hpp-corbaserver  4.14.0
Corba server for Humanoid Path Planner applications
robots-idl.hh
Go to the documentation of this file.
1 // This file is generated by omniidl (C++ backend)- omniORB_4_2. Do not edit.
2 #ifndef pp_pinocchio_idl__robots_hh__
3 #define pp_pinocchio_idl__robots_hh__
4 
5 #ifndef __CORBA_H_EXTERNAL_GUARD__
6 #include <omniORB4/CORBA.h>
7 #endif
8 
9 #ifndef USE_stub_in_nt_dll
10 # define USE_stub_in_nt_dll_NOT_DEFINED_robots
11 #endif
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_robots
14 #endif
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots
17 #endif
18 
19 
20 
21 #ifndef pp_pinocchio_idl__common_hh_EXTERNAL_GUARD__
22 #define pp_pinocchio_idl__common_hh_EXTERNAL_GUARD__
23 #include <hpp/common-idl.hh>
24 #endif
25 
26 
27 
28 #ifdef USE_stub_in_nt_dll
29 # ifndef USE_core_stub_in_nt_dll
30 # define USE_core_stub_in_nt_dll
31 # endif
32 # ifndef USE_dyn_stub_in_nt_dll
33 # define USE_dyn_stub_in_nt_dll
34 # endif
35 #endif
36 
37 #ifdef _core_attr
38 # error "A local CPP macro _core_attr has already been defined."
39 #else
40 # ifdef USE_core_stub_in_nt_dll
41 # define _core_attr _OMNIORB_NTDLL_IMPORT
42 # else
43 # define _core_attr
44 # endif
45 #endif
46 
47 #ifdef _dyn_attr
48 # error "A local CPP macro _dyn_attr has already been defined."
49 #else
50 # ifdef USE_dyn_stub_in_nt_dll
51 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
52 # else
53 # define _dyn_attr
54 # endif
55 #endif
56 
57 
58 
59 _CORBA_MODULE hpp
60 
61 _CORBA_MODULE_BEG
62 
63  _CORBA_MODULE pinocchio_idl
64 
65  _CORBA_MODULE_BEG
66 
67 #ifndef __hpp_mpinocchio__idl_mCenterOfMassComputation__
68 #define __hpp_mpinocchio__idl_mCenterOfMassComputation__
72 
75 
77  public:
79 
80  static _ptr_type _nil();
81  static _CORBA_Boolean is_nil(_ptr_type);
82  static void release(_ptr_type);
83  static void duplicate(_ptr_type);
84  static void marshalObjRef(_ptr_type, cdrStream&);
85  static _ptr_type unmarshalObjRef(cdrStream&);
86  };
87 
88  typedef _CORBA_ObjRef_Var<_objref_CenterOfMassComputation, CenterOfMassComputation_Helper> CenterOfMassComputation_var;
89  typedef _CORBA_ObjRef_OUT_arg<_objref_CenterOfMassComputation,CenterOfMassComputation_Helper > CenterOfMassComputation_out;
90 
91 #endif
92 
93  // interface CenterOfMassComputation
95  public:
96  // Declarations for this interface type.
99 
100  static _ptr_type _duplicate(_ptr_type);
101  static _ptr_type _narrow(::CORBA::Object_ptr);
102  static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
103 
104  static _ptr_type _nil();
105 
106  static inline void _marshalObjRef(_ptr_type, cdrStream&);
107 
108  static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
109  omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
110  if (o)
111  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
112  else
113  return _nil();
114  }
115 
116  static inline _ptr_type _fromObjRef(omniObjRef* o) {
117  if (o)
118  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
119  else
120  return _nil();
121  }
122 
123  static _core_attr const char* _PD_repoId;
124 
125  // Other IDL defined within this scope.
