18 #ifndef HPP_RBPRM_CORBA_BUILDER_IDL 19 # define HPP_RBPRM_CORBA_BUILDER_IDL 21 # include <hpp/common.idl> 47 void loadRobotRomModel (in
string romRobotName, in
string rootJointType,
48 in
string packageName, in
string modelName,
49 in
string urdfSuffix, in
string srdfSuffix)
68 void loadRobotCompleteModel (in
string trunkRobotName, in
string rootJointType,
69 in
string packageName, in
string modelName,
70 in
string urdfSuffix, in
string srdfSuffix)
87 void loadFullBodyRobot (in
string trunkRobotName, in
string rootJointType,
88 in
string packageName, in
string modelName,
89 in
string urdfSuffix, in
string srdfSuffix, in
string selectedProblem)
95 void loadFullBodyRobotFromExistingRobot ()
98 void selectFullBody (in
string name) raises (Error);
102 void setStaticStability(in
boolean staticStability)
106 void setReferenceConfig(in floatSeq referenceConfig)
110 void setPostureWeights(in floatSeq postureWeights)
114 void usePosturalTaskContactCreation(in
boolean use)
118 void setReferenceEndEffector(in
string romName, in floatSeq ref)
127 void setFilter (in Names_t roms)
133 void initNewProblemSolver ()
142 void setAffordanceFilter(in
string romName, in Names_t affordances) raises (Error);
149 void boundSO3(in floatSeq limitszyx) raises (Error);
155 double projectStateToCOM(in
unsigned short stateId, in floatSeq com, in
unsigned short max_num_sample) raises (Error);
161 short cloneState(in
unsigned short stateId) raises (Error);
168 double projectStateToRoot(in
unsigned short stateId, in floatSeq root, in floatSeq offset) raises (Error);
175 double setConfigAtState(in
unsigned short stateId, in floatSeq config) raises (Error);
183 short createState(in floatSeq configuration, in Names_t contactLimbs) raises (Error);
190 floatSeq getSampleConfig(in
string sampleName, in
unsigned long sampleId) raises (Error);
198 floatSeq getSamplePosition(in
string sampleName, in
unsigned long sampleId) raises (Error);
205 floatSeqSeq getEffectorPosition(in
string limbName, in floatSeq dofArray) raises (Error);
210 unsigned short getNumSamples(in
string limbName) raises (Error);
215 floatSeq getOctreeNodeIds(in
string limbName) raises (Error);
222 double getSampleValue(in
string limbName, in
string valueName, in
unsigned long sampleId) raises (Error);
229 double getEffectorDistance(in
unsigned short state1, in
unsigned short state2) raises (Error);
235 floatSeq generateContacts(in floatSeq dofArray, in floatSeq direction, in floatSeq acceleration, in
double robustnessThreshold) raises (Error);
241 short generateStateInContact(in floatSeq dofArray, in floatSeq direction, in floatSeq acceleration, in
double robustnessThreshold) raises (Error);
246 floatSeq generateGroundContact(in Names_t contactLimbs) raises (Error);
254 floatSeq getContactSamplesIds(in
string name, in floatSeq dofArray, in floatSeq direction) raises (Error);
262 floatSeqSeq getContactSamplesProjected(in
string name, in floatSeq dofArray, in floatSeq direction,
263 in
unsigned short numSamples) raises (Error);
270 short generateContactState(in
unsigned short currentState, in
string name, in floatSeq direction) raises (Error);
276 floatSeq getSamplesIdsInOctreeNode(in
string name, in
double octreeNodeId) raises (Error);
293 void addLimb(in
string id, in
string limb, in
string effector, in floatSeq offset, in floatSeq normal,
294 in
double x, in
double y, in
unsigned long samples, in
string heuristicName,
295 in
double resolution, in
string contactType, in
double disableEffectorCollision,
296 in
double grasp,in floatSeq limbOffset,
297 in
string kinematicConstraintsPath, in
double kinematicConstraintsMin) raises (Error);
304 void addNonContactingLimb(in
string id, in
string limb, in
string effector, in
unsigned long samples) raises (Error);
313 void addLimbDatabase(in
string databasepath, in
string id, in
string heuristicName, in
double loadValues,
314 in
double disableEffectorCollision,in
double grasp) raises (Error);
