hpp-corbaserver 4.15.1
Corba server for Humanoid Path Planner applications
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steering_methods.hh
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1#ifndef hpp_core_idl__steering__methods_hxx__
2#define hpp_core_idl__steering__methods_hxx__
3
4//
5// Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.15.1/idl/hpp/core_idl/steering_methods.idl
6//
7
9
10#include <sstream>
11
15
16
17
18//
19// Implementational code for IDL interface hpp::core_idl::SteeringMethod
20//
21namespace hpp {
22
23namespace core_impl {
24template <typename _Base, typename _Storage>
26 const _Storage& s)
27 : hpp::corbaServer::ServantBase<hpp::core::SteeringMethod, _Storage> (server, s)
28{
29 // add extra constructor code here
30}
31template <typename _Base, typename _Storage>
33{
34 // add extra destructor code here
35}
36
37// Methods corresponding to IDL attributes and operations
38
39template <typename _Base, typename _Storage>
40hpp::core_idl::Path_ptr SteeringMethodServant<_Base, _Storage>::call (const hpp::floatSeq& q1, const hpp::floatSeq& q2)
41{
42 try {
43 // automatically generated code.
44 hpp::core::vector_t _q1 = hpp::corbaServer::floatSeqToVector (q1);
45 hpp::core::vector_t _q2 = hpp::corbaServer::floatSeqToVector (q2);
46 hpp::core::PathPtr_t __return__ (getT()->operator() (_q1, _q2));
47
48 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
49 } catch (const std::exception& e) {
50 throw ::hpp::Error (e.what());
51 }
52}
53
54template <typename _Base, typename _Storage>
55void SteeringMethodServant<_Base, _Storage>::setConstraints (hpp::core_idl::ConstraintSet_ptr constraints)
56{
57 try {
58 // automatically generated code.
59 hpp::core::ConstraintSetPtr_t _constraints = ::hpp::corbaServer::reference_to_object<hpp::core::ConstraintSet>(server_, constraints);
60 (getT()->constraints (_constraints));
61
62
63 } catch (const std::exception& e) {
64 throw ::hpp::Error (e.what());
65 }
66}
67
68template <typename _Base, typename _Storage>
70{
71 try {
72 // automatically generated code.
73
74 hpp::core::ConstraintPtr_t __return__ (getT()->constraints ());
75
76 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(server_, __return__)._retn();
77 } catch (const std::exception& e) {
78 throw ::hpp::Error (e.what());
79 }
80}
81
82// End of implementational code
83} // namespace core_impl
84
85} // namespace hpp
86
87//
88// Implementational code for IDL interface hpp::core_idl::steeringMethod_idl::SplineBernstein3
89//
90namespace hpp {
91
92namespace core_impl {
93
94namespace steeringMethod_impl {
95template <typename _Base, typename _Storage>
97 const _Storage& s)
98 : hpp::core_impl::SteeringMethodServant<_Base, _Storage> (server, s)
99{
100 // add extra constructor code here
101}
102template <typename _Base, typename _Storage>
104{
105 // add extra destructor code here
106}
107
108// Methods corresponding to IDL attributes and operations
109
110template <typename _Base, typename _Storage>
111hpp::core_idl::Path_ptr SplineBernstein3Servant<_Base, _Storage>::steer (const hpp::floatSeq& q1, const hpp::intSeq& order1, const hpp::floatSeqSeq& derivatives1, const hpp::floatSeq& q2, const hpp::intSeq& order2, const hpp::floatSeqSeq& derivatives2, ::CORBA::Float length)
112{
113 try {
114 // automatically generated code.
