hpp-corbaserver 4.14.0
Corba server for Humanoid Path Planner applications
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path_planners-fwd.hh
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1#ifndef hpp_core_idl__path__planners_hpp__
2#define hpp_core_idl__path__planners_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/core_idl/path_planners.idl
6//
7
10
11#include <iterator>
12#include <hpp/pinocchio/serialization.hh>
13#include <hpp/core/connected-component.hh>
14#include <hpp/core/path-planner.hh>
15#include <hpp/core/path-optimizer.hh>
16#include <hpp/core/roadmap.hh>
17#include <hpp/core/edge.hh>
18#include <hpp/core/node.hh>
19#include <hpp/core_idl/paths.hh>
20
21
22
23
24
25//
26// Class implementing IDL interface hpp::core_idl::ConnectedComponent
27//
28namespace hpp {
29
30namespace core_impl {
31template <typename _Base, typename _Storage>
33public hpp::corbaServer::ServantBase<hpp::core::ConnectedComponent, _Storage>, public virtual _Base
34{
35public:
36 typedef hpp::core::ConnectedComponent HppBase;
37
39
40public:
41 // standard constructor
42 ConnectedComponentServant(::hpp::corbaServer::Server* server, const _Storage& s);
44
45 // methods corresponding to defined IDL attributes and operations
46
47 void deleteThis ();
48
49
51
52
53};
54
56} // namespace core_impl
57
58} // namespace hpp
59
60namespace hpp {
61namespace corbaServer {
62template<> struct hpp_traits<hpp::core::ConnectedComponent>{ typedef hpp::core::ConnectedComponent Base; };
63} // namespace corbaServer
64} // namespace corbaServer
65
66
67//
68// Class implementing IDL interface hpp::core_idl::Roadmap
69//
70namespace hpp {
71
72namespace core_impl {
73template <typename _Base, typename _Storage>
75public hpp::corbaServer::ServantBase<hpp::core::Roadmap, _Storage>, public virtual _Base
76{
77public:
78 typedef hpp::core::Roadmap HppBase;
79
81
82public:
83 // standard constructor
84 RoadmapServant(::hpp::corbaServer::Server* server, const _Storage& s);
85 virtual ~RoadmapServant();
86
87 // methods corresponding to defined IDL attributes and operations
88
89 void deleteThis ();
90
91
92 void clear ();
93
94
95 void addNode (const hpp::floatSeq& config);
96
97
98 void addNodeAndEdge (const hpp::floatSeq& cfgfrom, const hpp::floatSeq& cfgto, hpp::core_idl::Path_ptr path_);
99
100
101 void addNodeAndEdges (const hpp::floatSeq& cfgfrom, const hpp::floatSeq& cfgto, hpp::core_idl::Path_ptr path_);
102
103
104 hpp::floatSeq* nearestNode (const hpp::floatSeq& config, hpp::value_type& distance, ::CORBA::Boolean reverse);
105
106
108
109
111
112
114
115
117
118
119 hpp::core_idl::Path_ptr getEdge (hpp::size_type i);
120
121
123
124
125};
126
128} // namespace core_impl
129
130} // namespace hpp
131
132namespace hpp {
133namespace corbaServer {
134template<> struct hpp_traits<hpp::core::Roadmap>{ typedef hpp::core::Roadmap Base; };
135} // namespace corbaServer
136} // namespace corbaServer
137
138
139//
140// Class implementing IDL interface hpp::core_idl::PathPlanner
141//
142namespace hpp {
143
144namespace core_impl {
145template <typename _Base, typename _Storage>
147public hpp::corbaServer::ServantBase<hpp::core::PathPlanner, _Storage>, public virtual _Base
148{
149public:
150 typedef hpp::core::PathPlanner HppBase;
151
153
154public:
155 // standard constructor
