hpp-corbaserver  4.14.0
Corba server for Humanoid Path Planner applications
robots-fwd.hh
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1 #ifndef hpp_pinocchio_idl__robots_hpp__
2 #define hpp_pinocchio_idl__robots_hpp__
3 
4 //
5 // Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.14.0/idl/hpp/pinocchio_idl/robots.idl
6 //
7 
10 
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>
16 
17 
18 
19 
20 
21 //
22 // Class implementing IDL interface hpp::pinocchio_idl::CenterOfMassComputation
23 //
24 namespace hpp {
25 
26 namespace pinocchio_impl {
27 template <typename _Base, typename _Storage>
29 public hpp::corbaServer::ServantBase<hpp::pinocchio::CenterOfMassComputation, _Storage>, public virtual _Base
30 {
31 public:
33 
35 
36 public:
37  // standard constructor
38  CenterOfMassComputationServant(::hpp::corbaServer::Server* server, const _Storage& s);
40 
41  // methods corresponding to defined IDL attributes and operations
42 
43  void deleteThis ();
44 
45 
46  void compute ();
47 
48 
49  hpp::floatSeq* com ();
50 
51 
53 
54 
56 
57 
58 };
59 
61 } // namespace pinocchio_impl
62 
63 } // namespace hpp
64 
65 namespace hpp {
66 namespace corbaServer {
68 } // namespace corbaServer
69 } // namespace corbaServer
70 
71 
72 //
73 // Class implementing IDL interface hpp::pinocchio_idl::Device
74 //
75 namespace hpp {
76 
77 namespace pinocchio_impl {
78 template <typename _Base, typename _Storage>
80 public hpp::corbaServer::ServantBase<hpp::pinocchio::Device, _Storage>, public virtual _Base
81 {
82 public:
84 
86 
87 public:
88  // standard constructor
89  DeviceServant(::hpp::corbaServer::Server* server, const _Storage& s);
90  virtual ~DeviceServant();
91 
92  // methods corresponding to defined IDL attributes and operations
93 
94  void deleteThis ();
95 
96 
97  char* name ();
98 
99 
100  hpp::floatSeq* neutralConfiguration ();
101 
102 
103  void integrate (const hpp::floatSeq& config_in, const hpp::floatSeq& velocity, hpp::floatSeq_out result);
104 
105 
106  void difference (const hpp::floatSeq& q1, const hpp::floatSeq& q2, hpp::floatSeq_out result);
107 
108 
109  void interpolate (const hpp::floatSeq& q1, const hpp::floatSeq& q2, ::CORBA::Float u, hpp::floatSeq_out result);
110 
111 
112  void saturate (const hpp::floatSeq& qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation);
113 
114 
115  void replaceGeometryByConvexHull (const hpp::Names_t& geometryNames);
116 
117 
118  hpp::floatSeq* getCurrentConfiguration ();
119 
120 
121  ::CORBA::Boolean setCurrentConfiguration (const hpp::floatSeq& configuration);
122 
123 
124  void computeForwardKinematics ();
125 
126 
127  void computeFramesForwardKinematics ();
128 
129 
130  void updateGeometryPlacements ();
131 
132 
133  hpp::frame_index getFrameByName (const char* name);
134 
135 
136  hpp::Transform__slice* getFramePosition (hpp::frame_index frame_id);
137 
138 
139  hpp::floatSeqSeq* getFrameJacobian (hpp::frame_index frame_id);
140 
141 
142  void removeJoints (const hpp::Names_t& joints, const hpp::floatSeq& refConfig);
143 
144 
145 };
146 
148 } // namespace pinocchio_impl
149 
150 } // namespace hpp
151 
152 namespace hpp {
153 namespace corbaServer {
155 } // namespace corbaServer
156 } // namespace corbaServer
157 
158 
159 //
160 // Class implementing IDL interface hpp::pinocchio_idl::CollisionObject
161 //
162 namespace hpp {
163 
164 namespace pinocchio_impl {
165 template <typename _Base, typename _Storage>
167 public hpp::corbaServer::ServantBase<hpp::pinocchio::CollisionObject, _Storage>, public virtual _Base
168 {
169 public:
171 
173 
174 public:
175  // standard constructor
176  CollisionObjectServant(::hpp::corbaServer::Server* server, const _Storage& s);
177  virtual ~CollisionObjectServant();
178 
179  // methods corresponding to defined IDL attributes and operations
180 
181  void deleteThis ();
182 
183 
184 };
185 
187 } // namespace pinocchio_impl
188 
189 } // namespace hpp
190 
191 namespace hpp {
192 namespace corbaServer {
194 } // namespace corbaServer
195 } // namespace corbaServer
196 
197 
198 
199 
200 
201 #endif // hpp_pinocchio_idl__robots_hpp__
202 
Definition: servant-base.hh:120
virtual ~CenterOfMassComputationServant()
Definition: robots.hh:32
hpp::value_type mass()
Definition: robots.hh:79
Definition: robots.idl:28
hpp::pinocchio::CenterOfMassComputation HppBase
Definition: robots-fwd.hh:32
Definition: robots-fwd.hh:79
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:35
hpp::floatSeqSeq * jacobian()
Definition: robots.hh:93
double value_type
Definition: common.idl:18
hpp::floatSeq * com()
Definition: robots.hh:65
Definition: robots.idl:109
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
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:170
CenterOfMassComputationServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:25
hpp::pinocchio::Device Base
Definition: robots-fwd.hh:154
Definition: robots-fwd.hh:166
hpp::pinocchio::Device HppBase
Definition: robots-fwd.hh:83
hpp::pinocchio::CenterOfMassComputation Base
Definition: robots-fwd.hh:67
Implementation of Hpp module Corba server.
Definition: server.hh:77
CollisionObjectServant< POA_hpp::pinocchio_idl::CollisionObject, hpp::weak_ptr< hpp::pinocchio::CollisionObject > > CollisionObject
Definition: robots-fwd.hh:186
DeviceServant< POA_hpp::pinocchio_idl::Device, hpp::weak_ptr< hpp::pinocchio::Device > > Device
Definition: robots-fwd.hh:147
hpp::pinocchio::CollisionObject Base
Definition: robots-fwd.hh:193
CenterOfMassComputationServant< POA_hpp::pinocchio_idl::CenterOfMassComputation, hpp::weak_ptr< hpp::pinocchio::CenterOfMassComputation > > CenterOfMassComputation
Definition: robots-fwd.hh:60
Definition: servant-base.hh:89
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
::CORBA::Double Transform__slice
Definition: common-idl.hh:916