hpp-corbaserver: idl/hpp/constraints_idl/constraints.idl Source File

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

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constraints.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_CONSTRAINTS_CONSTRAINTS_IDL
12#define HPP_CONSTRAINTS_CONSTRAINTS_IDL
13#include <hpp/common.idl>
14
15module hpp
16{
17 module constraints_idl {
18
19 interface DifferentiableFunction
20 {
21 floatSeq value (in floatSeq arg) raises (Error);
22 //* return corbaServer::vectorToFloatSeq (
23 //* (*get()) (corbaServer::floatSeqToVector(arg, get()->inputSize())).vector()
24 //* );
25
26 floatSeqSeq jacobian (in floatSeq arg) raises (Error);
27 //* constraints::matrix_t J (get()->outputDerivativeSize(), get()->inputDerivativeSize());
28 //* get()->jacobian (J, corbaServer::floatSeqToVector(arg));
29 //* return corbaServer::matrixToFloatSeqSeq (J);
30
31 size_type inputSize () raises (Error);
32 size_type inputDerivativeSize () raises (Error);
33 size_type outputSize () raises (Error);
34 size_type outputDerivativeSize () raises (Error);
35 string name () raises (Error);
36
37 string str () raises (Error);
38 };
39
40 interface Implicit
41 {
42 DifferentiableFunction function () raises (Error);
43 //-> functionPtr
44
45 size_type rightHandSideSize () raises (Error);
46
47 size_type parameterSize () raises (Error);
48
49 floatSeq rightHandSideAt (in value_type s) raises (Error);
50
51 ComparisonTypes_t getComparisonType () raises (Error);
52 //->comparisonType
53
54 void setComparisonType (in ComparisonTypes_t compType) raises (Error);
55 //->comparisonType
56 }; // interface Implicit
57
58 interface LockedJoint : Implicit
59 {
60 string jointName () raises (Error);
61 }; // interface LockedJoint
62
63 interface ConfigurationConstraint : DifferentiableFunction
64 {
65 floatSeq getWeights () raises (Error);
66 //-> weights
67 void setWeights (in floatSeq weights) raises (Error);
68 //-> weights
69 floatSeq getGoal () raises (Error);
70 //* return corbaServer::vectorToFloatSeq(getT()->goal().vector());
71 }; // interface ConfigurationConstraint
72
73 }; // module core
74}; // module hpp
75//* #include <hpp/constraints/differentiable-function.hh>
76//* #include <hpp/constraints/implicit.hh>
77//* #include <hpp/constraints/locked-joint.hh>
78//* #include <hpp/constraints/configuration-constraint.hh>
79
80#endif // HPP_CORE_PATHS_IDL
ComparisonTypes_t
Definition common-idl.hh:1138
floatSeqSeq
Definition common-idl.hh:803
floatSeq
Definition common-idl.hh:689
common.idl
hpp::Error
Corba exception travelling through the Corba channel.
Definition common.idl:27
hpp::constraints_idl::ConfigurationConstraint
Definition constraints.idl:64
hpp::constraints_idl::ConfigurationConstraint::getWeights
floatSeq getWeights()
hpp::constraints_idl::DifferentiableFunction
Definition constraints.idl:20
hpp::constraints_idl::DifferentiableFunction::value
floatSeq value(in floatSeq arg)
hpp::constraints_idl::DifferentiableFunction::jacobian
floatSeqSeq jacobian(in floatSeq arg)
hpp::constraints_idl::DifferentiableFunction::inputSize
size_type inputSize()
hpp::constraints_idl::Implicit
Definition constraints.idl:41
hpp::constraints_idl::Implicit::rightHandSideSize
size_type rightHandSideSize()
hpp::constraints_idl::LockedJoint
Definition constraints.idl:59
hpp::constraints_idl::LockedJoint::jointName
string jointName()
hpp
Implement CORBA interface `‘Obstacle’'.
hpp::size_type
long long size_type
Definition common.idl:19
hpp::value_type
double value_type
Definition common.idl:18