/// \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