hpp-manipulation-corba 4.15.1
Corba server for manipulation planning
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server.hh
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1// Copyright (C) 2014 CNRS-LAAS
2// Author: Florent Lamiraux.
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
7// met:
8//
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11//
12// 2. Redistributions in binary form must reproduce the above copyright
13// notice, this list of conditions and the following disclaimer in the
14// documentation and/or other materials provided with the distribution.
15//
16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27// DAMAGE.
28
29#ifndef HPP_MANIPULATION_CORBA_SERVER_HH
30#define HPP_MANIPULATION_CORBA_SERVER_HH
31
32#include <hpp/corba/template/server.hh>
35#include <hpp/corbaserver/server-plugin.hh>
36#include <stdexcept>
37
38namespace hpp {
39namespace manipulation {
40namespace impl {
41class Graph;
42class Problem;
43class Robot;
44} // namespace impl
45class HPP_MANIPULATION_CORBA_DLLAPI Server : public corbaServer::ServerPlugin {
46 public:
47 Server(corbaServer::Server* parent);
48
50
53 void startCorbaServer(const std::string& contextId,
54 const std::string& contextKind);
55
56 ::CORBA::Object_ptr servant(const std::string& name) const;
57
58 std::string name() const;
59
60 ProblemSolverPtr_t problemSolver();
61
62 private:
63 corba::Server<impl::Graph>* graphImpl_;
64 corba::Server<impl::Problem>* problemImpl_;
65 corba::Server<impl::Robot>* robotImpl_;
66}; // class Server
67} // namespace manipulation
68} // namespace hpp
69
70#endif // HPP_MANIPULATION_CORBA_SERVER_HH
Definition: server.hh:45
ProblemSolverPtr_t problemSolver()
::CORBA::Object_ptr servant(const std::string &name) const
std::string name() const
void startCorbaServer(const std::string &contextId, const std::string &contextKind)
Server(corbaServer::Server *parent)
#define HPP_MANIPULATION_CORBA_DLLAPI
Definition: config.hh:64
Definition: client.hh:46
Definition: problem_solver.py:1