126 
127  };
128 
130  public virtual ::CORBA::Object,
131  public virtual omniObjRef
132  {
133  public:
134  // IDL operations
135  void deleteThis();
136  void compute();
137  floatSeq* com();
138  value_type mass();
139  floatSeqSeq* jacobian();
140 
141  // Constructors
142  inline _objref_CenterOfMassComputation() { _PR_setobj(0); } // nil
143  _objref_CenterOfMassComputation(omniIOR*, omniIdentity*);
144 
145  protected:
147 
148 
149  private:
150  virtual void* _ptrToObjRef(const char*);
151 
154  // not implemented
155 
157  };
158 
159  class _pof_CenterOfMassComputation : public _OMNI_NS(proxyObjectFactory) {
160  public:
161  inline _pof_CenterOfMassComputation() : _OMNI_NS(proxyObjectFactory)(CenterOfMassComputation::_PD_repoId) {}
162  virtual ~_pof_CenterOfMassComputation();
163 
164  virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
165  virtual _CORBA_Boolean is_a(const char*) const;
166  };
167 
169  public virtual omniServant
170  {
171  public:
173 
174  virtual void deleteThis() = 0;
175  virtual void compute() = 0;
176  virtual floatSeq* com() = 0;
177  virtual value_type mass() = 0;
178  virtual floatSeqSeq* jacobian() = 0;
179 
180  public: // Really protected, workaround for xlC
181  virtual _CORBA_Boolean _dispatch(omniCallHandle&);
182 
183  private:
184  virtual void* _ptrToInterface(const char*);
185  virtual const char* _mostDerivedRepoId();
186 
187  };
188 
189 
190 #ifndef __hpp_mpinocchio__idl_mDevice__
191 #define __hpp_mpinocchio__idl_mDevice__
192  class Device;
193  class _objref_Device;
195 
196  typedef _objref_Device* Device_ptr;
198 
199  class Device_Helper {
200  public:
202 
203  static _ptr_type _nil();
204  static _CORBA_Boolean is_nil(_ptr_type);
205  static void release(_ptr_type);
206  static void duplicate(_ptr_type);
207  static void marshalObjRef(_ptr_type, cdrStream&);
208  static _ptr_type unmarshalObjRef(cdrStream&);
209  };
210 
211  typedef _CORBA_ObjRef_Var<_objref_Device, Device_Helper> Device_var;
212  typedef _CORBA_ObjRef_OUT_arg<_objref_Device,Device_Helper > Device_out;
213 
214 #endif
215 
216  // interface Device
217  class Device {
218  public:
219  // Declarations for this interface type.
222 
223  static _ptr_type _duplicate(_ptr_type);
224  static _ptr_type _narrow(::CORBA::Object_ptr);
225  static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
226 
227  static _ptr_type _nil();
228 
229  static inline void _marshalObjRef(_ptr_type, cdrStream&);
230 
231  static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
232  omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
233  if (o)
234  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
235  else
236  return _nil();
237  }
238 
239  static inline _ptr_type _fromObjRef(omniObjRef* o) {
240  if (o)
241  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
242  else
243  return _nil();
244  }
245 
246  static _core_attr const char* _PD_repoId;
247 
248  // Other IDL defined within this scope.
249 
250  };
251 
253  public virtual ::CORBA::Object,
254  public virtual omniObjRef
255  {
256  public:
257  // IDL operations
258  void deleteThis();
259  char* name();
260  floatSeq* neutralConfiguration();
261  void integrate(const ::hpp::floatSeq& config_in, const ::hpp::floatSeq& velocity, ::hpp::floatSeq_out result);
262  void difference(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::hpp::floatSeq_out result);
263  void interpolate(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::CORBA::Float u, ::hpp::floatSeq_out result);
264  void saturate(const ::hpp::floatSeq& qin, ::hpp::floatSeq_out qout, ::hpp::boolSeq_out saturation);
265  void replaceGeometryByConvexHull(const ::hpp::Names_t& geometryNames);
266  floatSeq* getCurrentConfiguration();
267  ::CORBA::Boolean setCurrentConfiguration(const ::hpp::floatSeq& configuration);
268  void computeForwardKinematics();
269  void computeFramesForwardKinematics();
270  void updateGeometryPlacements();
271  frame_index getFrameByName(const char* name);
272  Transform__slice* getFramePosition(::hpp::frame_index frame_id);
