18 #ifndef HPP_RBPRM_CORBA_BUILDER_IDL
19 # define HPP_RBPRM_CORBA_BUILDER_IDL
21 # include <hpp/common.idl>
41 void loadRobotRomModel (in
string robotName, in
string rootJointType,
58 void loadRobotCompleteModel (in
string robotName, in
string rootJointType,
59 in
string urdfName, in
string srdfName)
76 void loadFullBodyRobot (in
string robotName, in
string rootJointType,
77 in
string urdfName, in
string srdfName, in
string selectedProblem)
83 void loadFullBodyRobotFromExistingRobot ()
86 void selectFullBody (in
string name) raises (Error);
90 void setStaticStability(in
boolean staticStability)
94 void setReferenceConfig(in floatSeq referenceConfig)
98 void setPostureWeights(in floatSeq postureWeights)
102 void usePosturalTaskContactCreation(in
boolean use)
106 void setReferenceEndEffector(in
string romName, in floatSeq ref)
115 void setFilter (in Names_t roms)
121 void initNewProblemSolver ()
130 void setAffordanceFilter(in
string romName, in Names_t affordances) raises (Error);
137 void boundSO3(in floatSeq limitszyx) raises (Error);
143 double projectStateToCOM(in
unsigned short stateId, in floatSeq com, in
unsigned short max_num_sample) raises (Error);
149 short cloneState(in
unsigned short stateId) raises (Error);
156 double projectStateToRoot(in
unsigned short stateId, in floatSeq root, in floatSeq offset) raises (Error);
163 double setConfigAtState(in
unsigned short stateId, in floatSeq config) raises (Error);
171 short createState(in floatSeq configuration, in Names_t contactLimbs) raises (Error);
178 floatSeq getSampleConfig(in
string sampleName, in
unsigned long sampleId) raises (Error);
186 floatSeq getSamplePosition(in
string sampleName, in
unsigned long sampleId) raises (Error);
193 floatSeqSeq getEffectorPosition(in
string limbName, in floatSeq dofArray) raises (Error);
198 unsigned short getNumSamples(in
string limbName) raises (Error);
203 floatSeq getOctreeNodeIds(in
string limbName) raises (Error);
210 double getSampleValue(in
string limbName, in
string valueName, in
unsigned long sampleId) raises (Error);
217 double getEffectorDistance(in
unsigned short state1, in
unsigned short state2) raises (Error);
223 floatSeq generateContacts(in floatSeq dofArray, in floatSeq direction, in floatSeq acceleration, in
double robustnessThreshold) raises (Error);
229 short generateStateInContact(in floatSeq dofArray, in floatSeq direction, in floatSeq acceleration, in
double robustnessThreshold) raises (Error);
234 floatSeq generateGroundContact(in Names_t contactLimbs) raises (Error);
242 floatSeq getContactSamplesIds(in
string name, in floatSeq dofArray, in floatSeq direction) raises (Error);
250 floatSeqSeq getContactSamplesProjected(in
string name, in floatSeq dofArray, in floatSeq direction,
251 in
unsigned short numSamples) raises (Error);
258 short generateContactState(in
unsigned short currentState, in
string name, in floatSeq direction) raises (Error);
264 floatSeq getSamplesIdsInOctreeNode(in
string name, in
double octreeNodeId) raises (Error);
281 void addLimb(in
string id, in
string limb, in
string effector, in floatSeq offset, in floatSeq normal,
282 in
double x, in
double y, in
unsigned long samples, in
string heuristicName,
283 in
double resolution, in
string contactType, in
double disableEffectorCollision,
284 in
double grasp,in floatSeq limbOffset,
285 in
string kinematicConstraintsPath, in
double kinematicConstraintsMin) raises (Error);
292 void addNonContactingLimb(in
string id, in
string limb, in
string effector, in
unsigned long samples) raises (Error);
301 void addLimbDatabase(in
string databasepath, in
string id, in
string heuristicName, in
double loadValues,
302 in
double disableEffectorCollision,in
double grasp) raises (Error);
