1#ifndef hpp_core_idl__path__planners_hpp__
2#define hpp_core_idl__path__planners_hpp__
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>
31template <
typename _Base,
typename _Storage>
36 typedef hpp::core::ConnectedComponent
HppBase;
61namespace corbaServer {
62template<>
struct hpp_traits<
hpp::core::ConnectedComponent>{
typedef hpp::core::ConnectedComponent
Base; };
73template <
typename _Base,
typename _Storage>
133namespace corbaServer {
145template <
typename _Base,
typename _Storage>
164 hpp::core_idl::PathVector_ptr
solve ();
179 hpp::core_idl::PathVector_ptr
finishSolve (hpp::core_idl::PathVector_ptr path);
205namespace corbaServer {
217template <
typename _Base,
typename _Storage>
236 hpp::core_idl::PathVector_ptr
optimize (hpp::core_idl::PathVector_ptr path);
256namespace corbaServer {
257template<>
struct hpp_traits<
hpp::core::PathOptimizer>{
typedef hpp::core::PathOptimizer
Base; };
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