1 #ifndef hpp_core_idl____problem_hxx__ 2 #define hpp_core_idl____problem_hxx__ 24 template <
typename _Base,
typename _Storage>
27 :
hpp::corbaServer::ServantBase<
hpp::core::
Problem, _Storage> (server, s)
31 template <
typename _Base,
typename _Storage>
39 template <
typename _Base,
typename _Storage>
44 _ServantBase::deleteThis();
45 }
catch (
const std::exception& e) {
46 throw ::hpp::Error (e.what());
50 template <
typename _Base,
typename _Storage>
58 return ::hpp::corbaServer::makeServantDownCast<hpp::pinocchio_impl::Device,hpp::pinocchio_impl::Device>(server_, __return__)._retn();
59 }
catch (
const std::exception& e) {
60 throw ::hpp::Error (e.what());
64 template <
typename _Base,
typename _Storage>
70 getT()->initConfig (q);
72 }
catch (
const std::exception& e) {
73 throw ::hpp::Error (e.what());
77 template <
typename _Base,
typename _Storage>
86 }
catch (
const std::exception& e) {
87 throw ::hpp::Error (e.what());
91 template <
typename _Base,
typename _Storage>
97 getT()->addGoalConfig (q);
99 }
catch (
const std::exception& e) {
100 throw ::hpp::Error (e.what());
104 template <
typename _Base,
typename _Storage>
110 (getT()->resetGoalConfigs ());
113 }
catch (
const std::exception& e) {
114 throw ::hpp::Error (e.what());
118 template <
typename _Base,
typename _Storage>
124 hpp::core::ConstraintPtr_t __return__ (getT()->constraints ());
126 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(server_, __return__)._retn();
127 }
catch (
const std::exception& e) {
128 throw ::hpp::Error (e.what());
132 template <
typename _Base,
typename _Storage>
137 hpp::core::ConstraintPtr_t c = ::hpp::corbaServer::reference_to_servant_base<hpp::core::Constraint>(server_, constraints)->
get();
139 if (!cs)
throw hpp::Error(
"Constraint is not of type ConstraintSet");
140 (getT()->constraints (cs));
142 }
catch (
const std::exception& e) {
143 throw ::hpp::Error (e.what());
147 template <
typename _Base,
typename _Storage>
153 hpp::core::DistancePtr_t __return__ (getT()->distance ());
155 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Distance,hpp::core_impl::Distance>(server_, __return__)._retn();
156 }
catch (
const std::exception& e) {
157 throw ::hpp::Error (e.what());
161 template <
typename _Base,
typename _Storage>
166 hpp::core::DistancePtr_t _d = ::hpp::corbaServer::reference_to_object<hpp::core::Distance>(server_, d);
167 (getT()->distance (_d));
170 }
catch (
const std::exception& e) {
171 throw ::hpp::Error (e.what());
175 template <
typename _Base,
typename _Storage>
183 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::SteeringMethod,hpp::core_impl::SteeringMethod>(server_, __return__)._retn();
184 }
catch (
const std::exception& e) {
185 throw ::hpp::Error (e.what());
189 template <
typename _Base,
typename _Storage>
195 (getT()->steeringMethod (_d));
198 }
catch (
const std::exception& e) {
199 throw ::hpp::Error (e.what());
203 template <
typename _Base,
typename _Storage>
209 hpp::core::PathValidationPtr_t __return__ (getT()->pathValidation ());
211 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::PathValidation,hpp::core_impl::PathValidation>(server_, __return__)._retn();
212 }
catch (
const std::exception& e) {
213 throw ::hpp::Error (e.what());
217 template <
typename _Base,
typename _Storage>
222 hpp::core::PathValidationPtr_t _d = ::hpp::corbaServer::reference_to_object<hpp::core::PathValidation>(server_, d);
223 (getT()->pathValidation (_d));
226 }
catch (
const std::exception& e) {
227 throw ::hpp::Error (e.what());
231 template <
typename _Base,
typename _Storage>
237 hpp::core::ConfigValidationPtr_t __return__ (getT()->configValidations ());
239 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::ConfigValidation,hpp::core_impl::ConfigValidation>(server_, __return__)._retn();
240 }
catch (
const std::exception& e) {
241 throw ::hpp::Error (e.what());
245 template <
typename _Base,
typename _Storage>
251 (getT()->clearConfigValidations ());
254 }
catch (
const std::exception& e) {
255 throw ::hpp::Error (e.what());
259 template <
typename _Base,
typename _Storage>
264 hpp::core::ConfigValidationPtr_t _cfgValidation = ::hpp::corbaServer::reference_to_object<hpp::core::ConfigValidation>(server_, cfgValidation);
265 (getT()->addConfigValidation (_cfgValidation));
268 }
catch (
const std::exception& e) {
269 throw ::hpp::Error (e.what());
273 template <
typename _Base,
typename _Storage>
279 hpp::core::ConfigurationShooterPtr_t __return__ (getT()->configurationShooter ());
281 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::ConfigurationShooter,hpp::core_impl::ConfigurationShooter>(server_, __return__)._retn();
282 }
catch (
const std::exception& e) {
283 throw ::hpp::Error (e.what());
287 template <
typename _Base,
typename _Storage>
