hpp-corbaserver  4.13.0
Corba server for Humanoid Path Planner applications
path_planners-fwd.hh
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1 #ifndef hpp_core_idl__path__planners_hpp__
2 #define hpp_core_idl__path__planners_hpp__
3 
4 //
5 // Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.13.0/idl/hpp/core_idl/path_planners.idl
6 //
7 
10 
11 #include <iterator>
12 #include <hpp/pinocchio/serialization.hh>
13 #include <hpp/core/connected-component.hh>
14 #include <hpp/core/path-planner.hh>
15 #include <hpp/core/path-optimizer.hh>
16 #include <hpp/core/roadmap.hh>
17 #include <hpp/core/edge.hh>
18 #include <hpp/core/node.hh>
19 #include <hpp/core_idl/paths.hh>
20 
21 
22 
23 
24 
25 //
26 // Class implementing IDL interface hpp::core_idl::ConnectedComponent
27 //
28 namespace hpp {
29 
30 namespace core_impl {
31 template <typename _Base, typename _Storage>
33 public hpp::corbaServer::ServantBase<hpp::core::ConnectedComponent, _Storage>, public virtual _Base
34 {
35 public:
37 
39 
40 public:
41  // standard constructor
42  ConnectedComponentServant(::hpp::corbaServer::Server* server, const _Storage& s);
44 
45  // methods corresponding to defined IDL attributes and operations
46 
47  void deleteThis ();
48 
49 
51 
52 
53 };
54 
56 } // namespace core_impl
57 
58 } // namespace hpp
59 
60 namespace hpp {
61 namespace corbaServer {
63 } // namespace corbaServer
64 } // namespace corbaServer
65 
66 
67 //
68 // Class implementing IDL interface hpp::core_idl::Roadmap
69 //
70 namespace hpp {
71 
72 namespace core_impl {
73 template <typename _Base, typename _Storage>
75 public hpp::corbaServer::ServantBase<hpp::core::Roadmap, _Storage>, public virtual _Base
76 {
77 public:
79 
81 
82 public:
83  // standard constructor
84  RoadmapServant(::hpp::corbaServer::Server* server, const _Storage& s);
85  virtual ~RoadmapServant();
86 
87  // methods corresponding to defined IDL attributes and operations
88 
89  void deleteThis ();
90 
91 
92  void clear ();
93 
94 
95  void addNode (const hpp::floatSeq& config);
96 
97 
98  void addNodeAndEdge (const hpp::floatSeq& cfgfrom, const hpp::floatSeq& cfgto, hpp::core_idl::Path_ptr path_);
99 
100 
101  void addNodeAndEdges (const hpp::floatSeq& cfgfrom, const hpp::floatSeq& cfgto, hpp::core_idl::Path_ptr path_);
102 
103 
104  hpp::floatSeq* nearestNode (const hpp::floatSeq& config, hpp::value_type& distance, ::CORBA::Boolean reverse);
105 
106 
108 
109 
111 
112 
114 
115 
117 
118 
120 
121 
123 
124 
125 };
126 
128 } // namespace core_impl
129 
130 } // namespace hpp
131 
132 namespace hpp {
133 namespace corbaServer {
134 template<> struct hpp_traits<hpp::core::Roadmap>{ typedef hpp::core::Roadmap Base; };
135 } // namespace corbaServer
136 } // namespace corbaServer
137 
138 
139 //
140 // Class implementing IDL interface hpp::core_idl::PathPlanner
141 //
142 namespace hpp {
143 
144 namespace core_impl {
145 template <typename _Base, typename _Storage>
147 public hpp::corbaServer::ServantBase<hpp::core::PathPlanner, _Storage>, public virtual _Base
148 {
149 public:
151 
153 
154 public:
155  // standard constructor
156  PathPlannerServant(::hpp::corbaServer::Server* server, const _Storage& s);
157  virtual ~PathPlannerServant();
158 
159  // methods corresponding to defined IDL attributes and operations
160 
161  void deleteThis ();
162 
163 
165 
166 
167  void startSolve ();
168 
169 
170  void tryConnectInitAndGoals ();
171 
172 
173  void oneStep ();
174 
175 
177 
178 
180 
181 
182  void interrupt ();
183 
184 
185  void maxIterations (hpp::size_type n);
186 
187 
188  void timeOut (hpp::value_type seconds);
189 
190 
192 
193 
194  void stopWhenProblemIsSolved (::CORBA::Boolean enable);
195 
196 
197 };
198 
200 } // namespace core_impl
201 
202 } // namespace hpp
203 
204 namespace hpp {
205 namespace corbaServer {
207 } // namespace corbaServer
208 } // namespace corbaServer
209 
210 
211 //
212 // Class implementing IDL interface hpp::core_idl::PathOptimizer
213 //
214 namespace hpp {
215 
216 namespace core_impl {
217 template <typename _Base, typename _Storage>
219 public hpp::corbaServer::ServantBase<hpp::core::PathOptimizer, _Storage>, public virtual _Base
220 {
221 public:
223 
225 
226 public:
227  // standard constructor
228  PathOptimizerServant(::hpp::corbaServer::Server* server, const _Storage& s);
229  virtual ~PathOptimizerServant();
230 
231  // methods corresponding to defined IDL attributes and operations
232 
233  void deleteThis ();
234 
235 
237 
238 
239  void interrupt ();
240 
241 
242  void maxIterations (hpp::size_type n);
243 
244 
245  void timeOut (hpp::value_type seconds);
246 
247 
248 };
249 
251 } // namespace core_impl
252 
253 } // namespace hpp
254 
255 namespace hpp {
256 namespace corbaServer {
258 } // namespace corbaServer
259 } // namespace corbaServer
260 
261 
262 
263 
264 
265 #endif // hpp_core_idl__path__planners_hpp__
266 
Definition: servant-base.hh:120
RoadmapServant< POA_hpp::core_idl::Roadmap, hpp::weak_ptr< hpp::core::Roadmap > > Roadmap
Definition: path_planners-fwd.hh:127
void timeOut(hpp::value_type seconds)
Definition: path_planners.hh:406
void clear()
Definition: path_planners.hh:107
Definition: path_planners-fwd.hh:74
hpp::core::PathPlanner HppBase
Definition: path_planners-fwd.hh:150
void stopWhenProblemIsSolved(::CORBA::Boolean enable)
Definition: path_planners.hh:434
Definition: path_planners.idl:37
Definition: path_planners.idl:86
void deleteThis()
Definition: path_planners.hh:474
ConnectedComponentServant< POA_hpp::core_idl::ConnectedComponent, hpp::weak_ptr< hpp::core::ConnectedComponent > > ConnectedComponent
Definition: path_planners-fwd.hh:55
hpp::core_idl::Roadmap_ptr getRoadmap()
Definition: path_planners.hh:420
hpp::core_idl::Path_ptr getEdge(hpp::size_type i)
Definition: path_planners.hh:230
Implement CORBA interface `‘Obstacle’&#39;.
