hpp-corbaserver: idl/hpp/core_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_CORE_CONSTRAINTS_IDL
12#define HPP_CORE_CONSTRAINTS_IDL
13#include <hpp/common.idl>
14
15#include <hpp/constraints_idl/constraints.idl>
16
17module hpp
18{
19 module constraints_idl {
20 interface Implicit;
21 typedef sequence <Implicit> Implicits;
22 };
23
24 module core_idl {
25
26 interface Constraint
27 {
28 HPP_EXPOSE_MEMORY_DEALLOCATION(Error)
29
30 boolean apply (inout floatSeq config) raises (Error);
31
32 string name () raises (Error);
33 string str () raises (Error);
34 boolean isSatisfied (in floatSeq config) raises (Error);
35
36 Constraint copy() raises (Error);
37 }; // interface Constraint
38
39 interface ConfigProjector : Constraint
40 {
41 void setRightHandSideFromConfig (in floatSeq config) raises (Error);
42 //-> rightHandSideFromConfig
43 void setRightHandSideOfConstraintFromConfig (in constraints_idl::Implicit nm, in floatSeq config) raises (Error);
44 //-> rightHandSideFromConfig
45 void setRightHandSide (in floatSeq param) raises (Error);
46 //-> rightHandSide
47 void setRightHandSideOfConstraint (in constraints_idl::Implicit nm, in floatSeq rhs) raises (Error);
48 //-> rightHandSide
49 floatSeq getRightHandSide () raises (Error);
50 //-> rightHandSide
51 void setRightHandSideAt (in value_type s) raises (Error);
52 //-> rightHandSideAt
53 boolean isConstraintSatisfied (in constraints_idl::Implicit nm,
54 in floatSeq arg, out floatSeq err,
55 out boolean constraintFound) raises (Error);
56 //* hpp::core::vector_t _arg = hpp::corbaServer::floatSeqToVector (arg);
57 //* hpp::constraints::ImplicitPtr_t _nm = hpp::corbaServer::reference_to_servant_base<hpp::constraints::Implicit>(server_, nm)->get();
58 //* hpp::core::vector_t errorOut (_nm->function ().outputSpace ()->nv ());
59 //* bool res = getT ()->solver ().isConstraintSatisfied
60 //* (_nm, _arg,errorOut, constraintFound);
61 //* err = hpp::corbaServer::vectorToFloatSeq (errorOut);
62 //* return res;
63
64 constraints_idl::Implicits numericalConstraints() raises(Error);
65
66 boolean add (in constraints_idl::Implicit numconstraint, in unsigned long priority);
67
68 void setLastIsOptional (in boolean optional);
69 //-> lastIsOptional
70
71 boolean getLastIsOptional ();
72 //-> lastIsOptional
73
74 void setErrorThreshold (in value_type threshold) raises(Error);
75 //-> errorThreshold
76 value_type getErrorThreshold () raises(Error);
77 //-> errorThreshold
78 }; // interface ConfigProjector
79
80 interface ConstraintSet : Constraint
81 {
85 Constraint getConfigProjector () raises (Error);
86 //-> configProjector
87
88 void addConstraint(in Constraint a_constraint) raises (Error);
89 }; // interface ConstraintSet
90
91 }; // module core
92}; // module hpp
93//* #include <hpp/core/constraint.hh>
94//* #include <hpp/core/constraint-set.hh>
95//* #include <hpp/core/config-projector.hh>
96//* #include <hpp/constraints_idl/constraints.hh>
97//* #include <hpp/constraints/solver/by-substitution.hh>
98
99#endif // HPP_CORE_CONSTRAINTS_IDL
Implicit
Definition constraints-idl.hh:223
Implicits
Definition _constraints-idl.hh:99
floatSeq
Definition common-idl.hh:689
common.idl
HPP_EXPOSE_MEMORY_DEALLOCATION
#define HPP_EXPOSE_MEMORY_DEALLOCATION(ErrorType)
Definition common.idl:14
constraints.idl
hpp::Error
Corba exception travelling through the Corba channel.
Definition common.idl:27
copy
virtual SteeringMethodPtr_t copy() const
hpp::constraints_idl::Implicit
Definition constraints.idl:41
hpp::core_idl::ConfigProjector
Definition _constraints.idl:40
hpp::core_idl::ConfigProjector::setRightHandSide
void setRightHandSide(in floatSeq param)
hpp::core_idl::ConfigProjector::getRightHandSide
floatSeq getRightHandSide()
hpp::core_idl::ConfigProjector::setRightHandSideFromConfig
void setRightHandSideFromConfig(in floatSeq config)
hpp::core_idl::ConfigProjector::setRightHandSideOfConstraintFromConfig
void setRightHandSideOfConstraintFromConfig(in constraints_idl::Implicit nm, in floatSeq config)
hpp::core_idl::ConfigProjector::setRightHandSideOfConstraint
void setRightHandSideOfConstraint(in constraints_idl::Implicit nm, in floatSeq rhs)
hpp::core_idl::ConstraintSet
Definition _constraints.idl:81
hpp::core_idl::ConstraintSet::getConfigProjector
Constraint getConfigProjector()
hpp::core_idl::Constraint
Definition _constraints.idl:27
hpp
Implement CORBA interface `‘Obstacle’'.
hpp::value_type
double value_type
Definition common.idl:18