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Commit eed181ed authored by Pierre Fernbach's avatar Pierre Fernbach
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all StateId in python API are now unsigned short

parent df5636ae
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idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
View file @ eed181ed
......@@ -431,7 +431,7 @@ module hpp
/// \param state2 index of second state.
/// \param numOptimizations Number of iterations of the shortcut algorithm to apply between each states
/// \return id of the root path computed
short limbRRT(in double state1, in double state2, in unsigned short numOptimizations) raises (Error);
short limbRRT(in unsigned short state1, in unsigned short state2, in unsigned short numOptimizations) raises (Error);
/// Provided a path has already been computed and interpolated, generate a continuous path
/// between two indicated states. The states do not need to be consecutive, but increasing in Id.
......@@ -444,7 +444,7 @@ module hpp
/// \param path index of the path considered for the generation
/// \param numOptimizations Number of iterations of the shortcut algorithm to apply between each states
/// \return id of the root path computed
short limbRRTFromRootPath(in double state1, in double state2, in unsigned short path, in unsigned short numOptimizations) raises (Error);
short limbRRTFromRootPath(in unsigned short state1, in unsigned short state2, in unsigned short path, in unsigned short numOptimizations) raises (Error);
/// Linear interpolation of many configurations into a path
/// \param configs list of configurations
......@@ -462,7 +462,7 @@ module hpp
/// \param comPath index of the path considered of the com path
/// \param numOptimizations Number of iterations of the shortcut algorithm to apply between each states
/// \return id of the root path computed
short comRRT(in double state1, in double state2, in unsigned short comPath, in unsigned short numOptimizations) raises (Error);
short comRRT(in unsigned short state1, in unsigned short state2, in unsigned short comPath, in unsigned short numOptimizations) raises (Error);
/// Provided a path has already been computed and interpolated, generate a continuous path
/// between two indicated states. The states do need to be consecutive.
......@@ -476,7 +476,7 @@ module hpp
/// \param rootPositions1 com positions to track for 3rd phase
/// \param numOptimizations Number of iterations of the shortcut algorithm to apply between each states
/// \return id of the root path computed
floatSeq comRRTFromPos(in double state1,
floatSeq comRRTFromPos(in unsigned short state1,
in unsigned short comTraj1,
in unsigned short comTraj2,
in unsigned short comTraj3,
......@@ -496,7 +496,7 @@ module hpp
/// \param rootPositions1 com positions to track for 3rd phase
/// \param numOptimizations Number of iterations of the shortcut algorithm to apply between each states
/// \return id of the root path computed
floatSeq comRRTFromPosBetweenState(in double state1,in double state2,
floatSeq comRRTFromPosBetweenState(in unsigned short state1,in unsigned short state2,
in unsigned short comTraj1,
in unsigned short comTraj2,
in unsigned short comTraj3,
......@@ -516,7 +516,7 @@ module hpp
/// \param rootPositions1 com positions to track for 3rd phase
/// \param numOptimizations Number of iterations of the shortcut algorithm to apply between each states
/// \return id of the root path computed
floatSeq effectorRRTFromPosBetweenState(in double state1,in double state2,
floatSeq effectorRRTFromPosBetweenState(in unsigned short state1,in unsigned short state2,
in unsigned short comTraj1,
in unsigned short comTraj2,
in unsigned short comTraj3,
......@@ -535,7 +535,7 @@ module hpp
/// \param rootPositions1 com positions to track for 3rd phase
/// \param numOptimizations Number of iterations of the shortcut algorithm to apply between each states
