hpp-corbaserver: idl/hpp/core_idl/_problem.idl Source File

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

_problem.idl
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1 // Copyright (C) 2019 by Joseph Mirabel, LAAS-CNRS.
2 //
3 // This file is part of the hpp-corbaserver.
4 //
5 // This software is provided "as is" without warranty of any kind,
6 // either expressed or implied, including but not limited to the
7 // implied warranties of fitness for a particular purpose.
8 //
9 // See the COPYING file for more information.
10
11 #ifndef HPP_CORE_PROBLEM_IDL
12 #define HPP_CORE_PROBLEM_IDL
13 #include <hpp/common.idl>
14
15 module hpp
16 {
17 module pinocchio_idl {
18 interface Device;
19 interface CollisionObject;
20 }; // module pinocchio
21
22 module core_idl {
23 interface Distance;
24 interface SteeringMethod;
25 interface ConfigValidation;
26 interface PathProjector;
27 interface PathValidation;
28 interface ConfigurationShooter;
29 interface Constraint;
30 interface ConstraintSet;
31
32 interface Problem
33 {
34 HPP_EXPOSE_MEMORY_DEALLOCATION(Error)
35
36 pinocchio_idl::Device robot () raises (Error);
37
38 void setInitConfig (in floatSeq init) raises (Error);
39 //* pinocchio::Configuration_t q (corbaServer::floatSeqToConfig(getT()->robot(), init, true));
40 //* getT()->initConfig (q);
41 floatSeq getInitConfig () raises (Error);
42 //-> initConfig
43 void addGoalConfig (in floatSeq goal) raises (Error);
44 //* pinocchio::Configuration_t q (corbaServer::floatSeqToConfig(getT()->robot(), goal, true));
45 //* getT()->addGoalConfig (q);
46 void resetGoalConfigs () raises (Error);
47
48 Constraint getConstraints () raises (Error);
49 //-> constraints
50 void setConstraints (in Constraint constraints) raises (Error);
51 //* hpp::core::ConstraintPtr_t c = ::hpp::corbaServer::reference_to_servant_base<hpp::core::Constraint>(server_, constraints)->get();
52 //* hpp::core::ConstraintSetPtr_t cs = HPP_DYNAMIC_PTR_CAST(hpp::core::ConstraintSet, c);
53 //* if (!cs) throw hpp::Error("Constraint is not of type ConstraintSet");
54 //* (getT()->constraints (cs));
55
56 Distance getDistance () raises (Error);
57 //-> distance
58 void setDistance (in Distance d) raises (Error);
59 //-> distance
60 SteeringMethod getSteeringMethod () raises (Error);
61 //-> steeringMethod
62 void setSteeringMethod (in SteeringMethod d) raises (Error);
63 //-> steeringMethod
64 PathValidation getPathValidation () raises (Error);
65 //-> pathValidation
66 void setPathValidation (in PathValidation d) raises (Error);
67 //-> pathValidation
68
69 PathProjector getPathProjector () raises (Error);
70 //-> pathProjector
71 void setPathProjector (in PathProjector p) raises (Error);
72 //-> pathProjector
73
74 ConfigValidation getConfigValidations () raises (Error);
75 //-> configValidations
76 void clearConfigValidations () raises (Error);
77 void addConfigValidation (in ConfigValidation cfgValidation) raises (Error);
78
79 ConfigurationShooter getConfigurationShooter () raises (Error);
80 //-> configurationShooter
81 void setConfigurationShooter (in ConfigurationShooter d) raises (Error);
82 //-> configurationShooter
83
84 void filterCollisionPairs () raises (Error);
85
89 void setSecurityMargins (in floatSeqSeq margins) raises (Error);
90
91 void addObstacle (in pinocchio_idl::CollisionObject _object) raises (Error);
92
93 void setParameter (in string name, in any value) raises (Error);
94 //* getT()->setParameter(name, hpp::corbaServer::toParameter(value));
95
96 any getParameter (in string name) raises (Error);
97 //* return hpp::corbaServer::toCorbaAnyPtr(getT()->getParameter(name));
98 }; // interface Problem
99
100 }; // module core
101 }; // module hpp
102
103 //* #include <hpp/core/problem.hh>
104 //* #include <hpp/pinocchio_idl/robots.hh>
105 //* #include <hpp/core_idl/distances.hh>
106 //* #include <hpp/core_idl/steering_methods.hh>
107 //* #include <hpp/core_idl/path_projectors.hh>
108 //* #include <hpp/core_idl/path_validations.hh>
109 //* #include <hpp/core_idl/configuration_shooters.hh>
110 //* #include <hpp/core/config-validations.hh>
111
112 #include <hpp/pinocchio_idl/robots.idl>
113 #include <hpp/core_idl/distances.idl>
114 #include <hpp/core_idl/steering_methods.idl>
115 #include <hpp/core_idl/path_projectors.idl>
116 #include <hpp/core_idl/path_validations.idl>
117 #include <hpp/core_idl/configuration_shooters.idl>
118
119 #endif // HPP_CORE_PROBLEM_IDL
CollisionObject
Definition: robots-idl.hh:388
ConfigValidation
Definition: path_validations-idl.hh:118
ConfigurationShooter
Definition: configuration_shooters-idl.hh:94
ConstraintSet
Definition: _constraints-idl.hh:509
Constraint
Definition: _constraints-idl.hh:242
Device
Definition: robots-idl.hh:221
Distance
Definition: distances-idl.hh:94
PathProjector
Definition: path_projectors-idl.hh:106
PathValidation
Definition: path_validations-idl.hh:481
SteeringMethod
Definition: steering_methods-idl.hh:106
floatSeqSeq
Definition: common-idl.hh:803
floatSeq
Definition: common-idl.hh:689
common.idl
HPP_EXPOSE_MEMORY_DEALLOCATION
#define HPP_EXPOSE_MEMORY_DEALLOCATION(ErrorType)
Definition: common.idl:14
configuration_shooters.idl
distances.idl
hpp::Error
Corba exception travelling through the Corba channel.
Definition: common.idl:27
init
void init(const ConfigurationShooterWkPtr_t &weak)
hpp::core_idl::ConfigValidation
Definition: path_validations.idl:31
hpp::core_idl::ConfigurationShooter
Definition: configuration_shooters.idl:21
hpp::core_idl::Constraint
Definition: _constraints.idl:27
hpp::core_idl::Distance
Definition: distances.idl:20
hpp::core_idl::PathProjector
Definition: path_projectors.idl:21
hpp::core_idl::PathValidation
Definition: path_validations.idl:66
hpp::core_idl::Problem
Definition: _problem.idl:33
hpp::core_idl::SteeringMethod
Definition: steering_methods.idl:23
hpp::pinocchio_idl::CollisionObject
Definition: robots.idl:130
hpp::pinocchio_idl::Device
Definition: robots.idl:29
hpp
Implement CORBA interface `‘Obstacle’'.
path_projectors.idl
path_validations.idl
steering_methods.idl