307 void setStartState(in floatSeq dofArray, in Names_t contactLimbs) raises (Error);
311 void setStartStateId(in
unsigned short stateId) raises (Error);
315 void setEndStateId(in
unsigned short stateId) raises (Error);
321 floatSeq computeContactForConfig(in floatSeq dofArray, in
string limbName) raises (Error);
327 void setEndState(in floatSeq dofArray, in Names_t contactLimbs) raises (Error);
333 floatSeqSeq computeContactPoints(in
unsigned short stateId) raises (Error);
339 floatSeqSeq computeContactPointsForLimb(in
unsigned short stateId, in
string limbname) raises (Error);
345 floatSeqSeq computeContactPointsAtStateForLimb(in
unsigned short stateId, in
unsigned short isIntermediate, in
string limbname) raises (Error);
351 floatSeqSeq computeCenterOfContactAtStateForLimb(in
unsigned short cId,in
unsigned short isIntermediate, in
string limbName) raises(Error);
358 floatSeqSeq computeContactPointsAtState(in
unsigned short stateId, in
unsigned short isIntermediate) raises (Error);
369 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);
381 floatSeqSeq interpolateConfigs(in floatSeqSeq configs, in
double robustnessTreshold, in
unsigned short filterStates,in
boolean testReachability, in
boolean quasiStatic, in
boolean erasePreviousStates) raises (Error);
389 floatSeqSeq getContactCone(in
unsigned short stateId, in
double friction) raises (Error);
395 floatSeqSeq getContactIntermediateCone(in
unsigned short stateId, in
double friction) raises (Error);
408 short generateRootPath(in floatSeqSeq rootPositions, in floatSeq q1, in floatSeq q2) raises (Error);
422 short generateComTraj(in floatSeqSeq positions, in floatSeqSeq velocities, in floatSeqSeq accelerations, in
double dt) raises (Error);
431 short straightPath(in floatSeqSeq positions) raises (Error);
437 short generateCurveTraj(in floatSeqSeq coefficients) raises (Error);
444 short generateCurveTrajParts(in floatSeqSeq coefficients, in floatSeq partitions) raises (Error);
456 short limbRRT(in
unsigned short state1, in
unsigned short state2, in
unsigned short numOptimizations) raises (Error);
469 short limbRRTFromRootPath(in
unsigned short state1, in
unsigned short state2, in
unsigned short path, in
unsigned short numOptimizations) raises (Error);
474 short configToPath(in floatSeqSeq configs) raises (Error);
487 short comRRT(in
unsigned short state1, in
unsigned short state2, in
unsigned short comPath, in
unsigned short numOptimizations) raises (Error);
501 floatSeq comRRTFromPos(in
unsigned short state1,
502 in
unsigned short comTraj1,
503 in
unsigned short comTraj2,
504 in
unsigned short comTraj3,
505 in
unsigned short numOptimizations) raises (Error);
521 floatSeq comRRTFromPosBetweenState(in
unsigned short state1,in
unsigned short state2,
522 in
unsigned short comTraj1,
523 in
unsigned short comTraj2,
524 in
unsigned short comTraj3,
525 in
unsigned short numOptimizations) raises (Error);
541 floatSeq effectorRRTFromPosBetweenState(in
unsigned short state1,in
unsigned short state2,
542 in
unsigned short comTraj1,
543 in
unsigned short comTraj2,
544 in
unsigned short comTraj3,
545 in
unsigned short numOptimizations) raises (Error);
560 floatSeq effectorRRT(in
unsigned short state1,
561 in
unsigned short comTraj1,
562 in
unsigned short comTraj2,
563 in
unsigned short comTraj3,
564 in
unsigned short numOptimizations) raises (Error);
575 floatSeq effectorRRTOnePhase(in
unsigned short state1, in
unsigned short state2,
576 in
unsigned short comTraj,
577 in
unsigned short numOptimizations) raises (Error);
586 floatSeqSeq generateEffectorBezierArray(in
unsigned short state1, in
unsigned short state2,
587 in
unsigned short comTraj,
588 in
unsigned short numOptimizations) raises (Error);