/// \return id of the root path computed
floatSeq effectorRRT(in double state1,
floatSeq effectorRRT(in unsigned short state1,
in unsigned short comTraj1,
in unsigned short comTraj2,
in unsigned short comTraj3,
......@@ -550,7 +550,7 @@ module hpp
/// \param rootPositions1 com positions to track
/// \param numOptimizations Number of iterations of the shortcut algorithm to apply between each states
/// \return id of the root path computed
floatSeq effectorRRTOnePhase(in double state1, in double state2,
floatSeq effectorRRTOnePhase(in unsigned short state1, in unsigned short state2,
in unsigned short comTraj,
in unsigned short numOptimizations) raises (Error);
......@@ -561,7 +561,7 @@ module hpp
/// \param rootPositions1 com positions to track
/// \param numOptimizations Number of iterations of the shortcut algorithm to apply between each states
/// \return id of the root path computed
floatSeqSeq generateEffectorBezierArray(in double state1, in double state2,
floatSeqSeq generateEffectorBezierArray(in unsigned short state1, in unsigned short state2,
in unsigned short comTraj,
in unsigned short numOptimizations) raises (Error);
......@@ -574,7 +574,7 @@ module hpp
/// \param rootPositions1 com positions to track
/// \param numOptimizations Number of iterations of the shortcut algorithm to apply between each states
/// \return id of the root path computed
floatSeq comRRTOnePhase(in double state1, in double state2,
floatSeq comRRTOnePhase(in unsigned short state1, in unsigned short state2,
in unsigned short comTraj,
in unsigned short numOptimizations) raises (Error);
......@@ -592,7 +592,7 @@ module hpp
/// \param rootPositions1 com positions to track for 3rd phase
/// \param numOptimizations Number of iterations of the shortcut algorithm to apply between each states
/// \return id of the root path computed
floatSeq effectorRRTFromPath(in double state1, in unsigned short refPath,
floatSeq effectorRRTFromPath(in unsigned short state1, in unsigned short refPath,
in double path_from, in double path_to,
in unsigned short comTraj1,
in unsigned short comTraj2,
......@@ -608,7 +608,7 @@ module hpp
/// \param state1 index of first state.
/// \param state2 index of end state.
/// \param rootPositions com positions to track
short generateEndEffectorBezier(in double state1,in double state2,
short generateEndEffectorBezier(in unsigned short state1,in unsigned short state2,
in unsigned short comTraj) raises (Error);
/// Project a given state into a given COM position
......@@ -618,7 +618,7 @@ module hpp
/// \param targetCom 3D vector for the com position
/// \param max_num_sample number of samples that can be used at worst before failing
/// \return projected configuration
floatSeq projectToCom(in double state, in floatSeq targetCom, in unsigned short max_num_sample) raises (Error);
floatSeq projectToCom(in unsigned short state, in floatSeq targetCom, in unsigned short max_num_sample) raises (Error);
/// Retrieve the configuration at a given state
/// between two indicated states. The states do not need to be consecutive, but increasing in Id.
......@@ -630,13 +630,13 @@ module hpp
/// \param limb name of the limb for which the request aplies
/// \param state1 current state considered
/// \return whether the limb is in contact at this state
short isLimbInContact(in string limbname, in double state1) raises (Error);
short isLimbInContact(in string limbname, in unsigned short state1) raises (Error);
/// Is limb in contact during the motion from the current state to the next one
/// \param limb name of the limb for which the request aplies
/// \param state1 current state considered
/// \return whether the limb is in contact at this state
short isLimbInContactIntermediary(in string limbname, in double state1) raises (Error);
short isLimbInContactIntermediary(in string limbname, in unsigned short state1) raises (Error);
/// Generate intermediary state
/// \param state1 initial state considered
......
