hpp-corbaserver 4.14.0
Corba server for Humanoid Path Planner applications
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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//
24namespace hpp {
25
26namespace pinocchio_impl {
27template <typename _Base, typename _Storage>
29public hpp::corbaServer::ServantBase<hpp::pinocchio::CenterOfMassComputation, _Storage>, public virtual _Base
30{
31public:
32 typedef hpp::pinocchio::CenterOfMassComputation HppBase;
33
35
36public:
37 // standard constructor
40
41 // methods corresponding to defined IDL attributes and operations
42
43 void deleteThis ();
44
45
46 void compute ();
47
48
50
51
53
54
56
57
58};
59
61} // namespace pinocchio_impl
62
63} // namespace hpp
64
65namespace hpp {
66namespace corbaServer {
67template<> struct hpp_traits<hpp::pinocchio::CenterOfMassComputation>{ typedef hpp::pinocchio::CenterOfMassComputation Base; };
68} // namespace corbaServer
69} // namespace corbaServer
70
71
72//
73// Class implementing IDL interface hpp::pinocchio_idl::Device
74//
75namespace hpp {
76
77namespace pinocchio_impl {
78template <typename _Base, typename _Storage>
80public hpp::corbaServer::ServantBase<hpp::pinocchio::Device, _Storage>, public virtual _Base
81{
82public:
83 typedef hpp::pinocchio::Device HppBase;
84
86
87public:
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
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
119
120
121 ::CORBA::Boolean setCurrentConfiguration (const hpp::floatSeq& configuration);
122
123
125
126
128
129
131
132
134
135
136 hpp::Transform__slice* getFramePosition (hpp::frame_index frame_id);
137
138
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
152namespace hpp {
153namespace corbaServer {
154template<> struct hpp_traits<hpp::pinocchio::Device>{ typedef hpp::pinocchio::Device Base; };
155} // namespace corbaServer
156} // namespace corbaServer
157
158
159//
160// Class implementing IDL interface hpp::pinocchio_idl::CollisionObject
161//
162namespace hpp {
163
164namespace pinocchio_impl {
165template <typename _Base, typename _Storage>
167public hpp::corbaServer::ServantBase<hpp::pinocchio::CollisionObject, _Storage>, public virtual _Base
168{
169public:
170 typedef hpp::pinocchio::CollisionObject HppBase;
171
173
174public:
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
191namespace hpp {
192namespace corbaServer {
193template<> struct hpp_traits<hpp::pinocchio::CollisionObject>{ typedef hpp::pinocchio::CollisionObject Base; };
194} // namespace corbaServer
195} // namespace corbaServer
196
197
198
199
200
201#endif // hpp_pinocchio_idl__robots_hpp__
202
Definition: servant-base.hh:120
Implementation of Hpp module Corba server.
Definition: server.hh:77
hpp::floatSeq * com()
Definition: robots.hh:65
hpp::pinocchio::CenterOfMassComputation HppBase
Definition: robots-fwd.hh:32
hpp::floatSeqSeq * jacobian()
Definition: robots.hh:93
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::CenterOfMassComputation, HppBase)
hpp::value_type mass()
Definition: robots.hh:79
virtual ~CenterOfMassComputationServant()
Definition: robots.hh:32
Definition: robots-fwd.hh:168
hpp::pinocchio::CollisionObject HppBase
Definition: robots-fwd.hh:170
virtual ~CollisionObjectServant()
Definition: robots.hh:404
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::CollisionObject, HppBase)
void deleteThis()
Definition: robots.hh:412
Definition: robots-fwd.hh:81
void difference(const hpp::floatSeq &q1, const hpp::floatSeq &q2, hpp::floatSeq_out result)
Definition: robots.hh:190
void deleteThis()
Definition: robots.hh:133
hpp::pinocchio::Device HppBase
Definition: robots-fwd.hh:83
char * name()
Definition: robots.hh:144
void interpolate(const hpp::floatSeq &q1, const hpp::floatSeq &q2, ::CORBA::Float u, hpp::floatSeq_out result)
Definition: robots.hh:208
void computeFramesForwardKinematics()
Definition: robots.hh:301
hpp::frame_index getFrameByName(const char *name)
Definition: robots.hh:329
void saturate(const hpp::floatSeq &qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation)
Definition: robots.hh:227
::CORBA::Boolean setCurrentConfiguration(const hpp::floatSeq &configuration)
Definition: robots.hh:273
void integrate(const hpp::floatSeq &config_in, const hpp::floatSeq &velocity, hpp::floatSeq_out result)
Definition: robots.hh:172
void replaceGeometryByConvexHull(const hpp::Names_t &geometryNames)
Definition: robots.hh:244
virtual ~DeviceServant()
Definition: robots.hh:125
hpp::Transform__slice * getFramePosition(hpp::frame_index frame_id)
Definition: robots.hh:341
hpp::floatSeq * getCurrentConfiguration()
Definition: robots.hh:259
void updateGeometryPlacements()
Definition: robots.hh:315
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::Device, HppBase)
hpp::floatSeq * neutralConfiguration()
Definition: robots.hh:158
void removeJoints(const hpp::Names_t &joints, const hpp::floatSeq &refConfig)
Definition: robots.hh:371
hpp::floatSeqSeq * getFrameJacobian(hpp::frame_index frame_id)
Definition: robots.hh:355
void computeForwardKinematics()
Definition: robots.hh:287
Definition: robots.idl:109
Definition: robots.idl:29
CenterOfMassComputationServant< POA_hpp::pinocchio_idl::CenterOfMassComputation, hpp::weak_ptr< hpp::pinocchio::CenterOfMassComputation > > CenterOfMassComputation
Definition: robots-fwd.hh:60
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
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:35
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
unsigned long frame_index
Definition: common.idl:20
double value_type
Definition: common.idl:18
hpp::pinocchio::CenterOfMassComputation Base
Definition: robots-fwd.hh:67
hpp::pinocchio::CollisionObject Base
Definition: robots-fwd.hh:193
hpp::pinocchio::Device Base
Definition: robots-fwd.hh:154
Definition: servant-base.hh:89