156 PathPlannerServant(::hpp::corbaServer::Server* server, const _Storage& s);
157 virtual ~PathPlannerServant();
158
159 // methods corresponding to defined IDL attributes and operations
160
161 void deleteThis ();
162
163
164 hpp::core_idl::PathVector_ptr solve ();
165
166
167 void startSolve ();
168
169
171
172
173 void oneStep ();
174
175
176 hpp::core_idl::PathVector_ptr computePath ();
177
178
179 hpp::core_idl::PathVector_ptr finishSolve (hpp::core_idl::PathVector_ptr path);
180
181
182 void interrupt ();
183
184
186
187
188 void timeOut (hpp::value_type seconds);
189
190
191 hpp::core_idl::Roadmap_ptr getRoadmap ();
192
193
194 void stopWhenProblemIsSolved (::CORBA::Boolean enable);
195
196
197};
198
200} // namespace core_impl
201
202} // namespace hpp
203
204namespace hpp {
205namespace corbaServer {
206template<> struct hpp_traits<hpp::core::PathPlanner>{ typedef hpp::core::PathPlanner Base; };
207} // namespace corbaServer
208} // namespace corbaServer
209
210
211//
212// Class implementing IDL interface hpp::core_idl::PathOptimizer
213//
214namespace hpp {
215
216namespace core_impl {
217template <typename _Base, typename _Storage>
219public hpp::corbaServer::ServantBase<hpp::core::PathOptimizer, _Storage>, public virtual _Base
220{
221public:
222 typedef hpp::core::PathOptimizer HppBase;
223
225
226public:
227 // standard constructor
228 PathOptimizerServant(::hpp::corbaServer::Server* server, const _Storage& s);
229 virtual ~PathOptimizerServant();
230
231 // methods corresponding to defined IDL attributes and operations
232
233 void deleteThis ();
234
235
236 hpp::core_idl::PathVector_ptr optimize (hpp::core_idl::PathVector_ptr path);
237
238
239 void interrupt ();
240
241
243
244
245 void timeOut (hpp::value_type seconds);
246
247
248};
249
251} // namespace core_impl
252
253} // namespace hpp
254
255namespace hpp {
256namespace corbaServer {
257template<> struct hpp_traits<hpp::core::PathOptimizer>{ typedef hpp::core::PathOptimizer Base; };
258} // namespace corbaServer
259} // namespace corbaServer
260
261
262
263
264
265#endif // hpp_core_idl__path__planners_hpp__
266
Definition: servant-base.hh:120
Implementation of Hpp module Corba server.
Definition: server.hh:77
Definition: path_planners-fwd.hh:34
void deleteThis()
Definition: path_planners.hh:40
hpp::core::ConnectedComponent HppBase
Definition: path_planners-fwd.hh:36
hpp::floatSeqSeq * nodes()
Definition: path_planners.hh:51
SERVANT_BASE_TYPEDEFS(hpp::core_idl::ConnectedComponent, HppBase)
virtual ~ConnectedComponentServant()
Definition: path_planners.hh:32
Definition: path_planners-fwd.hh:220
SERVANT_BASE_TYPEDEFS(hpp::core_idl::PathOptimizer, HppBase)
hpp::core::PathOptimizer HppBase
Definition: path_planners-fwd.hh:222
hpp::core_idl::PathVector_ptr optimize(hpp::core_idl::PathVector_ptr path)
Definition: path_planners.hh:485
void timeOut(hpp::value_type seconds)
Definition: path_planners.hh:527
void deleteThis()
Definition: path_planners.hh:474
virtual ~PathOptimizerServant()
Definition: path_planners.hh:466
void interrupt()
Definition: path_planners.hh:499
void maxIterations(hpp::size_type n)
Definition: path_planners.hh:513
Definition: path_planners-fwd.hh:148
hpp::core_idl::PathVector_ptr computePath()
Definition: path_planners.hh:350
void tryConnectInitAndGoals()
Definition: path_planners.hh:322