src/rbprmbuilder.impl.cc
View file @ eed181ed
......@@ -2183,11 +2183,10 @@ namespace hpp {
return ps->addPath(resPath);
}
CORBA::Short RbprmBuilder::limbRRT(double state1, double state2, unsigned short numOptimizations) throw (hpp::Error)
CORBA::Short RbprmBuilder::limbRRT(unsigned short s1, unsigned short s2, unsigned short numOptimizations) throw (hpp::Error)
{
try
{
std::size_t s1((std::size_t)state1), s2((std::size_t)state2);
if(lastStatesComputed_.size () < s1 || lastStatesComputed_.size () < s2 )
{
throw std::runtime_error ("did not find a states at indicated indices: " + std::string(""+s1) + ", " + std::string(""+s2));
......@@ -2204,11 +2203,10 @@ namespace hpp {
}
}
CORBA::Short RbprmBuilder::limbRRTFromRootPath(double state1, double state2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error)
CORBA::Short RbprmBuilder::limbRRTFromRootPath(unsigned short s1, unsigned short s2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error)
{
try
{
std::size_t s1((std::size_t)state1), s2((std::size_t)state2);
if(lastStatesComputed_.size () < s1 || lastStatesComputed_.size () < s2 )
{
throw std::runtime_error ("did not find a states at indicated indices: " + std::string(""+s1) + ", " + std::string(""+s2));
......@@ -2238,16 +2236,15 @@ namespace hpp {
{
res->appendPath(makePath(fullBody()->device_,problemSolver()->problem(), *pit,*(pit+1)));
}
return problemSolver()->addPath(res);
return (CORBA::Short)problemSolver()->addPath(res);
}
CORBA::Short RbprmBuilder::comRRT(double state1, double state2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error)
CORBA::Short RbprmBuilder::comRRT(unsigned short s1, unsigned short s2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error)
{
try
{
std::size_t s1((std::size_t)state1), s2((std::size_t)state2);
// temp
assert(s2 == s1 +1);
{
// temp
assert(s2 == s1 +1);
if(lastStatesComputed_.size () < s1 || lastStatesComputed_.size () < s2 )
{
throw std::runtime_error ("did not find a states at indicated indices: " + std::string(""+s1) + ", " + std::string(""+s2));
......@@ -2283,11 +2280,11 @@ assert(s2 == s1 +1);
return res;
}
hpp::floatSeq* RbprmBuilder::rrt(t_rrt functor, double state1, double state2,
hpp::floatSeq* RbprmBuilder::rrt(t_rrt functor, unsigned short s1, unsigned short s2,
unsigned short cT1, unsigned short cT2, unsigned short cT3,
unsigned short numOptimizations) throw (hpp::Error)
{
hppDout(notice,"########## begin rrt for state "<<state1<<" ###########");
hppDout(notice,"########## begin rrt for state "<<s1<<" ###########");
unsigned int seed = (unsigned int) (time(NULL)) ;
std::cout<<"seed rrt = "<<seed<<std::endl;
hppDout(notice,"seed rrt = "<<seed);
......@@ -2296,7 +2293,6 @@ assert(s2 == s1 +1);
try
{
std::vector<CORBA::Short> pathsIds;
std::size_t s1((std::size_t)state1), s2((std::size_t)state2);
hppDout(notice,"index first state = "<<s1<<" ; index second state : "<<s2);
if(lastStatesComputed_.size () < s1 || lastStatesComputed_.size () < s2 )
{
......@@ -2407,7 +2403,7 @@ assert(s2 == s1 +1);
pathsIds.push_back(AddPath(resPath,problemSolver()));
hpp::floatSeq* dofArray = new hpp::floatSeq();
dofArray->length(pathsIds.size());
dofArray->length((_CORBA_ULong)pathsIds.size());
for(std::size_t i=0; i< pathsIds.size(); ++i)
{
(*dofArray)[(_CORBA_ULong)i] = pathsIds[i];
......@@ -2420,7 +2416,7 @@ assert(s2 == s1 +1);
}
}
hpp::floatSeq* RbprmBuilder::comRRTFromPos(double state1,
hpp::floatSeq* RbprmBuilder::comRRTFromPos(unsigned short state1,
unsigned short cT1,
unsigned short cT2,
unsigned short cT3,
......@@ -2430,7 +2426,7 @@ assert(s2 == s1 +1);
}
hpp::floatSeq* RbprmBuilder::comRRTFromPosBetweenState(double state1, double state2,
hpp::floatSeq* RbprmBuilder::comRRTFromPosBetweenState(unsigned short state1, unsigned short state2,
unsigned short cT1,
unsigned short cT2,
unsigned short cT3,
......@@ -2440,7 +2436,7 @@ assert(s2 == s1 +1);
}
hpp::floatSeq* RbprmBuilder::effectorRRTFromPosBetweenState(double state1, double state2,