115 hpp::core::vector_t _q1 = hpp::corbaServer::floatSeqToVector (q1);
116 std::vector<int> _order1 = hpp::corbaServer::intSeqToVector (order1);
117 hpp::core::matrix_t _derivatives1 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives1);
118 hpp::core::vector_t _q2 = hpp::corbaServer::floatSeqToVector (q2);
119 std::vector<int> _order2 = hpp::corbaServer::intSeqToVector (order2);
120 hpp::core::matrix_t _derivatives2 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives2);
121 hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length));
122
123 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
124 } catch (const std::exception& e) {
125 throw ::hpp::Error (e.what());
126 }
127}
128
129// End of implementational code
130} // namespace steeringMethod_impl
131
132} // namespace core_impl
133
134} // namespace hpp
135
136//
137// Implementational code for IDL interface hpp::core_idl::steeringMethod_idl::SplineBernstein5
138//
139namespace hpp {
140
141namespace core_impl {
142
143namespace steeringMethod_impl {
144template <typename _Base, typename _Storage>
146 const _Storage& s)
147 : hpp::core_impl::SteeringMethodServant<_Base, _Storage> (server, s)
148{
149 // add extra constructor code here
150}
151template <typename _Base, typename _Storage>
153{
154 // add extra destructor code here
155}
156
157// Methods corresponding to IDL attributes and operations
158
159template <typename _Base, typename _Storage>
160hpp::core_idl::Path_ptr SplineBernstein5Servant<_Base, _Storage>::steer (const hpp::floatSeq& q1, const hpp::intSeq& order1, const hpp::floatSeqSeq& derivatives1, const hpp::floatSeq& q2, const hpp::intSeq& order2, const hpp::floatSeqSeq& derivatives2, ::CORBA::Float length)
161{
162 try {
163 // automatically generated code.
164 hpp::core::vector_t _q1 = hpp::corbaServer::floatSeqToVector (q1);
165 std::vector<int> _order1 = hpp::corbaServer::intSeqToVector (order1);
166 hpp::core::matrix_t _derivatives1 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives1);
167 hpp::core::vector_t _q2 = hpp::corbaServer::floatSeqToVector (q2);
168 std::vector<int> _order2 = hpp::corbaServer::intSeqToVector (order2);
169 hpp::core::matrix_t _derivatives2 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives2);
170 hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length));
171
172 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
173 } catch (const std::exception& e) {
174 throw ::hpp::Error (e.what());
175 }
176}
177
178// End of implementational code
179} // namespace steeringMethod_impl
180
181} // namespace core_impl
182
183} // namespace hpp
184
185
186
187
188
189#endif // hpp_core_idl__steering__methods_hxx__
190
Implementation of Hpp module Corba server.
Definition: server.hh:77
Definition: steering_methods-fwd.hh:29
hpp::core_idl::Path_ptr call(const hpp::floatSeq &q1, const hpp::floatSeq &q2)
Definition: steering_methods.hh:40
void setConstraints(hpp::core_idl::ConstraintSet_ptr constraints)
Definition: steering_methods.hh:55
virtual ~SteeringMethodServant()
Definition: steering_methods.hh:32
SteeringMethodServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:25
hpp::core_idl::Constraint_ptr getConstraints()
Definition: steering_methods.hh:69
SplineBernstein3Servant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:96
hpp::core_idl::Path_ptr steer(const hpp::floatSeq &q1, const hpp::intSeq &order1, const hpp::floatSeqSeq &derivatives1, const hpp::floatSeq &q2, const hpp::intSeq &order2, const hpp::floatSeqSeq &derivatives2, ::CORBA::Float length)
Definition: steering_methods.hh:111
virtual ~SplineBernstein3Servant()
Definition: steering_methods.hh:103
virtual ~SplineBernstein5Servant()
Definition: steering_methods.hh:152
SplineBernstein5Servant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:145
hpp::core_idl::Path_ptr steer(const hpp::floatSeq &q1, const hpp::intSeq &order1, const hpp::floatSeqSeq &derivatives1, const hpp::floatSeq &q2, const hpp::intSeq &order2, const hpp::floatSeqSeq &derivatives2, ::CORBA::Float length)
Definition: steering_methods.hh:160
std::vector< int > intSeqToVector(const intSeq &dofArray)
core::matrix_t floatSeqSeqToMatrix(const floatSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
Implement CORBA interface `‘Obstacle’'.
Definition: client.hh:46
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< long > intSeq
Definition: common.idl:31