void maxIterations(hpp::size_type n)
Definition: path_planners.hh:392
SERVANT_BASE_TYPEDEFS(hpp::core_idl::PathPlanner, HppBase)
void oneStep()
Definition: path_planners.hh:336
void stopWhenProblemIsSolved(::CORBA::Boolean enable)
Definition: path_planners.hh:434
void deleteThis()
Definition: path_planners.hh:283
virtual ~PathPlannerServant()
Definition: path_planners.hh:275
hpp::core_idl::Roadmap_ptr getRoadmap()
Definition: path_planners.hh:420
void startSolve()
Definition: path_planners.hh:308
void timeOut(hpp::value_type seconds)
Definition: path_planners.hh:406
void interrupt()
Definition: path_planners.hh:378
hpp::core_idl::PathVector_ptr finishSolve(hpp::core_idl::PathVector_ptr path)
Definition: path_planners.hh:364
hpp::core_idl::PathVector_ptr solve()
Definition: path_planners.hh:294
hpp::core::PathPlanner HppBase
Definition: path_planners-fwd.hh:150
Definition: path_planners-fwd.hh:76
virtual ~RoadmapServant()
Definition: path_planners.hh:88
hpp::floatSeq * nearestNode(const hpp::floatSeq &config, hpp::value_type &distance, ::CORBA::Boolean reverse)
Definition: path_planners.hh:163
hpp::size_type getNbEdges()
Definition: path_planners.hh:218
hpp::core_idl::ConnectedComponentSeq * getConnectedComponents()
Definition: path_planners.hh:243
hpp::core_idl::Path_ptr getEdge(hpp::size_type i)
Definition: path_planners.hh:230
void clear()
Definition: path_planners.hh:107
hpp::core::Roadmap HppBase
Definition: path_planners-fwd.hh:78
void deleteThis()
Definition: path_planners.hh:96
void addNodeAndEdge(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:135
hpp::floatSeqSeq * nearestNodes(const hpp::floatSeq &config, hpp::size_type &k)
Definition: path_planners.hh:176
SERVANT_BASE_TYPEDEFS(hpp::core_idl::Roadmap, HppBase)
hpp::size_type getNbNodes()
Definition: path_planners.hh:194
void addNode(const hpp::floatSeq &config)
Definition: path_planners.hh:121
hpp::floatSeq * getNode(hpp::size_type i)
Definition: path_planners.hh:206
void addNodeAndEdges(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:149
Definition: path_planners.idl:22
Definition: path_planners.idl:115
Definition: path_planners.idl:87
Definition: path_planners.idl:37
sequence< ConnectedComponent > ConnectedComponentSeq
Definition: path_planners.idl:35
ConnectedComponentServant< POA_hpp::core_idl::ConnectedComponent, hpp::weak_ptr< hpp::core::ConnectedComponent > > ConnectedComponent
Definition: path_planners-fwd.hh:55
RoadmapServant< POA_hpp::core_idl::Roadmap, hpp::weak_ptr< hpp::core::Roadmap > > Roadmap
Definition: path_planners-fwd.hh:127
PathPlannerServant< POA_hpp::core_idl::PathPlanner, hpp::weak_ptr< hpp::core::PathPlanner > > PathPlanner
Definition: path_planners-fwd.hh:199
PathOptimizerServant< POA_hpp::core_idl::PathOptimizer, hpp::weak_ptr< hpp::core::PathOptimizer > > PathOptimizer
Definition: path_planners-fwd.hh:250
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:35
long long size_type
Definition: common.idl:19
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
double value_type
Definition: common.idl:18
hpp::core::ConnectedComponent Base
Definition: path_planners-fwd.hh:62
hpp::core::PathOptimizer Base
Definition: path_planners-fwd.hh:257
hpp::core::PathPlanner Base
Definition: path_planners-fwd.hh:206
hpp::core::Roadmap Base
Definition: path_planners-fwd.hh:134
Definition: servant-base.hh:89