# Python stubs generated by omniidl from /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/corbaserver/obstacle.idl
# DO NOT EDIT THIS FILE!

import omniORB, _omnipy
from omniORB import CORBA, PortableServer
_0_CORBA = CORBA


_omnipy.checkVersion(4,2, __file__, 1)

try:
    property
except NameError:
    def property(*args):
        return None


# #include "hpp/common.idl"
import hpp_stubs.common_idl
_0_hpp = omniORB.openModule("hpp_stubs.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.hpp__POA")

#
# Start of module "hpp"
#
__name__ = "hpp_idl.hpp"
_0_hpp = omniORB.openModule("hpp_idl.hpp", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/corbaserver/obstacle.idl")
_0_hpp__POA = omniORB.openModule("hpp_idl.hpp__POA", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/corbaserver/obstacle.idl")


#
# Start of module "hpp.corbaserver"
#
__name__ = "hpp_idl.hpp.corbaserver"
_0_hpp.corbaserver = omniORB.openModule("hpp_idl.hpp.corbaserver", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/corbaserver/obstacle.idl")
_0_hpp__POA.corbaserver = omniORB.openModule("hpp_idl.hpp__POA.corbaserver", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/corbaserver/obstacle.idl")


# interface Obstacle
_0_hpp.corbaserver._d_Obstacle = (omniORB.tcInternal.tv_objref, "IDL:hpp/corbaserver/Obstacle:1.0", "Obstacle")
omniORB.typeMapping["IDL:hpp/corbaserver/Obstacle:1.0"] = _0_hpp.corbaserver._d_Obstacle
_0_hpp.corbaserver.Obstacle = omniORB.newEmptyClass()
class Obstacle :
    _NP_RepositoryId = _0_hpp.corbaserver._d_Obstacle[1]

    def __init__(self, *args, **kw):
        raise RuntimeError("Cannot construct objects of this type.")