273  floatSeqSeq* getFrameJacobian(::hpp::frame_index frame_id);
274  void removeJoints(const ::hpp::Names_t& joints, const ::hpp::floatSeq& refConfig);
275 
276  // Constructors
277  inline _objref_Device() { _PR_setobj(0); } // nil
278  _objref_Device(omniIOR*, omniIdentity*);
279 
280  protected:
281  virtual ~_objref_Device();
282 
283 
284  private:
285  virtual void* _ptrToObjRef(const char*);
286 
288  _objref_Device& operator = (const _objref_Device&);
289  // not implemented
290 
291  friend class Device;
292  };
293 
294  class _pof_Device : public _OMNI_NS(proxyObjectFactory) {
295  public:
296  inline _pof_Device() : _OMNI_NS(proxyObjectFactory)(Device::_PD_repoId) {}
297  virtual ~_pof_Device();
298 
299  virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
300  virtual _CORBA_Boolean is_a(const char*) const;
301  };
302 
303  class _impl_Device :
304  public virtual omniServant
305  {
306  public:
307  virtual ~_impl_Device();
308 
309  virtual void deleteThis() = 0;
310  virtual char* name() = 0;
311  virtual floatSeq* neutralConfiguration() = 0;
312  virtual void integrate(const ::hpp::floatSeq& config_in, const ::hpp::floatSeq& velocity, ::hpp::floatSeq_out result) = 0;
313  virtual void difference(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::hpp::floatSeq_out result) = 0;
314  virtual void interpolate(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::CORBA::Float u, ::hpp::floatSeq_out result) = 0;
315  virtual void saturate(const ::hpp::floatSeq& qin, ::hpp::floatSeq_out qout, ::hpp::boolSeq_out saturation) = 0;
316  virtual void replaceGeometryByConvexHull(const ::hpp::Names_t& geometryNames) = 0;
317  virtual floatSeq* getCurrentConfiguration() = 0;
318  virtual ::CORBA::Boolean setCurrentConfiguration(const ::hpp::floatSeq& configuration) = 0;
319  virtual void computeForwardKinematics() = 0;
320  virtual void computeFramesForwardKinematics() = 0;
321  virtual void updateGeometryPlacements() = 0;
322  virtual frame_index getFrameByName(const char* name) = 0;
323  virtual Transform__slice* getFramePosition(::hpp::frame_index frame_id) = 0;
324  virtual floatSeqSeq* getFrameJacobian(::hpp::frame_index frame_id) = 0;
325  virtual void removeJoints(const ::hpp::Names_t& joints, const ::hpp::floatSeq& refConfig) = 0;
326 
327  public: // Really protected, workaround for xlC
328  virtual _CORBA_Boolean _dispatch(omniCallHandle&);
329 
330  private:
331  virtual void* _ptrToInterface(const char*);
332  virtual const char* _mostDerivedRepoId();
333 
334  };
335 
336 
337 #ifndef __hpp_mpinocchio__idl_mCollisionObject__
338 #define __hpp_mpinocchio__idl_mCollisionObject__
339  class CollisionObject;
342 
345 
346  class CollisionObject_Helper {
347  public:
349 
350  static _ptr_type _nil();
351  static _CORBA_Boolean is_nil(_ptr_type);
352  static void release(_ptr_type);
353  static void duplicate(_ptr_type);
354  static void marshalObjRef(_ptr_type, cdrStream&);
355  static _ptr_type unmarshalObjRef(cdrStream&);
356  };
357 
358  typedef _CORBA_ObjRef_Var<_objref_CollisionObject, CollisionObject_Helper> CollisionObject_var;
359  typedef _CORBA_ObjRef_OUT_arg<_objref_CollisionObject,CollisionObject_Helper > CollisionObject_out;
360 
361 #endif
362 
363  // interface CollisionObject
365  public:
366  // Declarations for this interface type.
369 
370  static _ptr_type _duplicate(_ptr_type);
371  static _ptr_type _narrow(::CORBA::Object_ptr);
372  static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
373 
374  static _ptr_type _nil();
375 
376  static inline void _marshalObjRef(_ptr_type, cdrStream&);
377 
378  static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
379  omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
380  if (o)
381  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
382  else
383  return _nil();
384  }
385 
386  static inline _ptr_type _fromObjRef(omniObjRef* o) {
387  if (o)
388  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
389  else
390  return _nil();
391  }
392 
393  static _core_attr const char* _PD_repoId;
394 
395  // Other IDL defined within this scope.
