpp::core_idl::Path_ptr path, const char* filename);
293 core_idl::Path_ptr loadPath(const char* filename);
294 core_idl::SteeringMethod_ptr getSteeringMethod();
295 core_idl::PathValidation_ptr getPathValidation();
296 core_idl::PathPlanner_ptr getPathPlanner();
297 core_idl::Problem_ptr getProblem();
298 constraints_idl::Implicit_ptr getConstraint(const char* constraintName);
299 void setRobot(::hpp::pinocchio_idl::Device_ptr robot);
300 pinocchio_idl::CollisionObject_ptr getObstacle(const char* name);
301 core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot);
302 core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot);
303 core_idl::Roadmap_ptr readRoadmap(const char* filename, ::hpp::pinocchio_idl::Device_ptr robot);
304 void writeRoadmap(const char* filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot);
305 core_idl::PathPlanner_ptr createPathPlanner(const char* type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap);
306 core_idl::PathOptimizer_ptr createPathOptimizer(const char* type, ::hpp::core_idl::Problem_ptr problem);
307 core_idl::ConfigValidation_ptr createConfigValidation(const char* type, ::hpp::pinocchio_idl::Device_ptr robot);
308 core_idl::PathValidation_ptr createPathValidation(const char* type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter);
309 core_idl::PathProjector_ptr createPathProjector(const char* type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter);
310 core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char* type, ::hpp::core_idl::Problem_ptr problem);
311 core_idl::Distance_ptr createDistance(const char* type, ::hpp::core_idl::Problem_ptr problem);
312 core_idl::SteeringMethod_ptr createSteeringMethod(const char* type, ::hpp::core_idl::Problem_ptr problem);
313 core_idl::Constraint_ptr createConstraintSet(::hpp::pinocchio_idl::Device_ptr robot, const char* name);
314 core_idl::Constraint_ptr createConfigProjector(::hpp::pinocchio_idl::Device_ptr robot, const char* name, ::CORBA::Double threshold, ::CORBA::ULong iterations);
315
316 // Constructors
317 inline _objref_Problem() { _PR_setobj(0); } // nil
318 _objref_Problem(omniIOR*, omniIdentity*);
319
320 protected:
321 virtual ~_objref_Problem();
322
323
324 private:
325 virtual void* _ptrToObjRef(const char*);
326
327 _objref_Problem(const _objref_Problem&);
328 _objref_Problem& operator = (const _objref_Problem&);
329 // not implemented
330
331 friend class Problem;
332 };
333
334 class _pof_Problem : public _OMNI_NS(proxyObjectFactory) {
335 public:
336 inline _pof_Problem() : _OMNI_NS(proxyObjectFactory)(Problem::_PD_repoId) {}
337 virtual ~_pof_Problem();
338
339 virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
340 virtual _CORBA_Boolean is_a(const char*) const;
341 };
342
343 class _impl_Problem :
344 public virtual omniServant
345 {
346 public:
347 virtual ~_impl_Problem();
348
349 virtual void setRandomSeed(::CORBA::Long seed) = 0;
350 virtual void setMaxNumThreads(::CORBA::UShort n) = 0;
351 virtual ::CORBA::UShort getMaxNumThreads() = 0;
352 virtual Names_t* getAvailable(const char* type) = 0;
353 virtual Names_t* getSelected(const char* type) = 0;
354 virtual void setParameter(const char* name, const ::CORBA::Any& value) = 0;
355 virtual ::CORBA::Any* getParameter(const char* name) = 0;
356 virtual char* getParameterDoc(const char* name) = 0;
357 virtual ::CORBA::Boolean selectProblem(const char* name) = 0;
358 virtual void resetProblem() = 0;
359 virtual ::CORBA::Boolean loadPlugin(const char* pluginName) = 0;
360 virtual void movePathToProblem(::CORBA::ULong pathId, const char* problemName, const ::hpp::Names_t& jointNames) = 0;
361 virtual void setInitialConfig(const ::hpp::floatSeq& dofArray) = 0;
362 virtual floatSeq* getInitialConfig() = 0;
363 virtual void addGoalConfig(const ::hpp::floatSeq& dofArray) = 0;
364 virtual floatSeqSeq* getGoalConfigs() = 0;
365 virtual void resetGoalConfigs() = 0;
366 virtual void setGoalConstraints(const ::hpp::Names_t& constraints) = 0;
367 virtual void resetGoalConstraints() = 0;
368 virtual ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0;
369 virtual ::CORBA::Boolean optimize(const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError) = 0;
370 virtual void computeValueAndJacobian(const ::hpp::floatSeq& config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian) = 0;
371 virtual ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0;
372 virtual void createOrientationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq& mask) = 0;
373 virtual void createTransformationConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq& mask) = 0;
374 virtual void createTransformationR3xSO3Constraint(const char* constraintName, const char* joint1Name, const char* joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq& mask) = 0;
375 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;
376 virtual void createLockedJoint(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value) = 0;
377 virtual void createLockedJointWithComp(const char* lockedJointName, const char* jointName, const ::hpp::floatSeq& value, const ::hpp::ComparisonTypes_t& comp) = 0;
378 virtual void createLockedExtraDof(const char* lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq& value) = 0;
379 virtual void createManipulability(const char* name, const char* function) = 0;
380 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;
381 virtual void createRelativeComConstraint(const char* constraintName, const char* comName, const char* jointLName, const ::hpp::floatSeq& point, const ::hpp::boolSeq& mask) = 0;
382 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;
383 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;
384 virtual void createConfigurationConstraint(const char* constraintName, const ::hpp::floatSeq& goal, const ::hpp::floatSeq& weights) = 0;
385 virtual void createDistanceBetweenJointConstraint(const char* constraintName, const char* joint1Name, const char* joint2Name, ::CORBA::Double distance) = 0;
386 virtual void createDistanceBetweenJointAndObjects(const char* constraintName, const char* joint1Name, const ::hpp::Names_t& objects, ::CORBA::Double distance) = 0;
387 virtual void createIdentityConstraint(const char* constraintName, const ::hpp::Names_t& inJoints, const ::hpp::Names_t& outJoints) = 0;