    _nil = CORBA.Object._nil

    loadObstacleModel__doc__ = "Load obstacle from urdf file\012\012\134param package Name of the package containing the model.\012\134param filename name of the urdf file, it may contain \042package://\042\012\134param prefix prefix added to object names in case the same file is\012       loaded several times\012\012The kinematic structure of the urdf file is ignored. Only the geometric\012objects are loaded as obstacles.\012\012Prototype:\011    void loadObstacleModel (in string filename, in string prefix)\012           \011      raises (Error);\012"
    loadPolyhedron__doc__ = "\134brief Load a polyhedron as an obstacle from a file\012\134param obstacleName name of the polyhedron.\012\134param filename name of the file.\012\134throw Error.\012\012Prototype:\011    void loadPolyhedron (in string obstacleName, in string filename)\012           \011      raises (Error);\012"
    loadObstacleModelFromString__doc__ = "Load obstacle from urdf file\012\012\134param package Name of the package containing the model.\012\134param urdfString XML string to parse\012\134param prefix prefix added to object names in case the same file is\012       loaded several times\012\012The kinematic structure of the urdf file is ignored. Only the geometric\012objects are loaded as obstacles.\012\012Prototype:\011    void loadObstacleModelFromString (in string urdfString, in string prefix)\012           \011      raises (Error);\012"
    loadPointCloudFromFilename__doc__ = "Load (or update if it exists) a point cloud from a filename.\012\012\134param filename a filename whose format must be compatible with Octomap\012\012Prototype:\011    void loadPointCloudFromFilename (in string objectName, in string filename)\012           \011      raises (Error);\012"
    loadPointCloudFromPoints__doc__ = "Load (or update if it exists) a point cloud from a set of points\012\012\134param resolution OcTree resolution. See Octomap::OcTree for more info.\012\134param points a Nx3 matrix representing the point cloud.\012\012\134note OmniORB has a limit in the size of arguments that you can send. If you have\012an exception about the message size limit being exceeded, you can try to increase\012the limit. The option is *giopMaxMsgSize*. The value must be changed both on the\012server and client side.\012See https://omniorb.sourceforge.io/omni40/omniORB/omniORB004.html for the different\012ways of changing a configuration value. The easiest is likely to set the value in\012file `${OmniORB_INSTALLATION_PREFIX}/etc/omniORB.cfg`\012\012Prototype:\011    void loadPointCloudFromPoints (in string objectName, in double resolution,\012           \011                                   in floatSeqSeq points)\012           \011      raises (Error);\012"
    removeObstacle__doc__ = "\134brief Remove an obstacle\012\012\134param objectName name of the object to remove\012\012Prototype:\011    void removeObstacle (in string objectName) raises (Error);\012"
    removeObstacleFromJoint__doc__ = "\134brief Remove an obstacle from outer objects of a joint body\012\012\134param objectName name of the object to remove,\012\134param jointName name of the joint owning the body,\012\134param collision whether collision with object should be ignored,\012\134param distance whether distance to object should be ignored.\012\134throw Error.\012\012Prototype:\011    void removeObstacleFromJoint (in string objectName, in string jointName,\012           \011\011\011\011\011  in boolean collision, in boolean distance)\012           \011      raises (Error);\012"
    cutObstacle__doc__ = "Cut the obstacle with the given AABB\012\134param aabb a vector of 6 floats. The 3 first represent one corner\012            and the 3 last represent the opposite corner.\012\012Prototype:\011    void cutObstacle (in string objectName, in floatSeq aabb) raises (Error);\012"
    addObstacle__doc__ = "\134brief Add an obstacle to the set of obstacles\012\012\134param objectName name of the object.\012\134param collision whether collision with object should be computed\012\134param distance whether distance to object should be computed\012\134throw Error.\012\012\134note The obstacle should have been built using one of methods\012  \134li hpp::Obstacle::createPolyhedron,\012  \134li hpp::Obstacle::createBox\012  \134li hpp::Obstacle::addPoint\012  \134li hpp::Obstacle::addTriangle.\012\012\134note Build the bounding volume hierarchy of the object if needed.\012\012Prototype:\011    void addObstacle (in string objectName, in boolean collision,\012           \011\011\011      in boolean distance) raises (Error);\012"
    moveObstacle__doc__ = "\134brief Move an obstacle to a given configuration.\012\134param objectName name of the polyhedron.\012\134param cfg the configuration of the obstacle.\012\134throw Error.\012\012\134note The obstacle is not added to local map\012impl::Obstacle::collisionListMap.\012\012\134note Build the collision entity of polyhedron for KCD.\012\012Prototype:\011    void moveObstacle (in string objectName, in Transform_ cfg)\012           \011      raises (Error);\012"
    getObstaclePosition__doc__ = "Get the position of an obstacle\012\012\134param objectName name of the polyhedron.\012\134retval cfg Position of the obstacle.\012\134throw Error.\012\012Prototype:\011    void getObstaclePosition (in string objectName, out Transform_ cfg)\012           \011      raises (Error);\012"
    getObstacleNames__doc__ = "Get list of obstacles\012\012\134param collision whether to return obstacle for collision,\012\134param distance whether to return obstacles for distance computation\012\134return list of obstacles\012\012Prototype:\011    Names_t getObstacleNames (in boolean collision, in boolean distance)\012           \011      raises (Error);\012"
    createPolyhedron__doc__ = "\134brief create an empty polyhedron.\012\134param polyName name of the polyhedron.\012\134throw Error.\012\012Prototype:\011    void createPolyhedron (in string polyName)\012           \011      raises (Error);\012"
    createBox__doc__ = "\134brief Create a box\012\134param inBoxName name of the box\012\134param x, y, z Size of the box\012\012Prototype:\011    void createBox (in string inBoxName, in double x, in double y, in double z)\012           \011      raises (Error);\012"
    createSphere__doc__ = " Create a sphere\012\134param name name of the sphere\012\134param radius radius of the sphere\012\012Prototype:\011    void createSphere (in string name, in double radius) raises (Error);\012"
    createCylinder__doc__ = " Create a cylinder\012\134param name name of the cylinder\012\134param radius radius of the cylinder\012\134param length length of the cylinder\012\012Prototype:\011    void createCylinder (in string name, in double radius, in double length) raises (Error);\012"
    addPoint__doc__ = "\134brief Add a point to a polyhedron\012\134param polyName the name of the polyhedron.\012\134param x coordinate of the point.\012\134param y coordinate of the point.\012\134param z coordinate of the point.\012\134return rank of point in polyhedron.\012\012Prototype:\011    unsigned long addPoint (in string polyName, in double x, in double y, in double z)\012           \011      raises (Error);\012"
    addTriangle__doc__ = "\134brief Add a point to a polyhedron\012\134param polyName the name of the polyhedron.\012\134param pt1 rank of first point in polyhedron.\012\134param pt2 rank of second point in polyhedron.\012\134param pt3 rank of third point in polyhedron.\012\134return rank of triangle in polyhedron.\012\012Prototype:\011    unsigned long addTriangle\012           \011    (in string polyName, in unsigned long pt1,\012           \011     in unsigned long pt2, in unsigned long pt3) raises (Error);\012"


_0_hpp.corbaserver.Obstacle = Obstacle
_0_hpp.corbaserver._tc_Obstacle = omniORB.tcInternal.createTypeCode(_0_hpp.corbaserver._d_Obstacle)
omniORB.registerType(Obstacle._NP_RepositoryId, _0_hpp.corbaserver._d_Obstacle, _0_hpp.corbaserver._tc_Obstacle)