396 
397  };
398 
400  public virtual ::CORBA::Object,
401  public virtual omniObjRef
402  {
403  public:
404  // IDL operations
405  void deleteThis();
406 
407  // Constructors
408  inline _objref_CollisionObject() { _PR_setobj(0); } // nil
409  _objref_CollisionObject(omniIOR*, omniIdentity*);
410 
411  protected:
412  virtual ~_objref_CollisionObject();
413 
414 
415  private:
416  virtual void* _ptrToObjRef(const char*);
417 
420  // not implemented
421 
422  friend class CollisionObject;
423  };
424 
425  class _pof_CollisionObject : public _OMNI_NS(proxyObjectFactory) {
426  public:
427  inline _pof_CollisionObject() : _OMNI_NS(proxyObjectFactory)(CollisionObject::_PD_repoId) {}
428  virtual ~_pof_CollisionObject();
429 
430  virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
431  virtual _CORBA_Boolean is_a(const char*) const;
432  };
433 
435  public virtual omniServant
436  {
437  public:
438  virtual ~_impl_CollisionObject();
439 
440  virtual void deleteThis() = 0;
441 
442  public: // Really protected, workaround for xlC
443  virtual _CORBA_Boolean _dispatch(omniCallHandle&);
444 
445  private:
446  virtual void* _ptrToInterface(const char*);
447  virtual const char* _mostDerivedRepoId();
448 
449  };
450 
451 
452  _CORBA_MODULE_END
453 
454 _CORBA_MODULE_END
455 
456 
457 
458 _CORBA_MODULE POA_hpp
459 _CORBA_MODULE_BEG
460 
461  _CORBA_MODULE pinocchio_idl
462  _CORBA_MODULE_BEG
463 
465  public virtual hpp::pinocchio_idl::_impl_CenterOfMassComputation,
466  public virtual ::PortableServer::ServantBase
467  {
468  public:
469  virtual ~CenterOfMassComputation();
470 
472  return (::hpp::pinocchio_idl::CenterOfMassComputation_ptr) _do_this(::hpp::pinocchio_idl::CenterOfMassComputation::_PD_repoId);
473  }
474  };
475 
476  class Device :
477  public virtual hpp::pinocchio_idl::_impl_Device,
478  public virtual ::PortableServer::ServantBase
479  {
480  public:
481  virtual ~Device();
482 
484  return (::hpp::pinocchio_idl::Device_ptr) _do_this(::hpp::pinocchio_idl::Device::_PD_repoId);
485  }
486  };
487 
488  class CollisionObject :
489  public virtual hpp::pinocchio_idl::_impl_CollisionObject,
490  public virtual ::PortableServer::ServantBase
491  {
492  public:
493  virtual ~CollisionObject();
494 
496  return (::hpp::pinocchio_idl::CollisionObject_ptr) _do_this(::hpp::pinocchio_idl::CollisionObject::_PD_repoId);
497  }
498  };
499 
500  _CORBA_MODULE_END
501 
502 _CORBA_MODULE_END
503 
504 
505 
506 _CORBA_MODULE OBV_hpp
507 _CORBA_MODULE_BEG
508 
509  _CORBA_MODULE pinocchio_idl
510  _CORBA_MODULE_BEG
511 
512  _CORBA_MODULE_END
513 
514 _CORBA_MODULE_END
515 
516 
517 
518 
519 
520 #undef _core_attr
521 #undef _dyn_attr
522 
523 
524 
525 inline void
526 hpp::pinocchio_idl::CenterOfMassComputation::_marshalObjRef(::hpp::pinocchio_idl::CenterOfMassComputation_ptr obj, cdrStream& s) {
527  omniObjRef::_marshal(obj->_PR_getobj(),s);
528 }
529 
530 inline void
531 hpp::pinocchio_idl::Device::_marshalObjRef(::hpp::pinocchio_idl::Device_ptr obj, cdrStream& s) {
532  omniObjRef::_marshal(obj->_PR_getobj(),s);
533 }
534 
535 inline void
536 hpp::pinocchio_idl::CollisionObject::_marshalObjRef(::hpp::pinocchio_idl::CollisionObject_ptr obj, cdrStream& s) {
537  omniObjRef::_marshal(obj->_PR_getobj(),s);
538 }
539 
540 
541 
542 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_robots
543 # undef USE_stub_in_nt_dll
544 # undef USE_stub_in_nt_dll_NOT_DEFINED_robots
545 #endif
546 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_robots
547 # undef USE_core_stub_in_nt_dll
548 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_robots
549 #endif
550 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots
551 # undef USE_dyn_stub_in_nt_dll
552 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots
553 #endif
554 
555 #endif // __robots_hh__
556 
inline ::hpp::pinocchio_idl::Device_ptr _this()
Definition: robots-idl.hh:483
Device_var _var_type
Definition: robots-idl.hh:221
Definition: robots-idl.hh:303
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: robots-idl.hh:386