388 virtual void resetConstraints() = 0;
389 virtual void resetConstraintMap() = 0;
390 virtual void addPassiveDofs(const char* constraintName, const ::hpp::Names_t& jointNames) = 0;
391 virtual void getConstraintDimensions(const char* constraintName, ::CORBA::ULong& inputSize, ::CORBA::ULong& inputDerivativeSize, ::CORBA::ULong& outputSize, ::CORBA::ULong& outputDerivativeSize) = 0;
392 virtual void setConstantRightHandSide(const char* constraintName, ::CORBA::Boolean constant) = 0;
393 virtual ::CORBA::Boolean getConstantRightHandSide(const char* constraintName) = 0;
394 virtual floatSeq* getRightHandSide() = 0;
395 virtual void setRightHandSide(const ::hpp::floatSeq& rhs) = 0;
396 virtual void setRightHandSideFromConfig(const ::hpp::floatSeq& config) = 0;
397 virtual void setRightHandSideByName(const char* constraintName, const ::hpp::floatSeq& rhs) = 0;
398 virtual void setRightHandSideFromConfigByName(const char* constraintName, const ::hpp::floatSeq& config) = 0;
399 virtual void addNumericalConstraints(const char* configProjName, const ::hpp::Names_t& constraintNames, const ::hpp::intSeq& priorities) = 0;
400 virtual void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional) = 0;
401 virtual void addLockedJointConstraints(const char* configProjName, const ::hpp::Names_t& lockedJointNames) = 0;
402 virtual char* displayConstraints() = 0;
403 virtual ::CORBA::Double getErrorThreshold() = 0;
404 virtual void setErrorThreshold(::CORBA::Double threshold) = 0;
405 virtual void setDefaultLineSearchType(const char* type) = 0;
406 virtual ::CORBA::ULong getMaxIterProjection() = 0;
407 virtual void setMaxIterProjection(::CORBA::ULong iterations) = 0;
408 virtual ::CORBA::ULong getMaxIterPathPlanning() = 0;
409 virtual void setMaxIterPathPlanning(::CORBA::ULong iterations) = 0;
410 virtual void scCreateScalarMultiply(const char* outName, ::CORBA::Double scalar, const char* inName) = 0;
411 virtual ::CORBA::Double getTimeOutPathPlanning() = 0;
412 virtual void setTimeOutPathPlanning(::CORBA::Double timeOut) = 0;
413 virtual void filterCollisionPairs() = 0;
414 virtual void selectPathPlanner(const char* pathPlannerType) = 0;
415 virtual void selectConfigurationShooter(const char* configurationShooterType) = 0;
416 virtual void selectDistance(const char* distanceType) = 0;
417 virtual void selectSteeringMethod(const char* steeringMethodType) = 0;
418 virtual void addPathOptimizer(const char* pathOptimizerType) = 0;
419 virtual void clearPathOptimizers() = 0;
420 virtual void addConfigValidation(const char* configValidationType) = 0;
421 virtual void clearConfigValidations() = 0;
422 virtual void selectPathValidation(const char* pathValidationType, ::CORBA::Double tolerance) = 0;
423 virtual void selectPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance) = 0;
424 virtual ::CORBA::Boolean prepareSolveStepByStep() = 0;
425 virtual ::CORBA::Boolean executeOneStep() = 0;
426 virtual void finishSolveStepByStep() = 0;
427 virtual intSeq* solve() = 0;
428 virtual ::CORBA::Boolean directPath(const ::hpp::floatSeq& startConfig, const ::hpp::floatSeq& endConfig, ::CORBA::Boolean validate, ::CORBA::ULong& pathId, ::CORBA::String_out report) = 0;
429 virtual ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong& reversedPathId) = 0;
430 virtual void addConfigToRoadmap(const ::hpp::floatSeq& config) = 0;
431 virtual void addEdgeToRoadmap(const ::hpp::floatSeq& config1, const ::hpp::floatSeq& config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges) = 0;
432 virtual void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq& config, ::CORBA::Boolean validate) = 0;
433 virtual void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId) = 0;
434 virtual void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end) = 0;
435 virtual void erasePath(::CORBA::ULong pathId) = 0;
436 virtual ::CORBA::Boolean projectPath(::CORBA::ULong patId) = 0;
437 virtual ::CORBA::Long numberPaths() = 0;
438 virtual intSeq* optimizePath(::CORBA::ULong inPathId) = 0;
439 virtual ::CORBA::Double pathLength(::CORBA::ULong inPathId) = 0;
440 virtual floatSeq* configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance) = 0;
441 virtual floatSeq* derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance) = 0;
442 virtual floatSeqSeq* getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times) = 0;
443 virtual void interruptPathPlanning() = 0;
444 virtual floatSeqSeq* nodes() = 0;
445 virtual ::CORBA::Long numberNodes() = 0;
446 virtual floatSeq* node(::CORBA::ULong nodeId) = 0;
447 virtual ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId) = 0;
448 virtual ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId) = 0;
449 virtual ::CORBA::Long numberEdges() = 0;
450 virtual void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2) = 0;
451 virtual ::CORBA::Long numberConnectedComponents() = 0;
452 virtual floatSeqSeq* nodesConnectedComponent(::CORBA::ULong connectedComponentId) = 0;
453 virtual floatSeq* getNearestConfig(const ::hpp::floatSeq& config, ::CORBA::Long connectedComponentId, ::CORBA::Double& distance) = 0;
454 virtual void clearRoadmap() = 0;
455 virtual void resetRoadmap() = 0;
456 virtual void saveRoadmap(const char* filename) = 0;
457 virtual void loadRoadmap(const char* filename) = 0;
458 virtual core_idl::Distance_ptr getDistance() = 0;
459 virtual void setDistance(::hpp::core_idl::Distance_ptr distance) = 0;
460 virtual core_idl::Path_ptr getPath(::CORBA::ULong pathId) = 0;
461 virtual ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path) = 0;
462 virtual void savePath(::hpp::core_idl::Path_ptr path, const char* filename) = 0;
463 virtual core_idl::Path_ptr loadPath(const char* filename) = 0;
464 virtual core_idl::SteeringMethod_ptr getSteeringMethod() = 0;
465 virtual core_idl::PathValidation_ptr getPathValidation() = 0;
466 virtual core_idl::PathPlanner_ptr getPathPlanner() = 0;
467 virtual core_idl::Problem_ptr getProblem() = 0;
468 virtual constraints_idl::Implicit_ptr getConstraint(const char* constraintName) = 0;
469 virtual void setRobot(::hpp::pinocchio_idl::Device_ptr robot) = 0;
470 virtual pinocchio_idl::CollisionObject_ptr getObstacle(const char* name) = 0;
471 virtual core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot) = 0;
