2 #ifndef __obstacle_hh__ 3 #define __obstacle_hh__ 5 #ifndef __CORBA_H_EXTERNAL_GUARD__ 6 #include <omniORB4/CORBA.h> 9 #ifndef USE_stub_in_nt_dll 10 # define USE_stub_in_nt_dll_NOT_DEFINED_obstacle 12 #ifndef USE_core_stub_in_nt_dll 13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_obstacle 15 #ifndef USE_dyn_stub_in_nt_dll 16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_obstacle 21 #ifndef __common_hh_EXTERNAL_GUARD__ 22 #define __common_hh_EXTERNAL_GUARD__ 28 #ifdef USE_stub_in_nt_dll 29 # ifndef USE_core_stub_in_nt_dll 30 # define USE_core_stub_in_nt_dll 32 # ifndef USE_dyn_stub_in_nt_dll 33 # define USE_dyn_stub_in_nt_dll 38 # error "A local CPP macro _core_attr has already been defined." 40 # ifdef USE_core_stub_in_nt_dll 41 # define _core_attr _OMNIORB_NTDLL_IMPORT 48 # error "A local CPP macro _dyn_attr has already been defined." 50 # ifdef USE_dyn_stub_in_nt_dll 51 # define _dyn_attr _OMNIORB_NTDLL_IMPORT 63 _CORBA_MODULE corbaserver
67 #ifndef __hpp_mcorbaserver_mObstacle__ 68 #define __hpp_mcorbaserver_mObstacle__ 88 typedef _CORBA_ObjRef_Var<_objref_Obstacle, Obstacle_Helper>
Obstacle_var;
89 typedef _CORBA_ObjRef_OUT_arg<_objref_Obstacle,Obstacle_Helper >
Obstacle_out;
109 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
130 public virtual ::CORBA::Object,
131 public virtual omniObjRef
136 void loadPolyhedron(
const char* obstacleName,
const char* filename);
139 void removeObstacleFromJoint(
const char* objectName,
const char* jointName, ::CORBA::Boolean collision, ::CORBA::Boolean distance);
141 void addObstacle(
const char* objectName, ::CORBA::Boolean collision, ::CORBA::Boolean distance);
146 void createBox(
const char* inBoxName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z);
147 void createSphere(
const char* name, ::CORBA::Double radius);
148 void createCylinder(
const char* name, ::CORBA::Double radius, ::CORBA::Double length);
149 ::CORBA::ULong
addPoint(
const char* polyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z);
150 ::CORBA::ULong
addTriangle(
const char* polyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3);
161 virtual void* _ptrToObjRef(
const char*);
175 virtual omniObjRef*
newObjRef(omniIOR*,omniIdentity*);
176 virtual _CORBA_Boolean
is_a(
const char*)
const;
180 public virtual omniServant
186 virtual void loadPolyhedron(
const char* obstacleName,
const char* filename) = 0;
189 virtual void removeObstacleFromJoint(
const char* objectName,
const char* jointName, ::CORBA::Boolean collision, ::CORBA::Boolean distance) = 0;
191 virtual void addObstacle(
const char* objectName, ::CORBA::Boolean collision, ::CORBA::Boolean distance) = 0;
196 virtual void createBox(
const char* inBoxName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0;
197 virtual void createSphere(
const char* name, ::CORBA::Double radius) = 0;
198 virtual void createCylinder(
const char* name, ::CORBA::Double radius, ::CORBA::Double length) = 0;
199 virtual ::CORBA::ULong
addPoint(
const char* polyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0;
200 virtual ::CORBA::ULong
addTriangle(
const char* polyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3) = 0;
203 virtual _CORBA_Boolean
_dispatch(omniCallHandle&);
206 virtual void* _ptrToInterface(
const char*);
207 virtual const char* _mostDerivedRepoId();
218 _CORBA_MODULE POA_hpp
221 _CORBA_MODULE corbaserver
225 public virtual hpp::corbaserver::_impl_Obstacle,
226 public virtual ::PortableServer::ServantBase
242 _CORBA_MODULE OBV_hpp
245 _CORBA_MODULE corbaserver
263 omniObjRef::_marshal(obj->_PR_getobj(),s);
268 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_obstacle 269 # undef USE_stub_in_nt_dll 270 # undef USE_stub_in_nt_dll_NOT_DEFINED_obstacle 272 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_obstacle 273 # undef USE_core_stub_in_nt_dll 274 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_obstacle 276 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_obstacle 277 # undef USE_dyn_stub_in_nt_dll 278 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_obstacle 281 #endif // __obstacle_hh__ void createSphere(const char *name, ::CORBA::Double radius)
void getObstaclePosition(const char *objectName, ::hpp::Transform_ cfg)
static void marshalObjRef(_ptr_type, cdrStream &)
_CORBA_ObjRef_OUT_arg< _objref_Obstacle, Obstacle_Helper > Obstacle_out