# Obstacle operations and attributes
Obstacle._d_loadObstacleModel = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_loadPolyhedron = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_loadObstacleModelFromString = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_loadPointCloudFromFilename = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_loadPointCloudFromPoints = (((omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_double, omniORB.typeMapping["IDL:hpp/floatSeqSeq:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_removeObstacle = (((omniORB.tcInternal.tv_string,0), ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_removeObstacleFromJoint = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_boolean, omniORB.tcInternal.tv_boolean), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_cutObstacle = (((omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/floatSeq:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_addObstacle = (((omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_boolean, omniORB.tcInternal.tv_boolean), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_moveObstacle = (((omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/Transform_:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_getObstaclePosition = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/Transform_:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_getObstacleNames = ((omniORB.tcInternal.tv_boolean, omniORB.tcInternal.tv_boolean), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_createPolyhedron = (((omniORB.tcInternal.tv_string,0), ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_createBox = (((omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_double, omniORB.tcInternal.tv_double, omniORB.tcInternal.tv_double), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_createSphere = (((omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_double), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_createCylinder = (((omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_double, omniORB.tcInternal.tv_double), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_addPoint = (((omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_double, omniORB.tcInternal.tv_double, omniORB.tcInternal.tv_double), (omniORB.tcInternal.tv_ulong, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Obstacle._d_addTriangle = (((omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_ulong, omniORB.tcInternal.tv_ulong, omniORB.tcInternal.tv_ulong), (omniORB.tcInternal.tv_ulong, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})

# Obstacle object reference
class _objref_Obstacle (CORBA.Object):
    _NP_RepositoryId = Obstacle._NP_RepositoryId

    def __init__(self, obj):
        CORBA.Object.__init__(self, obj)

    def loadObstacleModel(self, *args):
        return self._obj.invoke("loadObstacleModel", _0_hpp.corbaserver.Obstacle._d_loadObstacleModel, args)

    def loadPolyhedron(self, *args):
        return self._obj.invoke("loadPolyhedron", _0_hpp.corbaserver.Obstacle._d_loadPolyhedron, args)

    def loadObstacleModelFromString(self, *args):
        return self._obj.invoke("loadObstacleModelFromString", _0_hpp.corbaserver.Obstacle._d_loadObstacleModelFromString, args)

    def loadPointCloudFromFilename(self, *args):
        return self._obj.invoke("loadPointCloudFromFilename", _0_hpp.corbaserver.Obstacle._d_loadPointCloudFromFilename, args)

    def loadPointCloudFromPoints(self, *args):
        return self._obj.invoke("loadPointCloudFromPoints", _0_hpp.corbaserver.Obstacle._d_loadPointCloudFromPoints, args)

    def removeObstacle(self, *args):
        return self._obj.invoke("removeObstacle", _0_hpp.corbaserver.Obstacle._d_removeObstacle, args)

    def removeObstacleFromJoint(self, *args):
        return self._obj.invoke("removeObstacleFromJoint", _0_hpp.corbaserver.Obstacle._d_removeObstacleFromJoint, args)

    def cutObstacle(self, *args):
        return self._obj.invoke("cutObstacle", _0_hpp.corbaserver.Obstacle._d_cutObstacle, args)

    def addObstacle(self, *args):
        return self._obj.invoke("addObstacle", _0_hpp.corbaserver.Obstacle._d_addObstacle, args)

    def moveObstacle(self, *args):
        return self._obj.invoke("moveObstacle", _0_hpp.corbaserver.Obstacle._d_moveObstacle, args)

    def getObstaclePosition(self, *args):
        return self._obj.invoke("getObstaclePosition", _0_hpp.corbaserver.Obstacle._d_getObstaclePosition, args)

    def getObstacleNames(self, *args):
        return self._obj.invoke("getObstacleNames", _0_hpp.corbaserver.Obstacle._d_getObstacleNames, args)

    def createPolyhedron(self, *args):
        return self._obj.invoke("createPolyhedron", _0_hpp.corbaserver.Obstacle._d_createPolyhedron, args)

    def createBox(self, *args):
        return self._obj.invoke("createBox", _0_hpp.corbaserver.Obstacle._d_createBox, args)

    def createSphere(self, *args):
        return self._obj.invoke("createSphere", _0_hpp.corbaserver.Obstacle._d_createSphere, args)

    def createCylinder(self, *args):
        return self._obj.invoke("createCylinder", _0_hpp.corbaserver.Obstacle._d_createCylinder, args)

    def addPoint(self, *args):
        return self._obj.invoke("addPoint", _0_hpp.corbaserver.Obstacle._d_addPoint, args)

    def addTriangle(self, *args):
        return self._obj.invoke("addTriangle", _0_hpp.corbaserver.Obstacle._d_addTriangle, args)

omniORB.registerObjref(Obstacle._NP_RepositoryId, _objref_Obstacle)
_0_hpp.corbaserver._objref_Obstacle = _objref_Obstacle
del Obstacle, _objref_Obstacle