472 virtual core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
473 virtual core_idl::Roadmap_ptr readRoadmap(const char* filename, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
474 virtual void writeRoadmap(const char* filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
475 virtual core_idl::PathPlanner_ptr createPathPlanner(const char* type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap) = 0;
476 virtual core_idl::PathOptimizer_ptr createPathOptimizer(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
477 virtual core_idl::ConfigValidation_ptr createConfigValidation(const char* type, ::hpp::pinocchio_idl::Device_ptr robot) = 0;
478 virtual core_idl::PathValidation_ptr createPathValidation(const char* type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter) = 0;
479 virtual core_idl::PathProjector_ptr createPathProjector(const char* type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter) = 0;
480 virtual core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
481 virtual core_idl::Distance_ptr createDistance(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
482 virtual core_idl::SteeringMethod_ptr createSteeringMethod(const char* type, ::hpp::core_idl::Problem_ptr problem) = 0;
483 virtual core_idl::Constraint_ptr createConstraintSet(::hpp::pinocchio_idl::Device_ptr robot, const char* name) = 0;
484 virtual core_idl::Constraint_ptr createConfigProjector(::hpp::pinocchio_idl::Device_ptr robot, const char* name, ::CORBA::Double threshold, ::CORBA::ULong iterations) = 0;
485
486 public: // Really protected, workaround for xlC
487 virtual _CORBA_Boolean _dispatch(omniCallHandle&);
488
489 private:
490 virtual void* _ptrToInterface(const char*);
491 virtual const char* _mostDerivedRepoId();
492
493 };
494
495
496 _CORBA_MODULE_END
497
498 _CORBA_MODULE_END
499
500
501
502 _CORBA_MODULE POA_hpp
503 _CORBA_MODULE_BEG
504
505 _CORBA_MODULE corbaserver
506 _CORBA_MODULE_BEG
507
508 class Problem :
509 public virtual hpp::corbaserver::_impl_Problem,
510 public virtual ::PortableServer::ServantBase
511 {
512 public:
513 virtual ~Problem();
514
515 inline ::hpp::corbaserver::Problem_ptr _this() {
516 return (::hpp::corbaserver::Problem_ptr) _do_this(::hpp::corbaserver::Problem::_PD_repoId);
517 }
518 };
519
520 _CORBA_MODULE_END
521
522 _CORBA_MODULE_END
523
524
525
526 _CORBA_MODULE OBV_hpp
527 _CORBA_MODULE_BEG
528
529 _CORBA_MODULE corbaserver
530 _CORBA_MODULE_BEG
531
532 _CORBA_MODULE_END
533
534 _CORBA_MODULE_END
535
536
537
538
539
540 #undef _core_attr
541 #undef _dyn_attr
542
543
544
545 inline void
546 hpp::corbaserver::Problem::_marshalObjRef(::hpp::corbaserver::Problem_ptr obj, cdrStream& s) {
547 omniObjRef::_marshal(obj->_PR_getobj(),s);
548 }
549
550
551
552 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_problem
553 # undef USE_stub_in_nt_dll
554 # undef USE_stub_in_nt_dll_NOT_DEFINED_problem
555 #endif
556 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_problem
557 # undef USE_core_stub_in_nt_dll
558 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_problem
559 #endif
560 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
561 # undef USE_dyn_stub_in_nt_dll
562 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_problem
563 #endif
564
565 #endif // __problem_hh__
566
_constraints-idl.hh
Constraint_ptr
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
_problem-idl.hh
Distance_ptr
_objref_Distance * Distance_ptr
Definition: _problem-idl.hh:165
ConfigValidation_ptr
_objref_ConfigValidation * ConfigValidation_ptr
Definition: _problem-idl.hh:217
PathValidation_ptr
_objref_PathValidation * PathValidation_ptr
Definition: _problem-idl.hh:269
ConfigurationShooter_ptr
_objref_ConfigurationShooter * ConfigurationShooter_ptr
Definition: _problem-idl.hh:295
Device_ptr
_objref_Device * Device_ptr
Definition: _problem-idl.hh:107
PathProjector_ptr
_objref_PathProjector * PathProjector_ptr
Definition: _problem-idl.hh:243
CollisionObject_ptr
_objref_CollisionObject * CollisionObject_ptr
Definition: _problem-idl.hh:133
SteeringMethod_ptr
_objref_SteeringMethod * SteeringMethod_ptr
Definition: _problem-idl.hh:191
Names_t
Definition: common-idl.hh:78
Problem_Helper
Definition: problem-idl.hh:120
Problem_Helper::unmarshalObjRef
static _ptr_type unmarshalObjRef(cdrStream &)
Problem_Helper::is_nil
static _CORBA_Boolean is_nil(_ptr_type)
Problem_Helper::_nil
static _ptr_type _nil()
Problem_Helper::_ptr_type
Problem_ptr _ptr_type
Definition: problem-idl.hh:122
Problem_Helper::release
static void release(_ptr_type)
Problem_Helper::duplicate
static void duplicate(_ptr_type)
Problem_Helper::marshalObjRef
static void marshalObjRef(_ptr_type, cdrStream &)
Problem
Definition: problem-idl.hh:138
Problem::_this
inline ::hpp::corbaserver::Problem_ptr _this()
Definition: problem-idl.hh:515
Problem::_ptr_type
Problem_ptr _ptr_type
Definition: problem-idl.hh:141
Problem::_duplicate
static _ptr_type _duplicate(_ptr_type)
Problem::_PD_repoId
static _core_attr const char * _PD_repoId
Definition: problem-idl.hh:167
Problem::_nil
static _ptr_type _nil()
Problem::_fromObjRef
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: problem-idl.hh:160
Problem::_narrow
static _ptr_type _narrow(::CORBA::Object_ptr)
Problem::_var_type
Problem_var _var_type
Definition: problem-idl.hh:142
Problem::_unmarshalObjRef
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: problem-idl.hh:152
Problem::_marshalObjRef
static void _marshalObjRef(_ptr_type, cdrStream &)
Problem::~Problem
virtual ~Problem()
Problem::_unchecked_narrow
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
_impl_Problem
Definition: problem-idl.hh:345
_impl_Problem::createRoadmap
virtual core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot)=0
_impl_Problem::directPath
virtual ::CORBA::Boolean directPath(const ::hpp::floatSeq &startConfig, const ::hpp::floatSeq &endConfig, ::CORBA::Boolean validate, ::CORBA::ULong &pathId, ::CORBA::String_out report)=0
_impl_Problem::selectSteeringMethod
virtual void selectSteeringMethod(const char *steeringMethodType)=0
_impl_Problem::createLockedJoint
virtual void createLockedJoint(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value)=0
_impl_Problem::executeOneStep
virtual ::CORBA::Boolean executeOneStep()=0
_impl_Problem::getMaxIterProjection
virtual ::CORBA::ULong getMaxIterProjection()=0