hpp::floatSeq* RbprmBuilder::effectorRRTFromPosBetweenState(unsigned short state1, unsigned short state2,
unsigned short cT1,
unsigned short cT2,
unsigned short cT3,
......@@ -2450,7 +2446,7 @@ assert(s2 == s1 +1);
}
hpp::floatSeq* RbprmBuilder::effectorRRT(double state1,
hpp::floatSeq* RbprmBuilder::effectorRRT(unsigned short state1,
unsigned short cT1,
unsigned short cT2,
unsigned short cT3,
......@@ -2459,7 +2455,7 @@ assert(s2 == s1 +1);
return rrt(&interpolation::effectorRRT, state1, state1+1, cT1, cT2, cT3, numOptimizations);
}
hpp::floatSeq* RbprmBuilder::effectorRRTFromPath(double state1,
hpp::floatSeq* RbprmBuilder::effectorRRTFromPath(unsigned short s1,
unsigned short refpath, double path_from, double path_to,
unsigned short cT1,
unsigned short cT2,
......@@ -2470,7 +2466,7 @@ assert(s2 == s1 +1);
try
{
std::vector<CORBA::Short> pathsIds;
std::size_t s1((std::size_t)state1), s2((std::size_t)state1+1);
std::size_t s2(s1+1);
if(lastStatesComputed_.size () < s1 || lastStatesComputed_.size () < s2 )
{
throw std::runtime_error ("did not find a states at indicated indices: " + std::string(""+s1) + ", " + std::string(""+s2));
......@@ -2505,7 +2501,7 @@ assert(s2 == s1 +1);
pathsIds.push_back(AddPath(resPath,problemSolver()));
hpp::floatSeq* dofArray = new hpp::floatSeq();
dofArray->length(pathsIds.size());
dofArray->length((_CORBA_ULong)pathsIds.size());
for(std::size_t i=0; i< pathsIds.size(); ++i)
{
(*dofArray)[(_CORBA_ULong)i] = pathsIds[i];
......@@ -2518,7 +2514,7 @@ assert(s2 == s1 +1);
}
}
hpp::floatSeq* RbprmBuilder::rrtOnePhase(t_rrt functor,double state1,double state2,
hpp::floatSeq* RbprmBuilder::rrtOnePhase(t_rrt functor,unsigned short state1,unsigned short state2,
unsigned short comTraj,
unsigned short numOptimizations) throw (hpp::Error)
{
......@@ -2555,10 +2551,10 @@ assert(s2 == s1 +1);
intervals.push_back(interval);
PathPtr_t reducedPath = core::SubchainPath::create(p1,intervals);
resPath->appendPath(reducedPath);
pathsIds.push_back(problemSolver()->addPath(resPath));
pathsIds.push_back((CORBA::Short)problemSolver()->addPath(resPath));
hpp::floatSeq* dofArray = new hpp::floatSeq();
dofArray->length(pathsIds.size());
dofArray->length((_CORBA_ULong)pathsIds.size());
for(std::size_t i=0; i< pathsIds.size(); ++i)
{
(*dofArray)[(_CORBA_ULong)i] = pathsIds[i];
......@@ -2567,21 +2563,21 @@ assert(s2 == s1 +1);
}
hpp::floatSeq* RbprmBuilder::effectorRRTOnePhase(double state1,double state2,
hpp::floatSeq* RbprmBuilder::effectorRRTOnePhase(unsigned short state1,unsigned short state2,
unsigned short comTraj,
unsigned short numOptimizations) throw (hpp::Error)
{
return rrtOnePhase(&interpolation::effectorRRT,state1,state2,comTraj,numOptimizations);
}
hpp::floatSeq* RbprmBuilder::comRRTOnePhase(double state1,double state2,
hpp::floatSeq* RbprmBuilder::comRRTOnePhase(unsigned short state1,unsigned short state2,
unsigned short comTraj,
unsigned short numOptimizations) throw (hpp::Error)
{
return rrtOnePhase(&interpolation::comRRT,state1,state2,comTraj,numOptimizations);
}
hpp::floatSeqSeq* RbprmBuilder::generateEffectorBezierArray(double state1,double state2,
hpp::floatSeqSeq* RbprmBuilder::generateEffectorBezierArray(unsigned short state1, unsigned short state2,
unsigned short comTraj,
unsigned short numOptimizations) throw (hpp::Error)
{
......@@ -2638,7 +2634,7 @@ assert(s2 == s1 +1);
PathPtr_t path = (*it_pv)->pathAtRank(id_path);
PathVectorPtr_t pv = PathVector::create(path->outputSize(),path->outputDerivativeSize());
pv->appendPath(path);
pathIds.push_back(problemSolver()->addPath(pv));
pathIds.push_back((CORBA::Short)problemSolver()->addPath(pv));
}
// convert pathIds to floatSeq :
hpp::floatSeq* dofArray = new hpp::floatSeq();
......@@ -2656,12 +2652,11 @@ assert(s2 == s1 +1);
CORBA::Short RbprmBuilder::generateEndEffectorBezier(double state1, double state2,
CORBA::Short RbprmBuilder::generateEndEffectorBezier(unsigned short s1, unsigned short s2,