292 hpp::core::ConfigurationShooterPtr_t _d = ::hpp::corbaServer::reference_to_object<hpp::core::ConfigurationShooter>(server_, d);
293 (getT()->configurationShooter (_d));
296 }
catch (
const std::exception& e) {
297 throw ::hpp::Error (e.what());
301 template <
typename _Base,
typename _Storage>
307 (getT()->filterCollisionPairs ());
310 }
catch (
const std::exception& e) {
311 throw ::hpp::Error (e.what());
315 template <
typename _Base,
typename _Storage>
321 (getT()->setSecurityMargins (_margins));
324 }
catch (
const std::exception& e) {
325 throw ::hpp::Error (e.what());
329 template <
typename _Base,
typename _Storage>
335 (getT()->addObstacle (_object));
338 }
catch (
const std::exception& e) {
339 throw ::hpp::Error (e.what());
343 template <
typename _Base,
typename _Storage>
350 }
catch (
const std::exception& e) {
351 throw ::hpp::Error (e.what());
355 template <
typename _Base,
typename _Storage>
362 }
catch (
const std::exception& e) {
363 throw ::hpp::Error (e.what());
376 #endif // hpp_core_idl____problem_hxx__ void filterCollisionPairs()
Definition: _problem.hh:302
CORBA::Any * toCorbaAnyPtr(const core::Parameter ¶meter)
Definition: conversions.hh:167
ProblemServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _problem.hh:25
hpp::core_idl::ConfigValidation_ptr getConfigValidations()
Definition: _problem.hh:232
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:74
hpp::pinocchio_idl::Device_ptr robot()
Definition: _problem.hh:51
core::matrix_t floatSeqSeqToMatrix(const floatSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
ConfigurationPtr_t floatSeqToConfigPtr(const DevicePtr_t &robot, const floatSeq &dofArray, bool throwIfNotNormalized)
_objref_SteeringMethod * SteeringMethod_ptr
Definition: _problem-idl.hh:187
void setSecurityMargins(const hpp::floatSeqSeq &margins)
Definition: _problem.hh:316
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:35
_objref_CollisionObject * CollisionObject_ptr
Definition: _problem-idl.hh:129
void setParameter(const char *name, const ::CORBA::Any &value)
Definition: _problem.hh:344
void setConstraints(hpp::core_idl::Constraint_ptr constraints)
Definition: _problem.hh:133
_objref_PathValidation * PathValidation_ptr
Definition: _problem-idl.hh:239
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
Definition: _problem-fwd.hh:30
virtual ~ProblemServant()
Definition: _problem.hh:32
::CORBA::Any * getParameter(const char *name)
Definition: _problem.hh:356
Corba exception travelling through the Corba channel.
Definition: common.idl:26
void deleteThis()
Definition: _problem.hh:40
void setConfigurationShooter(hpp::core_idl::ConfigurationShooter_ptr d)
Definition: _problem.hh:288
hpp::floatSeq * getInitConfig()
Definition: _problem.hh:78
_objref_ConfigValidation * ConfigValidation_ptr
Definition: _problem-idl.hh:213
void setPathValidation(hpp::core_idl::PathValidation_ptr d)
Definition: _problem.hh:218
core::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:67
void setSteeringMethod(hpp::core_idl::SteeringMethod_ptr d)
Definition: _problem.hh:190
void addObstacle(hpp::pinocchio_idl::CollisionObject_ptr object)
Definition: _problem.hh:330
_objref_ConfigurationShooter * ConfigurationShooter_ptr
Definition: _problem-idl.hh:265
void setInitConfig(const hpp::floatSeq &init)
Definition: _problem.hh:65
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:64
ConstraintSetServant< POA_hpp::core_idl::ConstraintSet, hpp::weak_ptr< hpp::core::ConstraintSet > > ConstraintSet
Definition: _constraints-fwd.hh:170
core::Parameter toParameter(const CORBA::Any &any)
Implementation of Hpp module Corba server.
Definition: server.hh:77
void addGoalConfig(const hpp::floatSeq &goal)
Definition: _problem.hh:92
pinocchio::matrix_t matrix_t
Definition: fwd.hh:110
void addConfigValidation(hpp::core_idl::ConfigValidation_ptr cfgValidation)
Definition: _problem.hh:260
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
hpp::core_idl::SteeringMethod_ptr getSteeringMethod()
Definition: _problem.hh:176
hpp::core_idl::ConfigurationShooter_ptr getConfigurationShooter()
Definition: _problem.hh:274
hpp::core_idl::Constraint_ptr getConstraints()
Definition: _problem.hh:119
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
core::SteeringMethodPtr_t SteeringMethodPtr_t
Definition: fwd.hh:102
void setDistance(hpp::core_idl::Distance_ptr d)
Definition: _problem.hh:162
hpp::core_idl::Distance_ptr getDistance()
Definition: _problem.hh:148
void clearConfigValidations()
Definition: _problem.hh:246
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
_objref_Device * Device_ptr
Definition: _problem-idl.hh:103
hpp::core_idl::PathValidation_ptr getPathValidation()
Definition: _problem.hh:204
void resetGoalConfigs()
Definition: _problem.hh:105
_objref_Distance * Distance_ptr
Definition: _problem-idl.hh:161