_impl_Problem::resetProblem
virtual void resetProblem()=0
_impl_Problem::createOrientationConstraint
virtual void createOrientationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq &mask)=0
_impl_Problem::createConvexShapeContactConstraint
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
_impl_Problem::setTimeOutPathPlanning
virtual void setTimeOutPathPlanning(::CORBA::Double timeOut)=0
_impl_Problem::createSteeringMethod
virtual core_idl::SteeringMethod_ptr createSteeringMethod(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
_impl_Problem::getConstraintDimensions
virtual void getConstraintDimensions(const char *constraintName, ::CORBA::ULong &inputSize, ::CORBA::ULong &inputDerivativeSize, ::CORBA::ULong &outputSize, ::CORBA::ULong &outputDerivativeSize)=0
_impl_Problem::getConstantRightHandSide
virtual ::CORBA::Boolean getConstantRightHandSide(const char *constraintName)=0
_impl_Problem::resetConstraints
virtual void resetConstraints()=0
_impl_Problem::createConfigurationConstraint
virtual void createConfigurationConstraint(const char *constraintName, const ::hpp::floatSeq &goal, const ::hpp::floatSeq &weights)=0
_impl_Problem::savePath
virtual void savePath(::hpp::core_idl::Path_ptr path, const char *filename)=0
_impl_Problem::addConfigValidation
virtual void addConfigValidation(const char *configValidationType)=0
_impl_Problem::node
virtual floatSeq * node(::CORBA::ULong nodeId)=0
_impl_Problem::createRelativeComConstraint
virtual void createRelativeComConstraint(const char *constraintName, const char *comName, const char *jointLName, const ::hpp::floatSeq &point, const ::hpp::boolSeq &mask)=0
_impl_Problem::connectedComponentOfNode
virtual ::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId)=0
_impl_Problem::addPassiveDofs
virtual void addPassiveDofs(const char *constraintName, const ::hpp::Names_t &jointNames)=0
_impl_Problem::createLockedExtraDof
virtual void createLockedExtraDof(const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &value)=0
_impl_Problem::_dispatch
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
_impl_Problem::setErrorThreshold
virtual void setErrorThreshold(::CORBA::Double threshold)=0
_impl_Problem::addGoalConfig
virtual void addGoalConfig(const ::hpp::floatSeq &dofArray)=0
_impl_Problem::resetGoalConstraints
virtual void resetGoalConstraints()=0
_impl_Problem::getSelected
virtual Names_t * getSelected(const char *type)=0
_impl_Problem::nodes
virtual floatSeqSeq * nodes()=0
_impl_Problem::clearRoadmap
virtual void clearRoadmap()=0
_impl_Problem::configAtParam
virtual floatSeq * configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance)=0
_impl_Problem::setGoalConstraints
virtual void setGoalConstraints(const ::hpp::Names_t &constraints)=0
_impl_Problem::createLockedJointWithComp
virtual void createLockedJointWithComp(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value, const ::hpp::ComparisonTypes_t &comp)=0
_impl_Problem::setMaxIterPathPlanning
virtual void setMaxIterPathPlanning(::CORBA::ULong iterations)=0
_impl_Problem::nodesConnectedComponent
virtual floatSeqSeq * nodesConnectedComponent(::CORBA::ULong connectedComponentId)=0
_impl_Problem::scCreateScalarMultiply
virtual void scCreateScalarMultiply(const char *outName, ::CORBA::Double scalar, const char *inName)=0
_impl_Problem::getObstacle
virtual pinocchio_idl::CollisionObject_ptr getObstacle(const char *name)=0
_impl_Problem::getGoalConfigs
virtual floatSeqSeq * getGoalConfigs()=0
_impl_Problem::setRightHandSideFromConfig
virtual void setRightHandSideFromConfig(const ::hpp::floatSeq &config)=0
_impl_Problem::getParameter
virtual ::CORBA::Any * getParameter(const char *name)=0
_impl_Problem::addNumericalConstraints
virtual void addNumericalConstraints(const char *configProjName, const ::hpp::Names_t &constraintNames, const ::hpp::intSeq &priorities)=0
_impl_Problem::setRightHandSideByName
virtual void setRightHandSideByName(const char *constraintName, const ::hpp::floatSeq &rhs)=0
_impl_Problem::selectConfigurationShooter
virtual void selectConfigurationShooter(const char *configurationShooterType)=0
_impl_Problem::selectProblem
virtual ::CORBA::Boolean selectProblem(const char *name)=0
_impl_Problem::resetGoalConfigs
virtual void resetGoalConfigs()=0
_impl_Problem::createPositionConstraint
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
_impl_Problem::createPathPlanner
virtual core_idl::PathPlanner_ptr createPathPlanner(const char *type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap)=0
_impl_Problem::createPathValidation
virtual core_idl::PathValidation_ptr createPathValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter)=0
_impl_Problem::~_impl_Problem
virtual ~_impl_Problem()
_impl_Problem::selectPathProjector
virtual void selectPathProjector(const char *pathProjectorType, ::CORBA::Double tolerance)=0
_impl_Problem::selectPathPlanner
virtual void selectPathPlanner(const char *pathPlannerType)=0
_impl_Problem::getSteeringMethod
virtual core_idl::SteeringMethod_ptr getSteeringMethod()=0
_impl_Problem::generateValidConfig
virtual ::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)=0
_impl_Problem::clearPathOptimizers
virtual void clearPathOptimizers()=0
_impl_Problem::setRightHandSideFromConfigByName
virtual void setRightHandSideFromConfigByName(const char *constraintName, const ::hpp::floatSeq &config)=0
_impl_Problem::getRightHandSide
virtual floatSeq * getRightHandSide()=0
_impl_Problem::createManipulability
virtual void createManipulability(const char *name, const char *function)=0
_impl_Problem::projectPath
virtual ::CORBA::Boolean projectPath(::CORBA::ULong patId)=0
_impl_Problem::createTransformationR3xSO3Constraint
virtual void createTransformationR3xSO3Constraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)=0
_impl_Problem::prepareSolveStepByStep
virtual ::CORBA::Boolean prepareSolveStepByStep()=0
_impl_Problem::movePathToProblem
virtual void movePathToProblem(::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)=0
_impl_Problem::createProblem
virtual core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot)=0
_impl_Problem::getPath
virtual core_idl::Path_ptr getPath(::CORBA::ULong pathId)=0
_impl_Problem::derivativeAtParam
virtual floatSeq * derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)=0
