hpp-corbaserver  4.12.0
Corba server for Humanoid Path Planner applications
path_planners-fwd.hh
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1 #ifndef hpp_core_idl__path__planners_hpp__
2 #define hpp_core_idl__path__planners_hpp__
3 
4 //
5 // Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.12.0/idl/hpp/core_idl/path_planners.idl
6 //
7 
10 
11 #include <iterator>
12 #include <hpp/pinocchio/serialization.hh>
13 #include <hpp/core/path-planner.hh>
14 #include <hpp/core/path-optimizer.hh>
15 #include <hpp/core/roadmap.hh>
16 #include <hpp/core/edge.hh>
17 #include <hpp/core/node.hh>
18 #include <hpp/core_idl/paths.hh>
19 
20 
21 
22 
23 
24 //
25 // Class implementing IDL interface hpp::core_idl::Roadmap
26 //
27 namespace hpp {
28 
29 namespace core_impl {
30 template <typename _Base, typename _Storage>
31 class RoadmapServant: public hpp::corbaServer::ServantBase<hpp::core::Roadmap, _Storage>, public virtual _Base
32 {
33 public:
35 
37 
38 public:
39  // standard constructor
40  RoadmapServant(::hpp::corbaServer::Server* server, const _Storage& s);
41  virtual ~RoadmapServant();
42 
43  // methods corresponding to defined IDL attributes and operations
44 
45  void deleteThis ();
46 
47 
48  void clear ();
49 
50 
51  void addNode (const hpp::floatSeq& config);
52 
53 
54  void addNodeAndEdge (const hpp::floatSeq& cfgfrom, const hpp::floatSeq& cfgto, hpp::core_idl::Path_ptr path_);
55 
56 
57  void addNodeAndEdges (const hpp::floatSeq& cfgfrom, const hpp::floatSeq& cfgto, hpp::core_idl::Path_ptr path_);
58 
59 
60  hpp::floatSeq* nearestNode (const hpp::floatSeq& config, hpp::value_type& distance, ::CORBA::Boolean reverse);
61 
62 
64 
65 
67 
68 
70 
71 
73 
74 
76 
77 
78 };
79 
81 } // namespace core_impl
82 
83 } // namespace hpp
84 
85 namespace hpp {
86 namespace corbaServer {
87 template<> struct hpp_traits<hpp::core::Roadmap>{ typedef hpp::core::Roadmap Base; };
88 } // namespace corbaServer
89 } // namespace corbaServer
90 
91 
92 //
93 // Class implementing IDL interface hpp::core_idl::PathPlanner
94 //
95 namespace hpp {
96 
97 namespace core_impl {
98 template <typename _Base, typename _Storage>
99 class PathPlannerServant: public hpp::corbaServer::ServantBase<hpp::core::PathPlanner, _Storage>, public virtual _Base
100 {
101 public:
103 
105 
106 public:
107  // standard constructor
108  PathPlannerServant(::hpp::corbaServer::Server* server, const _Storage& s);
109  virtual ~PathPlannerServant();
110 
111  // methods corresponding to defined IDL attributes and operations
112 
113  void deleteThis ();
114 
115 
117 
118 
119  void startSolve ();
120 
121 
122  void tryConnectInitAndGoals ();
123 
124 
125  void oneStep ();
126 
127 
128  hpp::core_idl::PathVector_ptr computePath ();
129 
130 
132 
133 
134  void interrupt ();
135 
136 
137  void maxIterations (hpp::size_type n);
138 
139 
140  void timeOut (hpp::value_type seconds);
141 
142 
143  hpp::core_idl::Roadmap_ptr getRoadmap ();
144 
145 
146  void stopWhenProblemIsSolved (::CORBA::Boolean enable);
147 
148 
149 };
150 
152 } // namespace core_impl
153 
154 } // namespace hpp
155 
156 namespace hpp {
157 namespace corbaServer {
159 } // namespace corbaServer
160 } // namespace corbaServer
161 
162 
163 //
164 // Class implementing IDL interface hpp::core_idl::PathOptimizer
165 //
166 namespace hpp {
167 
168 namespace core_impl {
169 template <typename _Base, typename _Storage>