unsigned short cT)throw (hpp::Error){
try
{
hppDout(notice,"Begin generateEndEffectorBezier");
std::size_t s1((std::size_t)state1), s2((std::size_t)state2);
hppDout(notice,"index first state = "<<s1<<" ; index second state : "<<s2);
if(lastStatesComputed_.size () < s1 || lastStatesComputed_.size () < s2 )
{
......@@ -2675,7 +2670,7 @@ assert(s2 == s1 +1);
State& state1=lastStatesComputed_[s1], state2=lastStatesComputed_[s2];
hppDout(notice,"start generateEndEffectorBezier");
interpolation::generateEndEffectorBezier(fullBody(),problemSolver(),paths[cT],state1,state2);
return problemSolver()->paths().size()-1;
return (CORBA::Short)(problemSolver()->paths().size()-1);
}
catch(std::runtime_error& e)
{
......@@ -2683,7 +2678,7 @@ assert(s2 == s1 +1);
}
}
hpp::floatSeq* RbprmBuilder::projectToCom(double state, const hpp::floatSeq& targetCom, unsigned short max_num_sample) throw (hpp::Error)
hpp::floatSeq* RbprmBuilder::projectToCom(unsigned short state, const hpp::floatSeq& targetCom, unsigned short /*max_num_sample*/) throw (hpp::Error)
{
try
{
......@@ -2885,11 +2880,10 @@ assert(s2 == s1 +1);
}
CORBA::Short RbprmBuilder::isLimbInContact(const char* limbName, double state1) throw (hpp::Error)
CORBA::Short RbprmBuilder::isLimbInContact(const char* limbName, unsigned short s) throw (hpp::Error)
{
try
{
std::size_t s((std::size_t)state1);
if(lastStatesComputed_.size () < s)
{
throw std::runtime_error ("did not find a states at indicated indices: " + std::string(""+s));
......@@ -2905,11 +2899,10 @@ assert(s2 == s1 +1);
}
}
CORBA::Short RbprmBuilder::isLimbInContactIntermediary(const char* limbName, double state1) throw (hpp::Error)
CORBA::Short RbprmBuilder::isLimbInContactIntermediary(const char* limbName, unsigned short s) throw (hpp::Error)
{
try
{
std::size_t s((std::size_t)state1);
if(lastStatesComputed_.size () < s+1)
{
throw std::runtime_error ("did not find a states at indicated indices: " + std::string(""+s));
......
src/rbprmbuilder.impl.hh
View file @ eed181ed
......@@ -270,40 +270,40 @@ namespace hpp {
virtual CORBA::Short generateCurveTrajParts(const hpp::floatSeqSeq& positions, const hpp::floatSeq& partitions) throw (hpp::Error);
virtual CORBA::Short generateRootPath(const hpp::floatSeqSeq& rootPositions,
const hpp::floatSeq& q1, const hpp::floatSeq& q2) throw (hpp::Error);
virtual CORBA::Short limbRRT(double state1, double state2, unsigned short numOptimizations) throw (hpp::Error);
virtual CORBA::Short limbRRTFromRootPath(double state1, double state2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error);
virtual CORBA::Short limbRRT(unsigned short state1, unsigned short state2, unsigned short numOptimizations) throw (hpp::Error);
virtual CORBA::Short limbRRTFromRootPath(unsigned short state1, unsigned short state2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error);
virtual CORBA::Short configToPath(const hpp::floatSeqSeq& configs) throw (hpp::Error);
virtual CORBA::Short comRRT(double state1, double state2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error);
virtual CORBA::Short comRRT(unsigned short state1, unsigned short state2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error);
typedef core::PathPtr_t (*t_rrt)
(RbPrmFullBodyPtr_t, core::ProblemSolverPtr_t, const core::PathPtr_t,
const State &, const State &, const std::size_t, const bool);
hpp::floatSeq* rrt(t_rrt functor ,double state1,double state2,
hpp::floatSeq* rrt(t_rrt functor ,unsigned short state1,unsigned short state2,
unsigned short comTraj1, unsigned short comTraj2, unsigned short comTraj3,
unsigned short numOptimizations) throw (hpp::Error);
virtual hpp::floatSeq* comRRTFromPos(double state1,
virtual hpp::floatSeq* comRRTFromPos(unsigned short state1,
unsigned short comTraj1,
unsigned short comTraj2,
unsigned short comTraj3,
unsigned short numOptimizations) throw (hpp::Error);
virtual hpp::floatSeq* comRRTFromPosBetweenState(double state1,double state2,
