1 #ifndef hpp_pinocchio_idl__robots_hpp__ 2 #define hpp_pinocchio_idl__robots_hpp__ 11 #include <hpp/pinocchio/device.hh> 12 #include <hpp/pinocchio/collision-object.hh> 13 #include <hpp/pinocchio/configuration.hh> 14 #include <hpp/pinocchio/liegroup.hh> 15 #include <hpp/pinocchio/center-of-mass-computation.hh> 26 namespace pinocchio_impl {
27 template <
typename _Base,
typename _Storage>
65 namespace corbaServer {
76 namespace pinocchio_impl {
77 template <
typename _Base,
typename _Storage>
110 void saturate (
const hpp::floatSeq& qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation);
113 void replaceGeometryByConvexHull (
const hpp::Names_t& geometryNames);
119 ::CORBA::Boolean setCurrentConfiguration (
const hpp::floatSeq& configuration);
122 void computeForwardKinematics ();
125 void computeFramesForwardKinematics ();
128 void updateGeometryPlacements ();
151 namespace corbaServer {
162 namespace pinocchio_impl {
163 template <
typename _Base,
typename _Storage>
189 namespace corbaServer {
198 #endif // hpp_pinocchio_idl__robots_hpp__ Definition: servant-base.hh:100
virtual ~CenterOfMassComputationServant()
Definition: robots.hh:31
hpp::value_type mass()
Definition: robots.hh:78
Definition: robots.idl:18
Definition: robots.idl:28
hpp::pinocchio::CenterOfMassComputation HppBase
Definition: robots-fwd.hh:31
Definition: robots-fwd.hh:78
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
hpp::floatSeqSeq * jacobian()
Definition: robots.hh:92
double value_type
Definition: common.idl:18
hpp::floatSeq * com()
Definition: robots.hh:64
Definition: robots.idl:109
sequence< floatSeq > floatSeqSeq
Definition: common.idl:34
void compute()
Definition: robots.hh:50
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::CenterOfMassComputation, HppBase)
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
unsigned long frame_index
Definition: common.idl:20
hpp::pinocchio::CollisionObject HppBase
Definition: robots-fwd.hh:167
CenterOfMassComputationServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:25
hpp::pinocchio::Device Base
Definition: robots-fwd.hh:152
Definition: robots-fwd.hh:164
hpp::pinocchio::Device HppBase
Definition: robots-fwd.hh:81
hpp::pinocchio::CenterOfMassComputation Base
Definition: robots-fwd.hh:66
Implementation of Hpp module Corba server.
Definition: server.hh:54
CollisionObjectServant< POA_hpp::pinocchio_idl::CollisionObject, hpp::weak_ptr< hpp::pinocchio::CollisionObject > > CollisionObject
Definition: robots-fwd.hh:183
Definition: robots-fwd.hh:28
DeviceServant< POA_hpp::pinocchio_idl::Device, hpp::weak_ptr< hpp::pinocchio::Device > > Device
Definition: robots-fwd.hh:145
hpp::pinocchio::CollisionObject Base
Definition: robots-fwd.hh:190
CenterOfMassComputationServant< POA_hpp::pinocchio_idl::CenterOfMassComputation, hpp::weak_ptr< hpp::pinocchio::CenterOfMassComputation > > CenterOfMassComputation
Definition: robots-fwd.hh:59
Definition: servant-base.hh:66
void deleteThis()
Definition: robots.hh:39
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:33
::CORBA::Double Transform__slice
Definition: common-idl.hh:802