1#ifndef hpp_core_idl____problem_hxx__
2#define hpp_core_idl____problem_hxx__
24template <
typename _Base,
typename _Storage>
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>
78 hpp::pinocchio::DevicePtr_t __return__ (
getT()->
robot ());
80 return ::hpp::corbaServer::makeServantDownCast<hpp::pinocchio_impl::Device,hpp::pinocchio_impl::Device>(
server_, __return__)._retn();
81 }
catch (
const std::exception& e) {
82 throw ::hpp::Error (e.what());
86template <
typename _Base,
typename _Storage>
92 getT()->initConfig (q);
94 }
catch (
const std::exception& e) {
95 throw ::hpp::Error (e.what());
99template <
typename _Base,
typename _Storage>
108 }
catch (
const std::exception& e) {
109 throw ::hpp::Error (e.what());
113template <
typename _Base,
typename _Storage>
119 getT()->addGoalConfig (q);
121 }
catch (
const std::exception& e) {
122 throw ::hpp::Error (e.what());
126template <
typename _Base,
typename _Storage>
132 (
getT()->resetGoalConfigs ());
135 }
catch (
const std::exception& e) {
136 throw ::hpp::Error (e.what());
140template <
typename _Base,
typename _Storage>
146 hpp::core::ConstraintPtr_t __return__ (
getT()->constraints ());
148 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(
server_, __return__)._retn();
149 }
catch (
const std::exception& e) {
150 throw ::hpp::Error (e.what());
154template <
typename _Base,
typename _Storage>
160 hpp::core::ConstraintSetPtr_t cs = HPP_DYNAMIC_PTR_CAST(hpp::core::ConstraintSet, c);
161 if (!cs)
throw hpp::Error(
"Constraint is not of type ConstraintSet");
162 (
getT()->constraints (cs));
164 }
catch (
const std::exception& e) {
165 throw ::hpp::Error (e.what());
169template <
typename _Base,
typename _Storage>
175 hpp::core::DistancePtr_t __return__ (
getT()->distance ());
177 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Distance,hpp::core_impl::Distance>(
server_, __return__)._retn();
178 }
catch (
const std::exception& e) {
179 throw ::hpp::Error (e.what());
183template <
typename _Base,
typename _Storage>
189 (
getT()->distance (_d));
192 }
catch (
const std::exception& e) {
193 throw ::hpp::Error (e.what());
197template <
typename _Base,
typename _Storage>
203 hpp::core::SteeringMethodPtr_t __return__ (
getT()->steeringMethod ());
205 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::SteeringMethod,hpp::core_impl::SteeringMethod>(
server_, __return__)._retn();
206 }
catch (
const std::exception& e) {
207 throw ::hpp::Error (e.what());
211template <
typename _Base,
typename _Storage>
217 (
getT()->steeringMethod (_d));
220 }
catch (
const std::exception& e) {
221 throw ::hpp::Error (e.what());
225template <
typename _Base,
typename _Storage>
231 hpp::core::PathValidationPtr_t __return__ (
getT()->pathValidation ());
233 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::PathValidation,hpp::core_impl::PathValidation>(
server_, __return__)._retn();
234 }
catch (
const std::exception& e) {
235 throw ::hpp::Error (e.what());
239template <
typename _Base,
typename _Storage>
245 (
getT()->pathValidation (_d));
248 }
catch (
const std::exception& e) {
249 throw ::hpp::Error (e.what());
253template <
typename _Base,
typename _Storage>
259 hpp::core::PathProjectorPtr_t __return__ (
getT()->pathProjector ());
261 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::PathProjector,hpp::core_impl::PathProjector>(
server_, __return__)._retn();
262 }
catch (
const std::exception& e) {
263 throw ::hpp::Error (e.what());
267template <
typename _Base,
typename _Storage>
273 (
getT()->pathProjector (_p));
276 }
catch (
const std::exception& e) {
277 throw ::hpp::Error (e.what());
281template <
typename _Base,
typename _Storage>
287 hpp::core::ConfigValidationPtr_t __return__ (
getT()->configValidations ());
289 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::ConfigValidation,hpp::core_impl::ConfigValidation>(
server_, __return__)._retn();
290 }
catch (
const std::exception& e) {
291 throw ::hpp::Error (e.what());
295template <
typename _Base,
typename _Storage>
301 (
getT()->clearConfigValidations ());
304 }
catch (
const std::exception& e) {
305 throw ::hpp::Error (e.what());
309template <
typename _Base,
typename _Storage>
315 (
getT()->addConfigValidation (_cfgValidation));
318 }
catch (
const std::exception& e) {
319 throw ::hpp::Error (e.what());
323template <
typename _Base,
typename _Storage>
329 hpp::core::ConfigurationShooterPtr_t __return__ (
getT()->configurationShooter ());
331 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::ConfigurationShooter,hpp::core_impl::ConfigurationShooter>(
server_, __return__)._retn();
332 }
catch (
const std::exception& e) {
333 throw ::hpp::Error (e.what());
337template <
typename _Base,
typename _Storage>
343 (
getT()->configurationShooter (_d));
346 }
catch (
const std::exception& e) {
347 throw ::hpp::Error (e.what());
351template <
typename _Base,
typename _Storage>
357 (
getT()->filterCollisionPairs ());
360 }
catch (
const std::exception& e) {
361 throw ::hpp::Error (e.what());
365template <
typename _Base,
typename _Storage>
371 (
getT()->setSecurityMargins (_margins));
374 }
catch (
const std::exception& e) {
375 throw ::hpp::Error (e.what());
379template <
typename _Base,
typename _Storage>
385 (
getT()->addObstacle (_object));
388 }
catch (
const std::exception& e) {
389 throw ::hpp::Error (e.what());
393template <
typename _Base,
typename _Storage>
400 }
catch (
const std::exception& e) {
401 throw ::hpp::Error (e.what());
405template <
typename _Base,
typename _Storage>
412 }
catch (
const std::exception& e) {
413 throw ::hpp::Error (e.what());
Server * server_
Definition servant-base.hh:118
bool persistantStorage() const
Definition servant-base.hh:166
ServantBase(Server *server, const Storage &_s)
Definition servant-base.hh:192
StorageElementShPtr_t getT() const
Definition servant-base.hh:146
Implementation of Hpp module Corba server.