Definition: obstacle-idl.hh:89
Definition: obstacle-idl.hh:94
virtual Names_t * getObstacleNames(::CORBA::Boolean collision, ::CORBA::Boolean distance)=0
static _ptr_type unmarshalObjRef(cdrStream &)
virtual void removeObstacle(const char *objectName)=0
::CORBA::ULong addPoint(const char *polyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)
virtual void createSphere(const char *name, ::CORBA::Double radius)=0
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:35
_objref_Obstacle * Obstacle_ptr
Definition: obstacle-idl.hh:71
virtual _CORBA_Boolean is_a(const char *) const
virtual void createPolyhedron(const char *polyName)=0
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
Obstacle_ptr _ptr_type
Definition: obstacle-idl.hh:97
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: obstacle-idl.hh:262
void createPolyhedron(const char *polyName)
virtual void removeObstacleFromJoint(const char *objectName, const char *jointName, ::CORBA::Boolean collision, ::CORBA::Boolean distance)=0
::CORBA::ULong addTriangle(const char *polyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3)
virtual ~_impl_Obstacle()
Obstacle_var _var_type
Definition: obstacle-idl.hh:98
void createBox(const char *inBoxName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: obstacle-idl.hh:116
::CORBA::Double Transform_[7]
Definition: common-idl.hh:915
#define _core_attr
Definition: obstacle-idl.hh:43
void loadObstacleModelFromString(const char *urdfString, const char *prefix)
Definition: common-idl.hh:78
virtual void loadPolyhedron(const char *obstacleName, const char *filename)=0
static void release(_ptr_type)
void addObstacle(const char *objectName, ::CORBA::Boolean collision, ::CORBA::Boolean distance)
inline ::hpp::corbaserver::Obstacle_ptr _this()
Definition: obstacle-idl.hh:231
virtual void createCylinder(const char *name, ::CORBA::Double radius, ::CORBA::Double length)=0
Names_t * getObstacleNames(::CORBA::Boolean collision, ::CORBA::Boolean distance)
static _ptr_type _narrow(::CORBA::Object_ptr)
virtual ~_objref_Obstacle()
void loadObstacleModel(const char *filename, const char *prefix)
virtual ::CORBA::ULong addPoint(const char *polyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)=0
static void duplicate(_ptr_type)
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
Definition: obstacle-idl.hh:170
virtual void createBox(const char *inBoxName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)=0
Obstacle_ptr ObstacleRef
Definition: obstacle-idl.hh:74
Definition: obstacle-idl.hh:76
Definition: obstacle-idl.hh:179
void createCylinder(const char *name, ::CORBA::Double radius, ::CORBA::Double length)
void removeObstacle(const char *objectName)
virtual void moveObstacle(const char *objectName, const ::hpp::Transform_ cfg)=0
double Transform_[7]
Element of SE(3) represented by a vector and a unit quaternion.
Definition: common.idl:38
virtual void cutObstacle(const char *objectName, const ::hpp::floatSeq &aabb)=0
virtual void loadObstacleModel(const char *filename, const char *prefix)=0
static _core_attr const char * _PD_repoId
Definition: obstacle-idl.hh:123
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: obstacle-idl.hh:108
_CORBA_ObjRef_Var< _objref_Obstacle, Obstacle_Helper > Obstacle_var
Definition: obstacle-idl.hh:88
_pof_Obstacle()
Definition: obstacle-idl.hh:172
virtual void addObstacle(const char *objectName, ::CORBA::Boolean collision, ::CORBA::Boolean distance)=0
void removeObstacleFromJoint(const char *objectName, const char *jointName, ::CORBA::Boolean collision, ::CORBA::Boolean distance)
Obstacle_ptr _ptr_type
Definition: obstacle-idl.hh:78
Definition: obstacle-idl.hh:129
void loadPolyhedron(const char *obstacleName, const char *filename)
static _ptr_type _duplicate(_ptr_type)
_objref_Obstacle()
Definition: obstacle-idl.hh:153
void cutObstacle(const char *objectName, const ::hpp::floatSeq &aabb)
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
virtual void loadObstacleModelFromString(const char *urdfString, const char *prefix)=0
virtual ::CORBA::ULong addTriangle(const char *polyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3)=0
void moveObstacle(const char *objectName, const ::hpp::Transform_ cfg)
static _CORBA_Boolean is_nil(_ptr_type)
virtual void getObstaclePosition(const char *objectName, ::hpp::Transform_ cfg)=0