599 floatSeq comRRTOnePhase(in
unsigned short state1, in
unsigned short state2,
600 in
unsigned short comTraj,
601 in
unsigned short numOptimizations) raises (Error);
617 floatSeq effectorRRTFromPath(in
unsigned short state1, in
unsigned short refPath,
618 in
double path_from, in
double path_to,
619 in
unsigned short comTraj1,
620 in
unsigned short comTraj2,
621 in
unsigned short comTraj3,
622 in
unsigned short numOptimizations,
623 in Names_t trackedEffectors) raises (Error);
633 short generateEndEffectorBezier(in
unsigned short state1,in
unsigned short state2,
634 in
unsigned short comTraj) raises (Error);
643 floatSeq projectToCom(in
unsigned short state, in floatSeq targetCom, in
unsigned short max_num_sample) raises (Error);
650 floatSeq getConfigAtState(in
unsigned short state) raises (Error);
655 short isLimbInContact(in
string limbname, in
unsigned short state1) raises (Error);
661 short isLimbInContactIntermediary(in
string limbname, in
unsigned short state1) raises (Error);
667 short computeIntermediary(in
unsigned short state1, in
unsigned short state2) raises (Error);
671 short getNumStates() raises (Error);
676 void saveComputedStates(in
string filename) raises (Error);
682 void saveLimbDatabase(in
string limbname, in
string filename) raises (Error);
688 floatSeqSeq getOctreeBoxes(in
string limbname, in floatSeq dofArray) raises (Error);
694 floatSeq getOctreeBox(in
string limbname, in
double sampleId) raises (Error);
700 floatSeq getOctreeTransform(in
string limbname, in floatSeq dofArray) raises (Error);
704 double isStateBalanced(in
unsigned short state) raises (Error);
712 short isConfigBalanced(in floatSeq config, in Names_t contacts, in
double robustnessTreshold,in floatSeq CoM) raises (Error);
718 void runSampleAnalysis(in
string analysis, in
double isstatic) raises (Error);
726 floatSeq runLimbSampleAnalysis(in
string limbname, in
string analysis, in
double isstatic) raises (Error);
729 floatSeq evaluateConfig(in floatSeq configuration, in floatSeq direction) raises (Error);
735 void dumpProfile(in
string logFile) raises (Error);
739 double getTimeAtState(in
unsigned short stateId) raises (Error);
744 Names_t getContactsVariations(in
unsigned short stateIdFrom,in
unsigned short stateIdTo) raises (Error);
750 Names_t getCollidingObstacleAtConfig(in floatSeq configuration,in
string limbName) raises (Error);
755 floatSeqSeq getContactSurfacesAtConfig(in floatSeq configuration,in
string limbName) raises (Error);
758 Names_t getAllLimbsNames() raises (Error);
772 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);
779 short removeContact(in
unsigned short stateId, in
string limbName) raises (Error);
789 floatSeq computeTargetTransform(in
string limbname, in floatSeq configuration, in floatSeq p, in floatSeq n) raises (Error);
794 Names_t getEffectorsTrajectoriesNames(in
unsigned short pathId)raises (Error);
802 floatSeqSeqSeq getEffectorTrajectoryWaypoints(in
unsigned short pathId,in
string effectorName) raises (Error);
807 floatSeqSeq getPathAsBezier(in
unsigned short pathId)raises (Error);
810 boolean toggleNonContactingLimb(in
string limbname)raises (Error);
812 boolean areKinematicsConstraintsVerified(in floatSeq point)raises (Error);
814 boolean areKinematicsConstraintsVerifiedForState(in
unsigned short stateFrom,in floatSeq point)raises (Error);
816 floatSeq isReachableFromState(in
unsigned short stateFrom, in
unsigned short stateTo, in
boolean useIntermediateState)raises (Error);
818 floatSeq isDynamicallyReachableFromState(in
unsigned short stateFrom, in
unsigned short stateTo,in
boolean addPathPerPhase, in floatSeq timings,in
short numPointsPerPhase)raises (Error);
826 #endif // HPP_RBPRM_CORBA_BUILDER_IDL