Definition server.hh:78
void filterCollisionPairs()
Definition _problem.hh:352
void setConfigurationShooter(hpp::core_idl::ConfigurationShooter_ptr d)
Definition _problem.hh:338
hpp::core_idl::SteeringMethod_ptr getSteeringMethod()
Definition _problem.hh:198
::CORBA::Boolean deleteIfExpired()
Definition _problem.hh:51
void setPathProjector(hpp::core_idl::PathProjector_ptr p)
Definition _problem.hh:268
ProblemServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition _problem.hh:25
void setInitConfig(const hpp::floatSeq &init)
Definition _problem.hh:87
void setDistance(hpp::core_idl::Distance_ptr d)
Definition _problem.hh:184
hpp::core_idl::PathProjector_ptr getPathProjector()
Definition _problem.hh:254
virtual ~ProblemServant()
Definition _problem.hh:32
::CORBA::Any * getParameter(const char *name)
Definition _problem.hh:406
void resetGoalConfigs()
Definition _problem.hh:127
void setPathValidation(hpp::core_idl::PathValidation_ptr d)
Definition _problem.hh:240
void addGoalConfig(const hpp::floatSeq &goal)
Definition _problem.hh:114
hpp::core_idl::ConfigValidation_ptr getConfigValidations()
Definition _problem.hh:282
void deleteThis()
Definition _problem.hh:40
void addConfigValidation(hpp::core_idl::ConfigValidation_ptr cfgValidation)
Definition _problem.hh:310
hpp::core_idl::Constraint_ptr getConstraints()
Definition _problem.hh:141
void setConstraints(hpp::core_idl::Constraint_ptr constraints)
Definition _problem.hh:155
hpp::core_idl::PathValidation_ptr getPathValidation()
Definition _problem.hh:226
void setSecurityMargins(const hpp::floatSeqSeq &margins)
Definition _problem.hh:366
hpp::core_idl::ConfigurationShooter_ptr getConfigurationShooter()
Definition _problem.hh:324
void addObstacle(hpp::pinocchio_idl::CollisionObject_ptr object)
Definition _problem.hh:380
hpp::pinocchio_idl::Device_ptr robot()
Definition _problem.hh:73
void clearConfigValidations()
Definition _problem.hh:296
hpp::floatSeq * getInitConfig()
Definition _problem.hh:100
void setParameter(const char *name, const ::CORBA::Any &value)
Definition _problem.hh:394
hpp::core_idl::Distance_ptr getDistance()
Definition _problem.hh:170
void setSteeringMethod(hpp::core_idl::SteeringMethod_ptr d)
Definition _problem.hh:212
Corba exception travelling through the Corba channel.
Definition common.idl:27
auto reference_to_object(Server *server, const P &p)
Definition servant-base.hh:333
AbstractServantBase< T > * reference_to_servant_base(Server *server, const P &p)
Definition servant-base.hh:263
Configuration_t floatSeqToConfig(const DevicePtr_t &robot, const floatSeq &dofArray, bool throwIfNotNormalized)
core::matrix_t floatSeqSeqToMatrix(const floatSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
CORBA::Any * toCorbaAnyPtr(const core::Parameter ¶meter)
Definition conversions.hh:164
core::Parameter toParameter(const CORBA::Any &any)
Definition _constraints-fwd.hh:26
ProblemServant< POA_hpp::core_idl::Problem, hpp::weak_ptr< hpp::core::Problem > > Problem
Definition _problem-fwd.hh:132
Definition steering-method.hh:41
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