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>
55 return _ServantBase::deleteIfExpired();
56 }
catch (
const std::exception& e) {
57 throw ::hpp::Error (e.what());
61template <
typename _Base,
typename _Storage>
66 _ServantBase::persistantStorage(persistant);
67 }
catch (
const std::exception& e) {
68 throw ::hpp::Error (e.what());
72template <
typename _Base,
typename _Storage>
81 }
catch (
const std::exception& e) {
82 throw ::hpp::Error (e.what());
86template <
typename _Base,
typename _Storage>
95 }
catch (
const std::exception& e) {
96 throw ::hpp::Error (e.what());
100template <
typename _Base,
typename _Storage>
109 }
catch (
const std::exception& e) {
110 throw ::hpp::Error (e.what());
114template <
typename _Base,
typename _Storage>
123 }
catch (
const std::exception& e) {
124 throw ::hpp::Error (e.what());
128template <
typename _Base,
typename _Storage>
137 }
catch (
const std::exception& e) {
138 throw ::hpp::Error (e.what());
142template <
typename _Base,
typename _Storage>
148 hpp::core::ConstraintSetPtr_t __return__ (getT()->constraints ());
150 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::ConstraintSet>(server_, __return__)._retn();
151 }
catch (
const std::exception& e) {
152 throw ::hpp::Error (e.what());
156template <
typename _Base,
typename _Storage>
161 std::ostringstream oss; oss << *get();
162 std::string res = oss.str();
163 return CORBA::string_dup(res.c_str());
164 }
catch (
const std::exception& e) {
165 throw ::hpp::Error (e.what());
169template <
typename _Base,
typename _Storage>
178 }
catch (
const std::exception& e) {
179 throw ::hpp::Error (e.what());
183template <
typename _Base,
typename _Storage>
188 hpp::core::vector_t res (get()->outputSize());
189 success = get()->at (t, res);
192 }
catch (
const std::exception& e) {
193 throw ::hpp::Error (e.what());
197template <
typename _Base,
typename _Storage>
202 hpp::core::vector_t res (get()->outputDerivativeSize());
203 get()->derivative (res, t, order);
206 }
catch (
const std::exception& e) {
207 throw ::hpp::Error (e.what());
211template <
typename _Base,
typename _Storage>
217 hpp::core::PathPtr_t __return__ (getT()->extract (tmin, tmax));
219 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
220 }
catch (
const std::exception& e) {
221 throw ::hpp::Error (e.what());
225template <
typename _Base,
typename _Storage>
230 hpp::core::PathPtr_t p = get();
231 hpp::core::PathVectorPtr_t pv =
232 hpp::core::PathVector::create (p->outputSize(), p->outputDerivativeSize());
235 return hpp::corbaServer::makeServant<hpp::core_idl::PathVector_ptr>
238 }
catch (
const std::exception& e) {
239 throw ::hpp::Error (e.what());
243template <
typename _Base,
typename _Storage>
249 hpp::core::PathPtr_t __return__ (getT()->reverse ());
251 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
252 }
catch (
const std::exception& e) {
253 throw ::hpp::Error (e.what());
268template <
typename _Base,
typename _Storage>
275template <
typename _Base,
typename _Storage>
283template <
typename _Base,
typename _Storage>
292 }
catch (
const std::exception& e) {
293 throw ::hpp::Error (e.what());
297template <
typename _Base,
typename _Storage>
306 }
catch (
const std::exception& e) {
307 throw ::hpp::Error (e.what());
311template <
typename _Base,
typename _Storage>
317 hpp::core::PathPtr_t __return__ (getT()->pathAtRank (rank));
319 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
320 }
catch (
const std::exception& e) {
321 throw ::hpp::Error (e.what());
325template <
typename _Base,
typename _Storage>
330 hpp::core::PathPtr_t _p = ::hpp::corbaServer::reference_to_object<hpp::core::Path>(server_, p);
331 (getT()->appendPath (_p));
334 }
catch (
const std::exception& e) {
335 throw ::hpp::Error (e.what());
339template <
typename _Base,
typename _Storage>
344 hpp::core::PathVectorPtr_t _p = ::hpp::corbaServer::reference_to_object<hpp::core::PathVector>(server_, p);
345 (getT()->concatenate (_p));
348 }
catch (
const std::exception& e) {
349 throw ::hpp::Error (e.what());
353template <
typename _Base,
typename _Storage>
358 hpp::core::PathPtr_t p = get();
359 hpp::core::PathVectorPtr_t pv =
360 HPP_DYNAMIC_PTR_CAST(hpp::core::PathVector, p);
361 hpp::core::PathVectorPtr_t out =
362 hpp::core::PathVector::create (p->outputSize(), p->outputDerivativeSize());
365 return hpp::corbaServer::makeServant<hpp::core_idl::PathVector_ptr>
368 }
catch (
const std::exception& e) {
369 throw ::hpp::Error (e.what());
386template <
typename _Base,
typename _Storage>
393template <
typename _Base,
typename _Storage>
bool persistantStorage() const
See persistantStorage(bool)
Definition: servant-base.hh:166
Implementation of Hpp module Corba server.
Definition: server.hh:78
Definition: paths-fwd.hh:29
hpp::size_type outputSize()
Definition: paths.hh:73
hpp::floatSeq * at(hpp::value_type t, ::CORBA::Boolean &success)
Definition: paths.hh:184
::CORBA::Boolean deleteIfExpired()
Definition: paths.hh:51
char * str()
Definition: paths.hh:157
hpp::floatSeq * derivative(hpp::value_type t, ::CORBA::Short order)
Definition: paths.hh:198
virtual ~PathServant()
Definition: paths.hh:32
hpp::size_type outputDerivativeSize()
Definition: paths.hh:87
hpp::value_type length()
Definition: paths.hh:101
PathServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: paths.hh:25
hpp::floatSeq * initial()
Definition: paths.hh:115
hpp::core_idl::PathVector_ptr asVector()
Definition: paths.hh:226
hpp::floatSeq * end()
Definition: paths.hh:129
hpp::core_idl::Path_ptr reverse()
Definition: paths.hh:244
hpp::floatSeq * call(hpp::value_type t, ::CORBA::Boolean &success)
Definition: paths.hh:170
hpp::core_idl::Path_ptr extract(hpp::value_type tmin, hpp::value_type tmax)
Definition: paths.hh:212
void deleteThis()
Definition: paths.hh:40
hpp::core_idl::ConstraintSet_ptr constraints()
Definition: paths.hh:143
Definition: paths-fwd.hh:111
void concatenate(hpp::core_idl::PathVector_ptr p)
Definition: paths.hh:340
hpp::core_idl::size_t numberPaths()
Definition: paths.hh:284
hpp::core_idl::Path_ptr pathAtRank(hpp::core_idl::size_t rank)
Definition: paths.hh:312
PathVectorServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: paths.hh:269
virtual ~PathVectorServant()
Definition: paths.hh:276
hpp::core_idl::size_t rankAtParam(hpp::value_type param, hpp::value_type &localParam)
Definition: paths.hh:298
hpp::core_idl::PathVector_ptr flatten()
Definition: paths.hh:354
void appendPath(hpp::core_idl::Path_ptr p)
Definition: paths.hh:326
HermiteServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: paths.hh:387
virtual ~HermiteServant()
Definition: paths.hh:394
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
unsigned long long size_t
Definition: paths.idl:18
Implement CORBA interface `‘Obstacle’'.
Definition: client.hh:46
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