1#ifndef hpp_constraints_idl__constraints_hxx__
2#define hpp_constraints_idl__constraints_hxx__
23namespace constraints_impl {
24template <
typename _Base,
typename _Storage>
31template <
typename _Base,
typename _Storage>
39template <
typename _Base,
typename _Storage>
48 }
catch (
const std::exception& e) {
49 throw ::hpp::Error (e.what());
53template <
typename _Base,
typename _Storage>
58 constraints::matrix_t J (get()->outputDerivativeSize(), get()->inputDerivativeSize());
62 }
catch (
const std::exception& e) {
63 throw ::hpp::Error (e.what());
67template <
typename _Base,
typename _Storage>
76 }
catch (
const std::exception& e) {
77 throw ::hpp::Error (e.what());
81template <
typename _Base,
typename _Storage>
90 }
catch (
const std::exception& e) {
91 throw ::hpp::Error (e.what());
95template <
typename _Base,
typename _Storage>
104 }
catch (
const std::exception& e) {
105 throw ::hpp::Error (e.what());
109template <
typename _Base,
typename _Storage>
118 }
catch (
const std::exception& e) {
119 throw ::hpp::Error (e.what());
123template <
typename _Base,
typename _Storage>
132 }
catch (
const std::exception& e) {
133 throw ::hpp::Error (e.what());
137template <
typename _Base,
typename _Storage>
142 std::ostringstream oss; oss << *get();
143 std::string res = oss.str();
144 return CORBA::string_dup(res.c_str());
145 }
catch (
const std::exception& e) {
146 throw ::hpp::Error (e.what());
160namespace constraints_impl {
161template <
typename _Base,
typename _Storage>
164 :
hpp::corbaServer::ServantBase<
hpp::constraints::
Implicit, _Storage> (server, s)
168template <
typename _Base,
typename _Storage>
176template <
typename _Base,
typename _Storage>
182 hpp::constraints::DifferentiableFunctionPtr_t __return__ (getT()->functionPtr ());
184 return ::hpp::corbaServer::makeServantDownCast<hpp::constraints_impl::DifferentiableFunction,hpp::constraints_impl::DifferentiableFunction>(server_, __return__)._retn();
185 }
catch (
const std::exception& e) {
186 throw ::hpp::Error (e.what());
190template <
typename _Base,
typename _Storage>
196 (getT()->rightHandSideFromConfig (_config));
199 }
catch (
const std::exception& e) {
200 throw ::hpp::Error (e.what());
204template <
typename _Base,
typename _Storage>
210 (getT()->rightHandSide (_rhs));
213 }
catch (
const std::exception& e) {
214 throw ::hpp::Error (e.what());
218template <
typename _Base,
typename _Storage>
227 }
catch (
const std::exception& e) {
228 throw ::hpp::Error (e.what());
232template <
typename _Base,
typename _Storage>
241 }
catch (
const std::exception& e) {
242 throw ::hpp::Error (e.what());
246template <
typename _Base,
typename _Storage>
255 }
catch (
const std::exception& e) {
256 throw ::hpp::Error (e.what());
260template <
typename _Base,
typename _Storage>
269 }
catch (
const std::exception& e) {
270 throw ::hpp::Error (e.what());
274template <
typename _Base,
typename _Storage>
280 hpp::constraints::ComparisonTypes_t __return__ (getT()->comparisonType ());
283 }
catch (
const std::exception& e) {
284 throw ::hpp::Error (e.what());
288template <
typename _Base,
typename _Storage>
294 (getT()->comparisonType (_compType));
297 }
catch (
const std::exception& e) {
298 throw ::hpp::Error (e.what());
312namespace constraints_impl {
313template <
typename _Base,
typename _Storage>
320template <
typename _Base,
typename _Storage>
328template <
typename _Base,
typename _Storage>
337 }
catch (
const std::exception& e) {
338 throw ::hpp::Error (e.what());
352namespace constraints_impl {
353template <
typename _Base,
typename _Storage>
360template <
typename _Base,
typename _Storage>
368template <
typename _Base,
typename _Storage>
377 }
catch (
const std::exception& e) {
378 throw ::hpp::Error (e.what());
382template <
typename _Base,
typename _Storage>
388 (getT()->weights (_weights));
391 }
catch (
const std::exception& e) {
392 throw ::hpp::Error (e.what());
396template <
typename _Base,
typename _Storage>
403 }
catch (
const std::exception& e) {
404 throw ::hpp::Error (e.what());
hpp::floatSeq * getGoal()
Definition: constraints.hh:397
hpp::floatSeq * getWeights()
Definition: constraints.hh:369
virtual ~ConfigurationConstraintServant()
Definition: constraints.hh:361
void setWeights(const hpp::floatSeq &weights)
Definition: constraints.hh:383
ConfigurationConstraintServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: constraints.hh:354
Definition: constraints-fwd.hh:29
hpp::floatSeqSeq * jacobian(const hpp::floatSeq &arg)
Definition: constraints.hh:54
char * str()
Definition: constraints.hh:138
hpp::size_type inputSize()
Definition: constraints.hh:68
DifferentiableFunctionServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: constraints.hh:25
char * name()
Definition: constraints.hh:124
hpp::size_type outputDerivativeSize()
Definition: constraints.hh:110
hpp::floatSeq * value(const hpp::floatSeq &arg)
Definition: constraints.hh:40
hpp::size_type outputSize()
Definition: constraints.hh:96
hpp::size_type inputDerivativeSize()
Definition: constraints.hh:82
virtual ~DifferentiableFunctionServant()
Definition: constraints.hh:32
Definition: constraints-fwd.hh:89
hpp::size_type parameterSize()
Definition: constraints.hh:247
hpp::ComparisonTypes_t * getComparisonType()
Definition: constraints.hh:275
virtual ~ImplicitServant()
Definition: constraints.hh:169
void setRightHandSideFromConfig(const hpp::floatSeq &config)
Definition: constraints.hh:191
hpp::floatSeq * getRightHandSide()
Definition: constraints.hh:219
hpp::constraints_idl::DifferentiableFunction_ptr function()
Definition: constraints.hh:177
ImplicitServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: constraints.hh:162
void setComparisonType(const hpp::ComparisonTypes_t &compType)
Definition: constraints.hh:289
hpp::size_type rightHandSideSize()
Definition: constraints.hh:233
void setRightHandSide(const hpp::floatSeq &rhs)
Definition: constraints.hh:205
hpp::floatSeq * rightHandSideAt(hpp::value_type s)
Definition: constraints.hh:261
char * jointName()
Definition: constraints.hh:329
LockedJointServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: constraints.hh:314
virtual ~LockedJointServant()
Definition: constraints.hh:321
Implementation of Hpp module Corba server.
Definition: server.hh:77
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
floatSeqSeq * matrixToFloatSeqSeq(core::matrixIn_t input)
Returns a sequence of the rows of the input matrix.
constraints::ComparisonTypes_t convertComparison(hpp::ComparisonTypes_t comp)
Convert CORBA comparison types to C++ comparison type.
char * c_str(const std::string &in)
Definition: conversions.hh:92
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
sequence< ComparisonType > ComparisonTypes_t
Definition: common.idl:50