319 void setStartState(in floatSeq dofArray, in Names_t contactLimbs) raises (Error);
323 void setStartStateId(in
unsigned short stateId) raises (Error);
327 void setEndStateId(in
unsigned short stateId) raises (Error);
333 floatSeq computeContactForConfig(in floatSeq dofArray, in
string limbName) raises (Error);
339 void setEndState(in floatSeq dofArray, in Names_t contactLimbs) raises (Error);
345 floatSeqSeq computeContactPoints(in
unsigned short stateId) raises (Error);
351 floatSeqSeq computeContactPointsForLimb(in
unsigned short stateId, in
string limbname) raises (Error);
357 floatSeqSeq computeContactPointsAtStateForLimb(in
unsigned short stateId, in
unsigned short isIntermediate, in
string limbname) raises (Error);
363 floatSeqSeq computeCenterOfContactAtStateForLimb(in
unsigned short cId,in
unsigned short isIntermediate, in
string limbName) raises(Error);
370 floatSeqSeq computeContactPointsAtState(in
unsigned short stateId, in
unsigned short isIntermediate) raises (Error);
381 floatSeqSeq interpolate(in
double timestep, in
double path, in
double robustnessTreshold, in
unsigned short filterStates, in
boolean testReachability, in
boolean quasiStatic, in
boolean erasePreviousStates) raises (Error);
392 floatSeqSeq interpolateConfigs(in floatSeqSeq configs, in
double robustnessTreshold, in
unsigned short filterStates,in
boolean testReachability, in
boolean quasiStatic, in
boolean erasePreviousStates) raises (Error);
400 floatSeqSeq getContactCone(in
unsigned short stateId, in
double friction) raises (Error);
406 floatSeqSeq getContactIntermediateCone(in
unsigned short stateId, in
double friction) raises (Error);
419 short generateRootPath(in floatSeqSeq rootPositions, in floatSeq q1, in floatSeq q2) raises (Error);
433 short generateComTraj(in floatSeqSeq positions, in floatSeqSeq velocities, in floatSeqSeq accelerations, in
double dt) raises (Error);
442 short straightPath(in floatSeqSeq positions) raises (Error);
448 short generateCurveTraj(in floatSeqSeq coefficients) raises (Error);
455 short generateCurveTrajParts(in floatSeqSeq coefficients, in floatSeq partitions) raises (Error);
467 short limbRRT(in
unsigned short state1, in
unsigned short state2, in
unsigned short numOptimizations) raises (Error);
480 short limbRRTFromRootPath(in
unsigned short state1, in
unsigned short state2, in
unsigned short path, in
unsigned short numOptimizations) raises (Error);
485 short configToPath(in floatSeqSeq configs) raises (Error);
498 short comRRT(in
unsigned short state1, in
unsigned short state2, in
unsigned short comPath, in
unsigned short numOptimizations) raises (Error);
512 floatSeq comRRTFromPos(in
unsigned short state1,
513 in
unsigned short comTraj1,
514 in
unsigned short comTraj2,
515 in
unsigned short comTraj3,
516 in
unsigned short numOptimizations) raises (Error);
532 floatSeq comRRTFromPosBetweenState(in
unsigned short state1,in
unsigned short state2,
533 in
unsigned short comTraj1,
534 in
unsigned short comTraj2,
535 in
unsigned short comTraj3,
536 in
unsigned short numOptimizations) raises (Error);
552 floatSeq effectorRRTFromPosBetweenState(in
unsigned short state1,in
unsigned short state2,
553 in
unsigned short comTraj1,
554 in
unsigned short comTraj2,
555 in
unsigned short comTraj3,
556 in
unsigned short numOptimizations) raises (Error);
571 floatSeq effectorRRT(in
unsigned short state1,
572 in
unsigned short comTraj1,
573 in
unsigned short comTraj2,
574 in
unsigned short comTraj3,
575 in
unsigned short numOptimizations) raises (Error);
586 floatSeq effectorRRTOnePhase(in
unsigned short state1, in
unsigned short state2,
587 in
unsigned short comTraj,
588 in
unsigned short numOptimizations) raises (Error);
597 floatSeqSeq generateEffectorBezierArray(in
unsigned short state1, in
unsigned short state2,
598 in
unsigned short comTraj,
599 in
unsigned short numOptimizations) raises (Error);
610 floatSeq comRRTOnePhase(in