_impl_Problem::optimize
virtual ::CORBA::Boolean optimize(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)=0
_impl_Problem::resetConstraintMap
virtual void resetConstraintMap()=0
_impl_Problem::computeValueAndJacobian
virtual void computeValueAndJacobian(const ::hpp::floatSeq &config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)=0
_impl_Problem::getNearestConfig
virtual floatSeq * getNearestConfig(const ::hpp::floatSeq &config, ::CORBA::Long connectedComponentId, ::CORBA::Double &distance)=0
_impl_Problem::setRobot
virtual void setRobot(::hpp::pinocchio_idl::Device_ptr robot)=0
_impl_Problem::setParameter
virtual void setParameter(const char *name, const ::CORBA::Any &value)=0
_impl_Problem::resetRoadmap
virtual void resetRoadmap()=0
_impl_Problem::createConfigurationShooter
virtual core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
_impl_Problem::addConfigToRoadmap
virtual void addConfigToRoadmap(const ::hpp::floatSeq &config)=0
_impl_Problem::optimizePath
virtual intSeq * optimizePath(::CORBA::ULong inPathId)=0
_impl_Problem::createDistance
virtual core_idl::Distance_ptr createDistance(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
_impl_Problem::numberEdges
virtual ::CORBA::Long numberEdges()=0
_impl_Problem::addPathOptimizer
virtual void addPathOptimizer(const char *pathOptimizerType)=0
_impl_Problem::getDistance
virtual core_idl::Distance_ptr getDistance()=0
_impl_Problem::selectPathValidation
virtual void selectPathValidation(const char *pathValidationType, ::CORBA::Double tolerance)=0
_impl_Problem::reversePath
virtual ::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong &reversedPathId)=0
_impl_Problem::getMaxNumThreads
virtual ::CORBA::UShort getMaxNumThreads()=0
_impl_Problem::getWaypoints
virtual floatSeqSeq * getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times)=0
_impl_Problem::setDefaultLineSearchType
virtual void setDefaultLineSearchType(const char *type)=0
_impl_Problem::getTimeOutPathPlanning
virtual ::CORBA::Double getTimeOutPathPlanning()=0
_impl_Problem::clearConfigValidations
virtual void clearConfigValidations()=0
_impl_Problem::getParameterDoc
virtual char * getParameterDoc(const char *name)=0
_impl_Problem::createIdentityConstraint
virtual void createIdentityConstraint(const char *constraintName, const ::hpp::Names_t &inJoints, const ::hpp::Names_t &outJoints)=0
_impl_Problem::loadPlugin
virtual ::CORBA::Boolean loadPlugin(const char *pluginName)=0
_impl_Problem::appendDirectPath
virtual void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq &config, ::CORBA::Boolean validate)=0
_impl_Problem::createPathProjector
virtual core_idl::PathProjector_ptr createPathProjector(const char *type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter)=0
_impl_Problem::createConstraintSet
virtual core_idl::Constraint_ptr createConstraintSet(::hpp::pinocchio_idl::Device_ptr robot, const char *name)=0
_impl_Problem::addLockedJointConstraints
virtual void addLockedJointConstraints(const char *configProjName, const ::hpp::Names_t &lockedJointNames)=0
_impl_Problem::setConstantRightHandSide
virtual void setConstantRightHandSide(const char *constraintName, ::CORBA::Boolean constant)=0
_impl_Problem::numberNodes
virtual ::CORBA::Long numberNodes()=0
_impl_Problem::loadRoadmap
virtual void loadRoadmap(const char *filename)=0
_impl_Problem::finishSolveStepByStep
virtual void finishSolveStepByStep()=0
_impl_Problem::loadPath
virtual core_idl::Path_ptr loadPath(const char *filename)=0
_impl_Problem::addEdgeToRoadmap
virtual void addEdgeToRoadmap(const ::hpp::floatSeq &config1, const ::hpp::floatSeq &config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)=0
_impl_Problem::robot
virtual pinocchio_idl::Device_ptr robot()=0
_impl_Problem::extractPath
virtual void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)=0
_impl_Problem::getErrorThreshold
virtual ::CORBA::Double getErrorThreshold()=0
_impl_Problem::interruptPathPlanning
virtual void interruptPathPlanning()=0
_impl_Problem::getProblem
virtual core_idl::Problem_ptr getProblem()=0
_impl_Problem::pathLength
virtual ::CORBA::Double pathLength(::CORBA::ULong inPathId)=0
_impl_Problem::getMaxIterPathPlanning
virtual ::CORBA::ULong getMaxIterPathPlanning()=0
_impl_Problem::createDistanceBetweenJointConstraint
virtual void createDistanceBetweenJointConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, ::CORBA::Double distance)=0
_impl_Problem::setDistance
virtual void setDistance(::hpp::core_idl::Distance_ptr distance)=0
_impl_Problem::createConfigValidation
virtual core_idl::ConfigValidation_ptr createConfigValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot)=0
_impl_Problem::edge
virtual void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)=0
_impl_Problem::readRoadmap
virtual core_idl::Roadmap_ptr readRoadmap(const char *filename, ::hpp::pinocchio_idl::Device_ptr robot)=0
_impl_Problem::applyConstraints
virtual ::CORBA::Boolean applyConstraints(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)=0
_impl_Problem::createTransformationConstraint2
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
_impl_Problem::setMaxIterProjection
virtual void setMaxIterProjection(::CORBA::ULong iterations)=0
_impl_Problem::solve
virtual intSeq * solve()=0
_impl_Problem::erasePath
virtual void erasePath(::CORBA::ULong pathId)=0
_impl_Problem::setNumericalConstraintsLastPriorityOptional
virtual void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional)=0
_impl_Problem::getConstraint
virtual constraints_idl::Implicit_ptr getConstraint(const char *constraintName)=0
_impl_Problem::concatenatePath
virtual void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId)=0
_impl_Problem::getPathPlanner
virtual core_idl::PathPlanner_ptr getPathPlanner()=0
_impl_Problem::createComBeetweenFeet
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
_impl_Problem::writeRoadmap
virtual void writeRoadmap(const char *filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot)=0
_impl_Problem::setRightHandSide
virtual void setRightHandSide(const ::hpp::floatSeq &rhs)=0
_impl_Problem::setInitialConfig
virtual void setInitialConfig(const ::hpp::floatSeq &dofArray)=0
_impl_Problem::selectDistance
virtual void selectDistance(const char *distanceType)=0
_impl_Problem::connectedComponentOfEdge
