1#ifndef hpp_pinocchio_idl__robots_hpp__
2#define hpp_pinocchio_idl__robots_hpp__
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>
26namespace pinocchio_impl {
27template <
typename _Base,
typename _Storage>
32 typedef hpp::pinocchio::CenterOfMassComputation
HppBase;
66namespace corbaServer {
67template<>
struct hpp_traits<
hpp::pinocchio::CenterOfMassComputation>{
typedef hpp::pinocchio::CenterOfMassComputation
Base; };
77namespace pinocchio_impl {
78template <
typename _Base,
typename _Storage>
153namespace corbaServer {
164namespace pinocchio_impl {
165template <
typename _Base,
typename _Storage>
170 typedef hpp::pinocchio::CollisionObject
HppBase;
192namespace corbaServer {
193template<>
struct hpp_traits<
hpp::pinocchio::CollisionObject>{
typedef hpp::pinocchio::CollisionObject
Base; };
Definition: servant-base.hh:120
Implementation of Hpp module Corba server.
Definition: server.hh:77
Definition: robots-fwd.hh:30
hpp::floatSeq * com()
Definition: robots.hh:65
hpp::pinocchio::CenterOfMassComputation HppBase
Definition: robots-fwd.hh:32
hpp::floatSeqSeq * jacobian()
Definition: robots.hh:93
void deleteThis()
Definition: robots.hh:40
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::CenterOfMassComputation, HppBase)
void compute()
Definition: robots.hh:51
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:19
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