hpp-manipulation-corba Documentation

Introduction

This package implements a Corba server running hpp-manipulation package functions and the corresponding client.

The corba server part is compiled into library libhpp-manipulation-corba.so that implements the following class:

The client part is provided through python module hpp.corbaserver.manipulation

An executable called hpp-manipulation-server is installed. This executable runs

See these package documentations for details.

How to communicate with the CORBA server

How to communicate with the CORBA server

The easiest way is

to launch hpp-manipulation-server executable, open a python terminal and type:

     from hpp.corbaserver.manipulation import Client as ManipulationClient
     mcl = ManipulationClient ()

Then variable mcl contains a member problem that can send requests to the server. For instance

     mcl.problem.loadHumanoidModel ("hrp2_14", "freeflyer",
                                    "hrp2_14_description", "hrp2_14",
                                    "_capsule", "_capsule")

Some python classes are provided that embed corba clients and that forward corba resquest to the server side:

How to embed a server in an application

How to embed a server in an application

Embedding the corba server into an application can be done by linking the application with libhpp-manipulation-corba.so in a similar way as hpp-corbaserver corba server. See documentation of classes hpp::corbaServer::Server and hpp::manipulation::Server for details.