unsigned short state1, in
unsigned short state2,
611 in
unsigned short comTraj,
612 in
unsigned short numOptimizations) raises (Error);
628 floatSeq effectorRRTFromPath(in
unsigned short state1, in
unsigned short refPath,
629 in
double path_from, in
double path_to,
630 in
unsigned short comTraj1,
631 in
unsigned short comTraj2,
632 in
unsigned short comTraj3,
633 in
unsigned short numOptimizations,
634 in Names_t trackedEffectors) raises (Error);
644 short generateEndEffectorBezier(in
unsigned short state1,in
unsigned short state2,
645 in
unsigned short comTraj) raises (Error);
654 floatSeq projectToCom(in
unsigned short state, in floatSeq targetCom, in
unsigned short max_num_sample) raises (Error);
661 floatSeq getConfigAtState(in
unsigned short state) raises (Error);
666 short isLimbInContact(in
string limbname, in
unsigned short state1) raises (Error);
672 short isLimbInContactIntermediary(in
string limbname, in
unsigned short state1) raises (Error);
678 short computeIntermediary(in
unsigned short state1, in
unsigned short state2) raises (Error);
682 short getNumStates() raises (Error);
687 void saveComputedStates(in
string filename) raises (Error);
693 void saveLimbDatabase(in
string limbname, in
string filename) raises (Error);
699 floatSeqSeq getOctreeBoxes(in
string limbname, in floatSeq dofArray) raises (Error);
705 floatSeq getOctreeBox(in
string limbname, in
double sampleId) raises (Error);
711 floatSeq getOctreeTransform(in
string limbname, in floatSeq dofArray) raises (Error);
715 double isStateBalanced(in
unsigned short state) raises (Error);
723 short isConfigBalanced(in floatSeq config, in Names_t contacts, in
double robustnessTreshold,in floatSeq CoM) raises (Error);
729 void runSampleAnalysis(in
string analysis, in
double isstatic) raises (Error);
737 floatSeq runLimbSampleAnalysis(in
string limbname, in
string analysis, in
double isstatic) raises (Error);
740 floatSeq evaluateConfig(in floatSeq configuration, in floatSeq direction) raises (Error);
746 void dumpProfile(in
string logFile) raises (Error);
750 double getTimeAtState(in
unsigned short stateId) raises (Error);
755 Names_t getContactsVariations(in
unsigned short stateIdFrom,in
unsigned short stateIdTo) raises (Error);
761 Names_t getCollidingObstacleAtConfig(in floatSeq configuration,in
string limbName) raises (Error);
766 floatSeqSeq getContactSurfacesAtConfig(in floatSeq configuration,in
string limbName) raises (Error);
769 Names_t getAllLimbsNames() raises (Error);
783 short addNewContact(in
unsigned short stateId, in
string limbName, in floatSeq position, in floatSeq normal, in
unsigned short max_num_sample, in
boolean lockOtherJoints,in floatSeq rotation) raises (Error);
790 short removeContact(in
unsigned short stateId, in
string limbName) raises (Error);
800 floatSeq computeTargetTransform(in
string limbname, in floatSeq configuration, in floatSeq p, in floatSeq n) raises (Error);
805 Names_t getEffectorsTrajectoriesNames(in
unsigned short pathId)raises (Error);
813 floatSeqSeqSeq getEffectorTrajectoryWaypoints(in
unsigned short pathId,in
string effectorName) raises (Error);
818 floatSeqSeq getPathAsBezier(in
unsigned short pathId)raises (Error);
821 boolean toggleNonContactingLimb(in
string limbname)raises (Error);
823 boolean areKinematicsConstraintsVerified(in floatSeq point)raises (Error);
825 boolean areKinematicsConstraintsVerifiedForState(in
unsigned short stateFrom,in floatSeq point)raises (Error);
827 floatSeq isReachableFromState(in
unsigned short stateFrom, in
unsigned short stateTo, in
boolean useIntermediateState)raises (Error);
829 floatSeq isDynamicallyReachableFromState(in
unsigned short stateFrom, in
unsigned short stateTo,in
boolean addPathPerPhase, in floatSeq timings,in
short numPointsPerPhase)raises (Error);
837 #endif // HPP_RBPRM_CORBA_BUILDER_IDL
Definition: rbprmbuilder.idl:29
sequence< floatSeqSeq > floatSeqSeqSeq
Definition: rbprmbuilder.idl:25