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hpp-manipulation-corba 6.0.0
Corba server for manipulation planning
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This package implements a Corba server running hpp-manipulation package functions and the corresponding client.
The corba server part is compiled into library libhpp-manipulation-corba.so that implements the following class:
The client part is provided through python module hpp.corbaserver.manipulation
An executable called hpp-manipulation-server is installed. This executable runs
libhpp-manipulation-corba.so, as well as See these package documentations for details.
The easiest way to launch hpp-manipulation-server executable is to open a python terminal and type:
\code from hpp.corbaserver.manipulation import Client as ManipulationClient mcl = ManipulationClient () \endcode
Then variable mcl contains a member problem that can send requests to the server. For instance
\code
mcl.problem.loadHumanoidModel ("hrp2_14", "freeflyer",
"hrp2_14_description", "hrp2_14",
"_capsule", "_capsule")
\endcode
Some python classes are provided that embed corba clients and that forward corba resquest to the server side:
Embedding the corba server into an application can be done by linking the application with libhpp-manipulation-corba.so in a similar way as hpp-corbaserver corba server. See documentation of classes hpp::corbaServer::Server and hpp::manipulation::Server for details.