2 #ifndef pp_pinocchio_idl__robots_hh__ 3 #define pp_pinocchio_idl__robots_hh__ 5 #ifndef __CORBA_H_EXTERNAL_GUARD__ 6 #include <omniORB4/CORBA.h> 9 #ifndef USE_stub_in_nt_dll 10 # define USE_stub_in_nt_dll_NOT_DEFINED_robots 12 #ifndef USE_core_stub_in_nt_dll 13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_robots 15 #ifndef USE_dyn_stub_in_nt_dll 16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots 21 #ifndef pp_pinocchio_idl__common_hh_EXTERNAL_GUARD__ 22 #define pp_pinocchio_idl__common_hh_EXTERNAL_GUARD__ 28 #ifdef USE_stub_in_nt_dll 29 # ifndef USE_core_stub_in_nt_dll 30 # define USE_core_stub_in_nt_dll 32 # ifndef USE_dyn_stub_in_nt_dll 33 # define USE_dyn_stub_in_nt_dll 38 # error "A local CPP macro _core_attr has already been defined." 40 # ifdef USE_core_stub_in_nt_dll 41 # define _core_attr _OMNIORB_NTDLL_IMPORT 48 # error "A local CPP macro _dyn_attr has already been defined." 50 # ifdef USE_dyn_stub_in_nt_dll 51 # define _dyn_attr _OMNIORB_NTDLL_IMPORT 63 _CORBA_MODULE pinocchio_idl
67 #ifndef __hpp_mpinocchio__idl_mCenterOfMassComputation__ 68 #define __hpp_mpinocchio__idl_mCenterOfMassComputation__ 80 static _ptr_type
_nil();
81 static _CORBA_Boolean
is_nil(_ptr_type);
100 static _ptr_type _duplicate(_ptr_type);
101 static _ptr_type _narrow(::CORBA::Object_ptr);
102 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
104 static _ptr_type
_nil();
106 static inline void _marshalObjRef(_ptr_type, cdrStream&);
109 omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
111 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
118 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
130 public virtual ::CORBA::Object,
131 public virtual omniObjRef
150 virtual void* _ptrToObjRef(
const char*);
164 virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
165 virtual _CORBA_Boolean is_a(
const char*)
const;
169 public virtual omniServant
174 virtual void deleteThis() = 0;
175 virtual void compute() = 0;
181 virtual _CORBA_Boolean _dispatch(omniCallHandle&);
184 virtual void* _ptrToInterface(
const char*);
185 virtual const char* _mostDerivedRepoId();
190 #ifndef __hpp_mpinocchio__idl_mDevice__ 191 #define __hpp_mpinocchio__idl_mDevice__ 203 static _ptr_type
_nil();
204 static _CORBA_Boolean
is_nil(_ptr_type);
205 static void release(_ptr_type);
211 typedef _CORBA_ObjRef_Var<_objref_Device, Device_Helper>
Device_var;
212 typedef _CORBA_ObjRef_OUT_arg<_objref_Device,Device_Helper >
Device_out;
223 static _ptr_type _duplicate(_ptr_type);
224 static _ptr_type _narrow(::CORBA::Object_ptr);
225 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
227 static _ptr_type
_nil();
229 static inline void _marshalObjRef(_ptr_type, cdrStream&);
232 omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
234 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
241 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
253 public virtual ::CORBA::Object,
254 public virtual omniObjRef
266 floatSeq* getCurrentConfiguration();
268 void computeForwardKinematics();
269 void computeFramesForwardKinematics();
270 void updateGeometryPlacements();
285 virtual void* _ptrToObjRef(
const char*);
299 virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
300 virtual _CORBA_Boolean is_a(
const char*)
const;
304 public virtual omniServant
309 virtual void deleteThis() = 0;
310 virtual char* name() = 0;
311 virtual floatSeq* neutralConfiguration() = 0;
315 virtual void saturate(
const ::hpp::floatSeq& qin, ::hpp::floatSeq_out qout, ::hpp::boolSeq_out saturation) = 0;
317 virtual floatSeq* getCurrentConfiguration() = 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;
328 virtual _CORBA_Boolean _dispatch(omniCallHandle&);
331 virtual void* _ptrToInterface(
const char*);
332 virtual const char* _mostDerivedRepoId();
337 #ifndef __hpp_mpinocchio__idl_mCollisionObject__ 338 #define __hpp_mpinocchio__idl_mCollisionObject__ 350 static _ptr_type
_nil();
351 static _CORBA_Boolean
is_nil(_ptr_type);
352 static void release(_ptr_type);
370 static _ptr_type _duplicate(_ptr_type);
371 static _ptr_type _narrow(::CORBA::Object_ptr);
372 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
374 static _ptr_type
_nil();
376 static inline void _marshalObjRef(_ptr_type, cdrStream&);
379 omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
381 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
388 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
400 public virtual ::CORBA::Object,
401 public virtual omniObjRef
416 virtual void* _ptrToObjRef(
const char*);
430 virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
431 virtual _CORBA_Boolean is_a(
const char*)
const;
435 public virtual omniServant
440 virtual void deleteThis() = 0;
443 virtual _CORBA_Boolean _dispatch(omniCallHandle&);
446 virtual void* _ptrToInterface(
const char*);
447 virtual const char* _mostDerivedRepoId();
458 _CORBA_MODULE POA_hpp
461 _CORBA_MODULE pinocchio_idl
465 public virtual hpp::pinocchio_idl::_impl_CenterOfMassComputation,
466 public virtual ::PortableServer::ServantBase
477 public virtual hpp::pinocchio_idl::_impl_Device,
478 public virtual ::PortableServer::ServantBase
489 public virtual hpp::pinocchio_idl::_impl_CollisionObject,
490 public virtual ::PortableServer::ServantBase
506 _CORBA_MODULE OBV_hpp
509 _CORBA_MODULE pinocchio_idl
527 omniObjRef::_marshal(obj->_PR_getobj(),s);
532 omniObjRef::_marshal(obj->_PR_getobj(),s);
537 omniObjRef::_marshal(obj->_PR_getobj(),s);
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 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 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 555 #endif // __robots_hh__ 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''.
Definition: client.hh:46
_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