# Obstacle skeleton
__name__ = "hpp_idl.hpp__POA.corbaserver"
class Obstacle (PortableServer.Servant):
    _NP_RepositoryId = _0_hpp.corbaserver.Obstacle._NP_RepositoryId


    _omni_op_d = {"loadObstacleModel": _0_hpp.corbaserver.Obstacle._d_loadObstacleModel, "loadPolyhedron": _0_hpp.corbaserver.Obstacle._d_loadPolyhedron, "loadObstacleModelFromString": _0_hpp.corbaserver.Obstacle._d_loadObstacleModelFromString, "loadPointCloudFromFilename": _0_hpp.corbaserver.Obstacle._d_loadPointCloudFromFilename, "loadPointCloudFromPoints": _0_hpp.corbaserver.Obstacle._d_loadPointCloudFromPoints, "removeObstacle": _0_hpp.corbaserver.Obstacle._d_removeObstacle, "removeObstacleFromJoint": _0_hpp.corbaserver.Obstacle._d_removeObstacleFromJoint, "cutObstacle": _0_hpp.corbaserver.Obstacle._d_cutObstacle, "addObstacle": _0_hpp.corbaserver.Obstacle._d_addObstacle, "moveObstacle": _0_hpp.corbaserver.Obstacle._d_moveObstacle, "getObstaclePosition": _0_hpp.corbaserver.Obstacle._d_getObstaclePosition, "getObstacleNames": _0_hpp.corbaserver.Obstacle._d_getObstacleNames, "createPolyhedron": _0_hpp.corbaserver.Obstacle._d_createPolyhedron, "createBox": _0_hpp.corbaserver.Obstacle._d_createBox, "createSphere": _0_hpp.corbaserver.Obstacle._d_createSphere, "createCylinder": _0_hpp.corbaserver.Obstacle._d_createCylinder, "addPoint": _0_hpp.corbaserver.Obstacle._d_addPoint, "addTriangle": _0_hpp.corbaserver.Obstacle._d_addTriangle}

Obstacle._omni_skeleton = Obstacle
_0_hpp__POA.corbaserver.Obstacle = Obstacle
omniORB.registerSkeleton(Obstacle._NP_RepositoryId, Obstacle)
del Obstacle
__name__ = "hpp_idl.hpp.corbaserver"

#
# End of module "hpp.corbaserver"
#
__name__ = "hpp_idl.hpp"


#
# End of module "hpp"
#
__name__ = "hpp_stubs.corbaserver.obstacle_idl"

#
# Docstrings
#

omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.loadObstacleModel, _0_hpp.corbaserver.Obstacle.loadObstacleModel__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.loadPolyhedron, _0_hpp.corbaserver.Obstacle.loadPolyhedron__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.loadObstacleModelFromString, _0_hpp.corbaserver.Obstacle.loadObstacleModelFromString__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.loadPointCloudFromFilename, _0_hpp.corbaserver.Obstacle.loadPointCloudFromFilename__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.loadPointCloudFromPoints, _0_hpp.corbaserver.Obstacle.loadPointCloudFromPoints__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.removeObstacle, _0_hpp.corbaserver.Obstacle.removeObstacle__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.removeObstacleFromJoint, _0_hpp.corbaserver.Obstacle.removeObstacleFromJoint__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.cutObstacle, _0_hpp.corbaserver.Obstacle.cutObstacle__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.addObstacle, _0_hpp.corbaserver.Obstacle.addObstacle__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.moveObstacle, _0_hpp.corbaserver.Obstacle.moveObstacle__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.getObstaclePosition, _0_hpp.corbaserver.Obstacle.getObstaclePosition__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.getObstacleNames, _0_hpp.corbaserver.Obstacle.getObstacleNames__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.createPolyhedron, _0_hpp.corbaserver.Obstacle.createPolyhedron__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.createBox, _0_hpp.corbaserver.Obstacle.createBox__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.createSphere, _0_hpp.corbaserver.Obstacle.createSphere__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.createCylinder, _0_hpp.corbaserver.Obstacle.createCylinder__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.addPoint, _0_hpp.corbaserver.Obstacle.addPoint__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Obstacle.addTriangle, _0_hpp.corbaserver.Obstacle.addTriangle__doc__)

_exported_modules = ( "hpp_idl.hpp", "hpp_idl.hpp.corbaserver")

# The end.