170 class PathOptimizerServant: public hpp::corbaServer::ServantBase<hpp::core::PathOptimizer, _Storage>, public virtual _Base
171 {
172 public:
174 
176 
177 public:
178  // standard constructor
179  PathOptimizerServant(::hpp::corbaServer::Server* server, const _Storage& s);
180  virtual ~PathOptimizerServant();
181 
182  // methods corresponding to defined IDL attributes and operations
183 
184  void deleteThis ();
185 
186 
188 
189 
190  void interrupt ();
191 
192 
193  void maxIterations (hpp::size_type n);
194 
195 
196  void timeOut (hpp::value_type seconds);
197 
198 
199 };
200 
202 } // namespace core_impl
203 
204 } // namespace hpp
205 
206 namespace hpp {
207 namespace corbaServer {
209 } // namespace corbaServer
210 } // namespace corbaServer
211 
212 
213 
214 
215 
216 #endif // hpp_core_idl__path__planners_hpp__
217 
Definition: servant-base.hh:100
RoadmapServant< POA_hpp::core_idl::Roadmap, hpp::weak_ptr< hpp::core::Roadmap > > Roadmap
Definition: path_planners-fwd.hh:80
void clear()
Definition: path_planners.hh:50
Definition: path_planners-fwd.hh:31
hpp::core::PathPlanner HppBase
Definition: path_planners-fwd.hh:102
Definition: path_planners.idl:22
Definition: path_planners.idl:69
hpp::core_idl::Path_ptr getEdge(hpp::size_type i)
Definition: path_planners.hh:173
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
RoadmapServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:25
double value_type
Definition: common.idl:18
void deleteThis()
Definition: path_planners.hh:39
sequence< floatSeq > floatSeqSeq
Definition: common.idl:34
hpp::floatSeqSeq * nearestNodes(const hpp::floatSeq &config, hpp::size_type &k)
Definition: path_planners.hh:119
_objref_Roadmap * Roadmap_ptr
Definition: path_planners-idl.hh:109
hpp::core::PathPlanner Base
Definition: path_planners-fwd.hh:158
hpp::floatSeq * getNode(hpp::size_type i)
Definition: path_planners.hh:149
Definition: path_planners-fwd.hh:170
void addNode(const hpp::floatSeq &config)
Definition: path_planners.hh:64
virtual ~RoadmapServant()
Definition: path_planners.hh:31
hpp::size_type getNbEdges()
Definition: path_planners.hh:161
Definition: path_planners.idl:97
hpp::size_type getNbNodes()
Definition: path_planners.hh:137
hpp::core::Roadmap Base
Definition: path_planners-fwd.hh:87
hpp::core::PathOptimizer HppBase
Definition: path_planners-fwd.hh:173
hpp::floatSeq * nearestNode(const hpp::floatSeq &config, hpp::value_type &distance, ::CORBA::Boolean reverse)
Definition: path_planners.hh:106
hpp::core::PathOptimizer Base
Definition: path_planners-fwd.hh:208
hpp::core::Roadmap HppBase
Definition: path_planners-fwd.hh:34
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82
SERVANT_BASE_TYPEDEFS(hpp::core_idl::Roadmap, HppBase)
PathPlannerServant< POA_hpp::core_idl::PathPlanner, hpp::weak_ptr< hpp::core::PathPlanner > > PathPlanner
Definition: path_planners-fwd.hh:151
Implementation of Hpp module Corba server.
Definition: server.hh:54
void addNodeAndEdge(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:78
Definition: path_planners-fwd.hh:99
Definition: servant-base.hh:66
PathOptimizerServant< POA_hpp::core_idl::PathOptimizer, hpp::weak_ptr< hpp::core::PathOptimizer > > PathOptimizer
Definition: path_planners-fwd.hh:201
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:33
void addNodeAndEdges(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:92
long long size_type
Definition: common.idl:19