virtual ::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId)=0
_impl_Problem::filterCollisionPairs
virtual void filterCollisionPairs()=0
_impl_Problem::saveRoadmap
virtual void saveRoadmap(const char *filename)=0
_impl_Problem::createPathOptimizer
virtual core_idl::PathOptimizer_ptr createPathOptimizer(const char *type, ::hpp::core_idl::Problem_ptr problem)=0
_impl_Problem::numberConnectedComponents
virtual ::CORBA::Long numberConnectedComponents()=0
_impl_Problem::setRandomSeed
virtual void setRandomSeed(::CORBA::Long seed)=0
_impl_Problem::getInitialConfig
virtual floatSeq * getInitialConfig()=0
_impl_Problem::addPath
virtual ::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path)=0
_impl_Problem::createConfigProjector
virtual core_idl::Constraint_ptr createConfigProjector(::hpp::pinocchio_idl::Device_ptr robot, const char *name, ::CORBA::Double threshold, ::CORBA::ULong iterations)=0
_impl_Problem::getPathValidation
virtual core_idl::PathValidation_ptr getPathValidation()=0
_impl_Problem::createDistanceBetweenJointAndObjects
virtual void createDistanceBetweenJointAndObjects(const char *constraintName, const char *joint1Name, const ::hpp::Names_t &objects, ::CORBA::Double distance)=0
_impl_Problem::displayConstraints
virtual char * displayConstraints()=0
_impl_Problem::getAvailable
virtual Names_t * getAvailable(const char *type)=0
_impl_Problem::numberPaths
virtual ::CORBA::Long numberPaths()=0
_impl_Problem::setMaxNumThreads
virtual void setMaxNumThreads(::CORBA::UShort n)=0
_impl_Problem::createTransformationConstraint
virtual void createTransformationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &mask)=0
_objref_Problem
Definition: problem-idl.hh:176
_objref_Problem::createPathValidation
core_idl::PathValidation_ptr createPathValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot, ::hpp::value_type parameter)
_objref_Problem::createOrientationConstraint
void createOrientationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Quaternion_ p, const ::hpp::boolSeq &mask)
_objref_Problem::getConstraint
constraints_idl::Implicit_ptr getConstraint(const char *constraintName)
_objref_Problem::executeOneStep
::CORBA::Boolean executeOneStep()
_objref_Problem::createConfigurationShooter
core_idl::ConfigurationShooter_ptr createConfigurationShooter(const char *type, ::hpp::core_idl::Problem_ptr problem)
_objref_Problem::numberNodes
::CORBA::Long numberNodes()
_objref_Problem::createDistanceBetweenJointAndObjects
void createDistanceBetweenJointAndObjects(const char *constraintName, const char *joint1Name, const ::hpp::Names_t &objects, ::CORBA::Double distance)
_objref_Problem::addLockedJointConstraints
void addLockedJointConstraints(const char *configProjName, const ::hpp::Names_t &lockedJointNames)
_objref_Problem::movePathToProblem
void movePathToProblem(::CORBA::ULong pathId, const char *problemName, const ::hpp::Names_t &jointNames)
_objref_Problem::resetGoalConstraints
void resetGoalConstraints()
_objref_Problem::displayConstraints
char * displayConstraints()
_objref_Problem::_objref_Problem
_objref_Problem()
Definition: problem-idl.hh:317
_objref_Problem::getMaxIterPathPlanning
::CORBA::ULong getMaxIterPathPlanning()
_objref_Problem::createSteeringMethod
core_idl::SteeringMethod_ptr createSteeringMethod(const char *type, ::hpp::core_idl::Problem_ptr problem)
_objref_Problem::getPath
core_idl::Path_ptr getPath(::CORBA::ULong pathId)
_objref_Problem::createConfigProjector
core_idl::Constraint_ptr createConfigProjector(::hpp::pinocchio_idl::Device_ptr robot, const char *name, ::CORBA::Double threshold, ::CORBA::ULong iterations)
_objref_Problem::setMaxIterProjection
void setMaxIterProjection(::CORBA::ULong iterations)
_objref_Problem::getSelected
Names_t * getSelected(const char *type)
_objref_Problem::getMaxNumThreads
::CORBA::UShort getMaxNumThreads()
_objref_Problem::loadPath
core_idl::Path_ptr loadPath(const char *filename)
_objref_Problem::addGoalConfig
void addGoalConfig(const ::hpp::floatSeq &dofArray)
_objref_Problem::selectSteeringMethod
void selectSteeringMethod(const char *steeringMethodType)
_objref_Problem::setErrorThreshold
void setErrorThreshold(::CORBA::Double threshold)
_objref_Problem::setRobot
void setRobot(::hpp::pinocchio_idl::Device_ptr robot)
_objref_Problem::savePath
void savePath(::hpp::core_idl::Path_ptr path, const char *filename)
_objref_Problem::numberEdges
::CORBA::Long numberEdges()
_objref_Problem::edge
void edge(::CORBA::ULong edgeId, ::hpp::floatSeq_out q1, ::hpp::floatSeq_out q2)
_objref_Problem::computeValueAndJacobian
void computeValueAndJacobian(const ::hpp::floatSeq &config, ::hpp::floatSeq_out value, ::hpp::floatSeqSeq_out jacobian)
_objref_Problem::filterCollisionPairs
void filterCollisionPairs()
_objref_Problem::selectPathPlanner
void selectPathPlanner(const char *pathPlannerType)
_objref_Problem::createConstraintSet
core_idl::Constraint_ptr createConstraintSet(::hpp::pinocchio_idl::Device_ptr robot, const char *name)
_objref_Problem::resetRoadmap
void resetRoadmap()
_objref_Problem::createPositionConstraint
void createPositionConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::floatSeq &point1, const ::hpp::floatSeq &point2, const ::hpp::boolSeq &mask)
_objref_Problem::pathLength
::CORBA::Double pathLength(::CORBA::ULong inPathId)
_objref_Problem::readRoadmap
core_idl::Roadmap_ptr readRoadmap(const char *filename, ::hpp::pinocchio_idl::Device_ptr robot)
_objref_Problem::configAtParam
floatSeq * configAtParam(::CORBA::ULong inPathId, ::CORBA::Double atDistance)
_objref_Problem::setInitialConfig
void setInitialConfig(const ::hpp::floatSeq &dofArray)
_objref_Problem::createLockedExtraDof
void createLockedExtraDof(const char *lockedDofName, ::CORBA::ULong index, const ::hpp::floatSeq &value)
_objref_Problem::getGoalConfigs
floatSeqSeq * getGoalConfigs()
_objref_Problem::getInitialConfig
floatSeq * getInitialConfig()
_objref_Problem::setRightHandSideByName
void setRightHandSideByName(const char *constraintName, const ::hpp::floatSeq &rhs)
_objref_Problem::loadRoadmap
void loadRoadmap(const char *filename)
_objref_Problem::saveRoadmap
void saveRoadmap(const char *filename)
_objref_Problem::createTransformationConstraint2
void createTransformationConstraint2(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)