virtual hpp::floatSeq* comRRTFromPosBetweenState(unsigned short state1,unsigned short state2,
unsigned short comTraj1,
unsigned short comTraj2,
unsigned short comTraj3,
unsigned short numOptimizations) throw (hpp::Error);
virtual hpp::floatSeq* effectorRRTFromPosBetweenState(double state1,double state2,
virtual hpp::floatSeq* effectorRRTFromPosBetweenState(unsigned short state1,unsigned short state2,
unsigned short comTraj1,
unsigned short comTraj2,
unsigned short comTraj3,
unsigned short numOptimizations) throw (hpp::Error);
virtual hpp::floatSeq* effectorRRT(double state1,
virtual hpp::floatSeq* effectorRRT(unsigned short state1,
unsigned short comTraj1,
unsigned short comTraj2,
unsigned short comTraj3,
unsigned short numOptimizations) throw (hpp::Error);
virtual hpp::floatSeq* effectorRRTFromPath(double state1,
virtual hpp::floatSeq* effectorRRTFromPath(unsigned short state1,
unsigned short path,
double path_from,
double path_to,
......@@ -312,23 +312,23 @@ namespace hpp {
unsigned short comTraj3,
unsigned short numOptimizations,
const hpp::Names_t& trackedEffectors) throw (hpp::Error);
virtual hpp::floatSeq* rrtOnePhase(t_rrt functor,double state1,double state2,
virtual hpp::floatSeq* rrtOnePhase(t_rrt functor,unsigned short state1,unsigned short state2,
unsigned short comTraj,
unsigned short numOptimizations) throw (hpp::Error);
virtual hpp::floatSeq* effectorRRTOnePhase(double state1,double state2,
virtual hpp::floatSeq* effectorRRTOnePhase(unsigned short state1,unsigned short state2,
unsigned short comTraj,
unsigned short numOptimizations) throw (hpp::Error);
virtual hpp::floatSeq* comRRTOnePhase(double state1,double state2,
virtual hpp::floatSeq* comRRTOnePhase(unsigned short state1, unsigned short state2,
unsigned short comTraj,
unsigned short numOptimizations) throw (hpp::Error);
virtual hpp::floatSeqSeq* generateEffectorBezierArray(double state1,double state2,
virtual hpp::floatSeqSeq* generateEffectorBezierArray(unsigned short state1,unsigned short state2,
unsigned short comTraj,
unsigned short numOptimizations) throw (hpp::Error);
virtual CORBA::Short generateEndEffectorBezier(double state1, double state2,
virtual CORBA::Short generateEndEffectorBezier(unsigned short state1, unsigned short state2,
unsigned short cT) throw (hpp::Error);
virtual hpp::floatSeq* projectToCom(double state, const hpp::floatSeq& targetCom, unsigned short max_num_sample) throw (hpp::Error);
virtual hpp::floatSeq* projectToCom(unsigned short state, const hpp::floatSeq& targetCom, unsigned short max_num_sample) throw (hpp::Error);
virtual CORBA::Short createState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
virtual hpp::floatSeq* getConfigAtState(unsigned short stateId) throw (hpp::Error);
virtual double setConfigAtState(unsigned short stateId, const hpp::floatSeq& config) throw (hpp::Error);
......@@ -339,8 +339,8 @@ namespace hpp {
virtual void saveComputedStates(const char* filepath) throw (hpp::Error);
virtual void saveLimbDatabase(const char* limbname,const char* filepath) throw (hpp::Error);
virtual hpp::floatSeq* getOctreeBox(const char* limbName, double sampleId) throw (hpp::Error);
virtual CORBA::Short isLimbInContact(const char* limbName, double state) throw (hpp::Error);
virtual CORBA::Short isLimbInContactIntermediary(const char* limbName, double state) throw (hpp::Error);
virtual CORBA::Short isLimbInContact(const char* limbName, unsigned short state) throw (hpp::Error);
virtual CORBA::Short isLimbInContactIntermediary(const char* limbName, unsigned short state) throw (hpp::Error);
virtual CORBA::Short computeIntermediary(unsigned short state1, unsigned short state2) throw (hpp::Error);
virtual hpp::floatSeqSeq* getOctreeBoxes(const char* limbName, const hpp::floatSeq& configuration) throw (hpp::Error);
virtual hpp::floatSeq* getOctreeTransform(const char* limbName, const hpp::floatSeq& configuration) throw (hpp::Error);
......
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