_objref_Device * Device_ptr
Definition: robots-idl.hh:194
Definition: robots-idl.hh:399
CollisionObject_var _var_type
Definition: robots-idl.hh:368
Definition: robots-idl.hh:434
_CORBA_ObjRef_OUT_arg< _objref_Device, Device_Helper > Device_out
Definition: robots-idl.hh:212
static _core_attr const char * _PD_repoId
Definition: robots-idl.hh:246
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:35
_objref_CollisionObject * CollisionObject_ptr
Definition: robots-idl.hh:341
static void marshalObjRef(_ptr_type, cdrStream &)
static _ptr_type unmarshalObjRef(cdrStream &)
Device_ptr _ptr_type
Definition: robots-idl.hh:220
static void release(_ptr_type)
Device_ptr _ptr_type
Definition: robots-idl.hh:201
CenterOfMassComputation_ptr _ptr_type
Definition: robots-idl.hh:78
_objref_CenterOfMassComputation()
Definition: robots-idl.hh:142
_CORBA_ObjRef_Var< _objref_Device, Device_Helper > Device_var
Definition: _problem-idl.hh:124
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: robots-idl.hh:239
#define _core_attr
Definition: robots-idl.hh:43
_objref_CollisionObject()
Definition: robots-idl.hh:408
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
unsigned long frame_index
Definition: common.idl:20
Definition: _problem-idl.hh:138
Definition: robots-idl.hh:217
inline ::hpp::pinocchio_idl::CenterOfMassComputation_ptr _this()
Definition: robots-idl.hh:471
Definition: robots-idl.hh:168
CenterOfMassComputation_ptr _ptr_type
Definition: robots-idl.hh:97
::CORBA::ULong frame_index
Definition: common-idl.hh:71
Definition: robots-idl.hh:252
CollisionObject_ptr _ptr_type
Definition: robots-idl.hh:367
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: robots-idl.hh:116
Definition: common-idl.hh:803
_CORBA_ObjRef_Var< _objref_CollisionObject, CollisionObject_Helper > CollisionObject_var
Definition: _problem-idl.hh:150
static _core_attr const char * _PD_repoId
Definition: robots-idl.hh:123
_pof_CenterOfMassComputation()
Definition: robots-idl.hh:161
Device_ptr DeviceRef
Definition: robots-idl.hh:197
inline ::hpp::pinocchio_idl::CollisionObject_ptr _this()
Definition: robots-idl.hh:495
_objref_CenterOfMassComputation * CenterOfMassComputation_ptr
Definition: robots-idl.hh:71
Definition: robots-idl.hh:159
_CORBA_ObjRef_Var< _objref_CollisionObject, CollisionObject_Helper > CollisionObject_var
Definition: robots-idl.hh:358
Definition: robots-idl.hh:425
_objref_Device()
Definition: robots-idl.hh:277
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: robots-idl.hh:378
Definition: robots-idl.hh:129
static _core_attr const char * _PD_repoId
Definition: robots-idl.hh:393
_pof_CollisionObject()
Definition: robots-idl.hh:427
_CORBA_ObjRef_OUT_arg< _objref_CenterOfMassComputation, CenterOfMassComputation_Helper > CenterOfMassComputation_out
Definition: robots-idl.hh:89
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: robots-idl.hh:108
Definition: robots-idl.hh:364
CenterOfMassComputation_ptr CenterOfMassComputationRef
Definition: robots-idl.hh:74
_pof_Device()
Definition: robots-idl.hh:296
Definition: robots-idl.hh:94
_CORBA_ObjRef_Var< _objref_Device, Device_Helper > Device_var
Definition: robots-idl.hh:211
::CORBA::Double value_type
Definition: common-idl.hh:61
Definition: common-idl.hh:689
static _CORBA_Boolean is_nil(_ptr_type)
_CORBA_ObjRef_Var< _objref_CenterOfMassComputation, CenterOfMassComputation_Helper > CenterOfMassComputation_var
Definition: robots-idl.hh:88
Definition: robots-idl.hh:294
_CORBA_ObjRef_OUT_arg< _objref_CollisionObject, CollisionObject_Helper > CollisionObject_out
Definition: robots-idl.hh:359
static void duplicate(_ptr_type)
CenterOfMassComputation_var _var_type
Definition: robots-idl.hh:98
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: robots-idl.hh:231
Definition: _problem-idl.hh:112
Definition: robots-idl.hh:76
CollisionObject_ptr _ptr_type
Definition: robots-idl.hh:348
::CORBA::Double Transform__slice
Definition: common-idl.hh:916
CollisionObject_ptr CollisionObjectRef
Definition: robots-idl.hh:344