_objref_Problem::addPassiveDofs
void addPassiveDofs(const char *constraintName, const ::hpp::Names_t &jointNames)
_objref_Problem::createProblem
core_idl::Problem_ptr createProblem(::hpp::pinocchio_idl::Device_ptr robot)
_objref_Problem::setMaxIterPathPlanning
void setMaxIterPathPlanning(::CORBA::ULong iterations)
_objref_Problem::addConfigToRoadmap
void addConfigToRoadmap(const ::hpp::floatSeq &config)
_objref_Problem::extractPath
void extractPath(::CORBA::ULong pathId, ::CORBA::Double start, ::CORBA::Double end)
_objref_Problem::_objref_Problem
_objref_Problem(omniIOR *, omniIdentity *)
_objref_Problem::createLockedJointWithComp
void createLockedJointWithComp(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value, const ::hpp::ComparisonTypes_t &comp)
_objref_Problem::addPath
::CORBA::ULong addPath(::hpp::core_idl::PathVector_ptr path)
_objref_Problem::getConstantRightHandSide
::CORBA::Boolean getConstantRightHandSide(const char *constraintName)
_objref_Problem::setConstantRightHandSide
void setConstantRightHandSide(const char *constraintName, ::CORBA::Boolean constant)
_objref_Problem::getDistance
core_idl::Distance_ptr getDistance()
_objref_Problem::resetConstraints
void resetConstraints()
_objref_Problem::createLockedJoint
void createLockedJoint(const char *lockedJointName, const char *jointName, const ::hpp::floatSeq &value)
_objref_Problem::getSteeringMethod
core_idl::SteeringMethod_ptr getSteeringMethod()
_objref_Problem::createPathOptimizer
core_idl::PathOptimizer_ptr createPathOptimizer(const char *type, ::hpp::core_idl::Problem_ptr problem)
_objref_Problem::getParameterDoc
char * getParameterDoc(const char *name)
_objref_Problem::getConstraintDimensions
void getConstraintDimensions(const char *constraintName, ::CORBA::ULong &inputSize, ::CORBA::ULong &inputDerivativeSize, ::CORBA::ULong &outputSize, ::CORBA::ULong &outputDerivativeSize)
_objref_Problem::selectPathValidation
void selectPathValidation(const char *pathValidationType, ::CORBA::Double tolerance)
_objref_Problem::createManipulability
void createManipulability(const char *name, const char *function)
_objref_Problem::projectPath
::CORBA::Boolean projectPath(::CORBA::ULong patId)
_objref_Problem::selectPathProjector
void selectPathProjector(const char *pathProjectorType, ::CORBA::Double tolerance)
_objref_Problem::reversePath
::CORBA::Boolean reversePath(::CORBA::ULong pathId, ::CORBA::ULong &reversedPathId)
_objref_Problem::setRightHandSideFromConfig
void setRightHandSideFromConfig(const ::hpp::floatSeq &config)
_objref_Problem::createTransformationR3xSO3Constraint
void createTransformationR3xSO3Constraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ frame1, const ::hpp::Transform_ frame2, const ::hpp::boolSeq &mask)
_objref_Problem::createDistanceBetweenJointConstraint
void createDistanceBetweenJointConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, ::CORBA::Double distance)
_objref_Problem::createComBeetweenFeet
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)
_objref_Problem::loadPlugin
::CORBA::Boolean loadPlugin(const char *pluginName)
_objref_Problem::getWaypoints
floatSeqSeq * getWaypoints(::CORBA::ULong pathId, ::hpp::floatSeq_out times)
_objref_Problem::robot
pinocchio_idl::Device_ptr robot()
_objref_Problem::selectProblem
::CORBA::Boolean selectProblem(const char *name)
_objref_Problem::addNumericalConstraints
void addNumericalConstraints(const char *configProjName, const ::hpp::Names_t &constraintNames, const ::hpp::intSeq &priorities)
_objref_Problem::node
floatSeq * node(::CORBA::ULong nodeId)
_objref_Problem::addEdgeToRoadmap
void addEdgeToRoadmap(const ::hpp::floatSeq &config1, const ::hpp::floatSeq &config2, ::CORBA::ULong pathId, ::CORBA::Boolean bothEdges)
_objref_Problem::numberConnectedComponents
::CORBA::Long numberConnectedComponents()
_objref_Problem::clearRoadmap
void clearRoadmap()
_objref_Problem::createRoadmap
core_idl::Roadmap_ptr createRoadmap(::hpp::core_idl::Distance_ptr distance, ::hpp::pinocchio_idl::Device_ptr robot)
_objref_Problem::prepareSolveStepByStep
::CORBA::Boolean prepareSolveStepByStep()
_objref_Problem::erasePath
void erasePath(::CORBA::ULong pathId)
_objref_Problem::getNearestConfig
floatSeq * getNearestConfig(const ::hpp::floatSeq &config, ::CORBA::Long connectedComponentId, ::CORBA::Double &distance)
_objref_Problem::concatenatePath
void concatenatePath(::CORBA::ULong startId, ::CORBA::ULong endId)
_objref_Problem::resetProblem
void resetProblem()
_objref_Problem::resetConstraintMap
void resetConstraintMap()
_objref_Problem::getAvailable
Names_t * getAvailable(const char *type)
_objref_Problem::createPathProjector
core_idl::PathProjector_ptr createPathProjector(const char *type, ::hpp::core_idl::Problem_ptr robot, ::hpp::value_type parameter)
_objref_Problem::connectedComponentOfEdge
::CORBA::Long connectedComponentOfEdge(::CORBA::ULong edgeId)
_objref_Problem::createConvexShapeContactConstraint
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)
_objref_Problem::createTransformationConstraint
void createTransformationConstraint(const char *constraintName, const char *joint1Name, const char *joint2Name, const ::hpp::Transform_ ref, const ::hpp::boolSeq &mask)
_objref_Problem::getErrorThreshold
::CORBA::Double getErrorThreshold()
_objref_Problem::resetGoalConfigs
void resetGoalConfigs()
_objref_Problem::createConfigValidation
core_idl::ConfigValidation_ptr createConfigValidation(const char *type, ::hpp::pinocchio_idl::Device_ptr robot)
_objref_Problem::clearConfigValidations
void clearConfigValidations()
_objref_Problem::setNumericalConstraintsLastPriorityOptional
void setNumericalConstraintsLastPriorityOptional(::CORBA::Boolean optional)
_objref_Problem::optimizePath
intSeq * optimizePath(::CORBA::ULong inPathId)
_objref_Problem::getPathPlanner
core_idl::PathPlanner_ptr getPathPlanner()
_objref_Problem::~_objref_Problem
virtual ~_objref_Problem()
_objref_Problem::createDistance
core_idl::Distance_ptr createDistance(const char *type, ::hpp::core_idl::Problem_ptr problem)
_objref_Problem::setDefaultLineSearchType
void setDefaultLineSearchType(const char *type)
_objref_Problem::setGoalConstraints
void setGoalConstraints(const ::hpp::Names_t &constraints)
_objref_Problem::createConfigurationConstraint
