1#ifndef hpp_core_idl__paths_hxx__
2#define hpp_core_idl__paths_hxx__
24template <
typename _Base,
typename _Storage>
27 :
hpp::corbaServer::ServantBase<
hpp::core::
Path, _Storage> (server, s)
31template <
typename _Base,
typename _Storage>
39template <
typename _Base,
typename _Storage>
44 _ServantBase::deleteThis();
45 }
catch (
const std::exception& e) {
46 throw ::hpp::Error (e.what());
50template <
typename _Base,
typename _Storage>
59 }
catch (
const std::exception& e) {
60 throw ::hpp::Error (e.what());
64template <
typename _Base,
typename _Storage>
73 }
catch (
const std::exception& e) {
74 throw ::hpp::Error (e.what());
78template <
typename _Base,
typename _Storage>
87 }
catch (
const std::exception& e) {
88 throw ::hpp::Error (e.what());
92template <
typename _Base,
typename _Storage>
101 }
catch (
const std::exception& e) {
102 throw ::hpp::Error (e.what());
106template <
typename _Base,
typename _Storage>
115 }
catch (
const std::exception& e) {
116 throw ::hpp::Error (e.what());
120template <
typename _Base,
typename _Storage>
126 hpp::core::ConstraintSetPtr_t __return__ (getT()->constraints ());
128 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::ConstraintSet>(server_, __return__)._retn();
129 }
catch (
const std::exception& e) {
130 throw ::hpp::Error (e.what());
134template <
typename _Base,
typename _Storage>
139 std::ostringstream oss; oss << *get();
140 std::string res = oss.str();
141 return CORBA::string_dup(res.c_str());
142 }
catch (
const std::exception& e) {
143 throw ::hpp::Error (e.what());
147template <
typename _Base,
typename _Storage>
156 }
catch (
const std::exception& e) {
157 throw ::hpp::Error (e.what());
161template <
typename _Base,
typename _Storage>
166 hpp::core::vector_t res (get()->outputSize());
167 success = get()->at (t, res);
170 }
catch (
const std::exception& e) {
171 throw ::hpp::Error (e.what());
175template <
typename _Base,
typename _Storage>
180 hpp::core::vector_t res (get()->outputDerivativeSize());
181 get()->derivative (res, t, order);
184 }
catch (
const std::exception& e) {
185 throw ::hpp::Error (e.what());
189template <
typename _Base,
typename _Storage>
195 hpp::core::PathPtr_t __return__ (getT()->extract (tmin, tmax));
197 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
198 }
catch (
const std::exception& e) {
199 throw ::hpp::Error (e.what());
203template <
typename _Base,
typename _Storage>
208 hpp::core::PathPtr_t p = get();
209 hpp::core::PathVectorPtr_t pv =
210 hpp::core::PathVector::create (p->outputSize(), p->outputDerivativeSize());
213 return hpp::corbaServer::makeServant<hpp::core_idl::PathVector_ptr>
216 }
catch (
const std::exception& e) {
217 throw ::hpp::Error (e.what());
221template <
typename _Base,
typename _Storage>
227 hpp::core::PathPtr_t __return__ (getT()->reverse ());
229 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
230 }
catch (
const std::exception& e) {
231 throw ::hpp::Error (e.what());
246template <
typename _Base,
typename _Storage>
253template <
typename _Base,
typename _Storage>
261template <
typename _Base,
typename _Storage>
270 }
catch (
const std::exception& e) {
271 throw ::hpp::Error (e.what());
275template <
typename _Base,
typename _Storage>
284 }
catch (
const std::exception& e) {
285 throw ::hpp::Error (e.what());
289template <
typename _Base,
typename _Storage>
295 hpp::core::PathPtr_t __return__ (getT()->pathAtRank (rank));
297 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
298 }
catch (
const std::exception& e) {
299 throw ::hpp::Error (e.what());
303template <
typename _Base,
typename _Storage>
308 hpp::core::PathPtr_t _p = ::hpp::corbaServer::reference_to_object<hpp::core::Path>(server_, p);
309 (getT()->appendPath (_p));
312 }
catch (
const std::exception& e) {
313 throw ::hpp::Error (e.what());
317template <
typename _Base,
typename _Storage>
322 hpp::core::PathVectorPtr_t _p = ::hpp::corbaServer::reference_to_object<hpp::core::PathVector>(server_, p);
323 (getT()->concatenate (_p));
326 }
catch (
const std::exception& e) {
327 throw ::hpp::Error (e.what());
331template <
typename _Base,
typename _Storage>
336 hpp::core::PathPtr_t p = get();
337 hpp::core::PathVectorPtr_t pv =
338 HPP_DYNAMIC_PTR_CAST(hpp::core::PathVector, p);
339 hpp::core::PathVectorPtr_t out =
340 hpp::core::PathVector::create (p->outputSize(), p->outputDerivativeSize());
343 return hpp::corbaServer::makeServant<hpp::core_idl::PathVector_ptr>
346 }
catch (
const std::exception& e) {
347 throw ::hpp::Error (e.what());
Implementation of Hpp module Corba server.
Definition: server.hh:77
Definition: paths-fwd.hh:28
hpp::size_type outputSize()
Definition: paths.hh:51
hpp::floatSeq * at(hpp::value_type t, ::CORBA::Boolean &success)
Definition: paths.hh:162
char * str()
Definition: paths.hh:135
hpp::floatSeq * derivative(hpp::value_type t, ::CORBA::Short order)
Definition: paths.hh:176
virtual ~PathServant()
Definition: paths.hh:32
hpp::size_type outputDerivativeSize()
Definition: paths.hh:65
hpp::value_type length()
Definition: paths.hh:79
PathServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: paths.hh:25
hpp::floatSeq * initial()
Definition: paths.hh:93
hpp::core_idl::PathVector_ptr asVector()
Definition: paths.hh:204
hpp::floatSeq * end()
Definition: paths.hh:107
hpp::core_idl::Path_ptr reverse()
Definition: paths.hh:222
hpp::floatSeq * call(hpp::value_type t, ::CORBA::Boolean &success)
Definition: paths.hh:148
hpp::core_idl::Path_ptr extract(hpp::value_type tmin, hpp::value_type tmax)
Definition: paths.hh:190
void deleteThis()
Definition: paths.hh:40
hpp::core_idl::ConstraintSet_ptr constraints()
Definition: paths.hh:121
Definition: paths-fwd.hh:104
void concatenate(hpp::core_idl::PathVector_ptr p)
Definition: paths.hh:318
hpp::core_idl::size_t numberPaths()
Definition: paths.hh:262
hpp::core_idl::Path_ptr pathAtRank(hpp::core_idl::size_t rank)
Definition: paths.hh:290
PathVectorServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: paths.hh:247
virtual ~PathVectorServant()
Definition: paths.hh:254
hpp::core_idl::size_t rankAtParam(hpp::value_type param, hpp::value_type &localParam)
Definition: paths.hh:276
hpp::core_idl::PathVector_ptr flatten()
Definition: paths.hh:332
void appendPath(hpp::core_idl::Path_ptr p)
Definition: paths.hh:304
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
unsigned long long size_t
Definition: paths.idl:18
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
double value_type
Definition: common.idl:18