void createConfigurationConstraint(const char *constraintName, const ::hpp::floatSeq &goal, const ::hpp::floatSeq &weights)
_objref_Problem::finishSolveStepByStep
void finishSolveStepByStep()
_objref_Problem::generateValidConfig
::CORBA::Boolean generateValidConfig(::CORBA::ULong maxIter, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)
_objref_Problem::getParameter
::CORBA::Any * getParameter(const char *name)
_objref_Problem::selectDistance
void selectDistance(const char *distanceType)
_objref_Problem::numberPaths
::CORBA::Long numberPaths()
_objref_Problem::connectedComponentOfNode
::CORBA::Long connectedComponentOfNode(::CORBA::ULong nodeId)
_objref_Problem::setRightHandSideFromConfigByName
void setRightHandSideFromConfigByName(const char *constraintName, const ::hpp::floatSeq &config)
_objref_Problem::createIdentityConstraint
void createIdentityConstraint(const char *constraintName, const ::hpp::Names_t &inJoints, const ::hpp::Names_t &outJoints)
_objref_Problem::setMaxNumThreads
void setMaxNumThreads(::CORBA::UShort n)
_objref_Problem::interruptPathPlanning
void interruptPathPlanning()
_objref_Problem::getObstacle
pinocchio_idl::CollisionObject_ptr getObstacle(const char *name)
_objref_Problem::scCreateScalarMultiply
void scCreateScalarMultiply(const char *outName, ::CORBA::Double scalar, const char *inName)
_objref_Problem::getTimeOutPathPlanning
::CORBA::Double getTimeOutPathPlanning()
_objref_Problem::createRelativeComConstraint
void createRelativeComConstraint(const char *constraintName, const char *comName, const char *jointLName, const ::hpp::floatSeq &point, const ::hpp::boolSeq &mask)
_objref_Problem::derivativeAtParam
floatSeq * derivativeAtParam(::CORBA::ULong inPathId, ::CORBA::ULong orderId, ::CORBA::Double atDistance)
_objref_Problem::addConfigValidation
void addConfigValidation(const char *configValidationType)
_objref_Problem::nodesConnectedComponent
floatSeqSeq * nodesConnectedComponent(::CORBA::ULong connectedComponentId)
_objref_Problem::setParameter
void setParameter(const char *name, const ::CORBA::Any &value)
_objref_Problem::createPathPlanner
core_idl::PathPlanner_ptr createPathPlanner(const char *type, ::hpp::core_idl::Problem_ptr problem, ::hpp::core_idl::Roadmap_ptr roadmap)
_objref_Problem::setDistance
void setDistance(::hpp::core_idl::Distance_ptr distance)
_objref_Problem::getMaxIterProjection
::CORBA::ULong getMaxIterProjection()
_objref_Problem::solve
intSeq * solve()
_objref_Problem::setRightHandSide
void setRightHandSide(const ::hpp::floatSeq &rhs)
_objref_Problem::optimize
::CORBA::Boolean optimize(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::hpp::floatSeq_out residualError)
_objref_Problem::appendDirectPath
void appendDirectPath(::CORBA::ULong pathId, const ::hpp::floatSeq &config, ::CORBA::Boolean validate)
_objref_Problem::applyConstraints
::CORBA::Boolean applyConstraints(const ::hpp::floatSeq &input, ::hpp::floatSeq_out output, ::CORBA::Double &residualError)
_objref_Problem::addPathOptimizer
void addPathOptimizer(const char *pathOptimizerType)
_objref_Problem::getProblem
core_idl::Problem_ptr getProblem()
_objref_Problem::clearPathOptimizers
void clearPathOptimizers()
_objref_Problem::getPathValidation
core_idl::PathValidation_ptr getPathValidation()
_objref_Problem::directPath
::CORBA::Boolean directPath(const ::hpp::floatSeq &startConfig, const ::hpp::floatSeq &endConfig, ::CORBA::Boolean validate, ::CORBA::ULong &pathId, ::CORBA::String_out report)
_objref_Problem::setRandomSeed
void setRandomSeed(::CORBA::Long seed)
_objref_Problem::getRightHandSide
floatSeq * getRightHandSide()
_objref_Problem::writeRoadmap
void writeRoadmap(const char *filename, ::hpp::core_idl::Roadmap_ptr roadmap, ::hpp::pinocchio_idl::Device_ptr robot)
_objref_Problem::selectConfigurationShooter
void selectConfigurationShooter(const char *configurationShooterType)
_objref_Problem::nodes
floatSeqSeq * nodes()
_objref_Problem::setTimeOutPathPlanning
void setTimeOutPathPlanning(::CORBA::Double timeOut)
_pof_Problem
Definition: problem-idl.hh:334
_pof_Problem::newObjRef
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
_pof_Problem::_pof_Problem
_pof_Problem()
Definition: problem-idl.hh:336
_pof_Problem::~_pof_Problem
virtual ~_pof_Problem()
_pof_Problem::is_a
virtual _CORBA_Boolean is_a(const char *) const
floatSeqSeq
Definition: common-idl.hh:803
floatSeq
Definition: common-idl.hh:689
intSeq
Definition: common-idl.hh:461
common-idl.hh
Quaternion_
::CORBA::Double Quaternion_[4]
Definition: common-idl.hh:1077
Transform_
::CORBA::Double Transform_[7]
Definition: common-idl.hh:915
configuration_shooters-idl.hh
constraints-idl.hh
Implicit_ptr
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
distances-idl.hh
problem
ProblemConstPtr_t problem() const
timeOut
void timeOut(const double &timeOut)
hpp
Implement CORBA interface `‘Obstacle’'.
hpp::boolSeq
sequence< boolean > boolSeq
Definition: common.idl:30
hpp::floatSeq
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
hpp::intSeqSeq
sequence< intSeq > intSeqSeq
Definition: common.idl:32
hpp::floatSeqSeq
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
hpp::Names_t
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
hpp::value_type
double value_type
Definition: common.idl:18
hpp::ComparisonTypes_t
sequence< ComparisonType > ComparisonTypes_t
Definition: common.idl:50
hpp::intSeq
sequence< long > intSeq
Definition: common.idl:31
path_planners-idl.hh
Path_ptr
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
PathPlanner_ptr
_objref_PathPlanner * PathPlanner_ptr
Definition: path_planners-idl.hh:483
PathOptimizer_ptr
_objref_PathOptimizer * PathOptimizer_ptr
Definition: path_planners-idl.hh:624
Roadmap_ptr
_objref_Roadmap * Roadmap_ptr
Definition: path_planners-idl.hh:342
path_projectors-idl.hh
path_validations-idl.hh
paths-idl.hh
PathVector_ptr
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82
Problem_var
_CORBA_ObjRef_Var< _objref_Problem, Problem_Helper > Problem_var
Definition: problem-idl.hh:132
Problem_ptr
_objref_Problem * Problem_ptr
Definition: problem-idl.hh:115
_core_attr
#define _core_attr
Definition: problem-idl.hh:87
Problem_out
_CORBA_ObjRef_OUT_arg< _objref_Problem, Problem_Helper > Problem_out
Definition: problem-idl.hh:133
ProblemRef
Problem_ptr ProblemRef
Definition: problem-idl.hh:118
robots-idl.hh
steering_methods-idl.hh