Definition: basic-server.hh:35
ConnectedComponentServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:25
RoadmapServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:81
double value_type
Definition: common.idl:18
void deleteThis()
Definition: path_planners.hh:96
hpp::core_idl::ConnectedComponentSeq * getConnectedComponents()
Definition: path_planners.hh:243
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
hpp::floatSeqSeq * nearestNodes(const hpp::floatSeq &config, hpp::size_type &k)
Definition: path_planners.hh:176
hpp::core_idl::PathVector_ptr optimize(hpp::core_idl::PathVector_ptr path)
Definition: path_planners.hh:485
_objref_Roadmap * Roadmap_ptr
Definition: path_planners-idl.hh:338
virtual ~PathPlannerServant()
Definition: path_planners.hh:275
hpp::core::PathPlanner Base
Definition: path_planners-fwd.hh:206
void deleteThis()
Definition: path_planners.hh:40
virtual ~PathOptimizerServant()
Definition: path_planners.hh:466
hpp::floatSeqSeq * nodes()
Definition: path_planners.hh:51
hpp::floatSeq * getNode(hpp::size_type i)
Definition: path_planners.hh:206
hpp::core_idl::PathVector_ptr computePath()
Definition: path_planners.hh:350
Definition: path_planners-fwd.hh:218
void addNode(const hpp::floatSeq &config)
Definition: path_planners.hh:121
virtual ~RoadmapServant()
Definition: path_planners.hh:88
hpp::core::ConnectedComponent HppBase
Definition: path_planners-fwd.hh:36
hpp::size_type getNbEdges()
Definition: path_planners.hh:218
Definition: path_planners.idl:114
void oneStep()
Definition: path_planners.hh:336
hpp::size_type getNbNodes()
Definition: path_planners.hh:194
hpp::core::Roadmap Base
Definition: path_planners-fwd.hh:134
hpp::core::PathOptimizer HppBase
Definition: path_planners-fwd.hh:222
void startSolve()
Definition: path_planners.hh:308
void interrupt()
Definition: path_planners.hh:378
hpp::floatSeq * nearestNode(const hpp::floatSeq &config, hpp::value_type &distance, ::CORBA::Boolean reverse)
Definition: path_planners.hh:163
hpp::core::PathOptimizer Base
Definition: path_planners-fwd.hh:257
void interrupt()
Definition: path_planners.hh:499
hpp::core::Roadmap HppBase
Definition: path_planners-fwd.hh:78
void timeOut(hpp::value_type seconds)
Definition: path_planners.hh:527
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82
SERVANT_BASE_TYPEDEFS(hpp::core_idl::Roadmap, HppBase)
void maxIterations(hpp::size_type n)
Definition: path_planners.hh:392
void maxIterations(hpp::size_type n)
Definition: path_planners.hh:513
PathPlannerServant< POA_hpp::core_idl::PathPlanner, hpp::weak_ptr< hpp::core::PathPlanner > > PathPlanner
Definition: path_planners-fwd.hh:199
Implementation of Hpp module Corba server.
Definition: server.hh:77
SERVANT_BASE_TYPEDEFS(hpp::core_idl::PathPlanner, HppBase)
hpp::core::ConnectedComponent Base
Definition: path_planners-fwd.hh:62
void addNodeAndEdge(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:135
Definition: path_planners-fwd.hh:146
sequence< ConnectedComponent > ConnectedComponentSeq
Definition: path_planners.idl:33
SERVANT_BASE_TYPEDEFS(hpp::core_idl::ConnectedComponent, HppBase)
hpp::core_idl::PathVector_ptr finishSolve(hpp::core_idl::PathVector_ptr path)
Definition: path_planners.hh:364
Definition: servant-base.hh:89
virtual ~ConnectedComponentServant()
Definition: path_planners.hh:32
PathOptimizerServant< POA_hpp::core_idl::PathOptimizer, hpp::weak_ptr< hpp::core::PathOptimizer > > PathOptimizer
Definition: path_planners-fwd.hh:250
void deleteThis()
Definition: path_planners.hh:283
Definition: path_planners-fwd.hh:32
SERVANT_BASE_TYPEDEFS(hpp::core_idl::PathOptimizer, HppBase)
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
hpp::core_idl::PathVector_ptr solve()
Definition: path_planners.hh:294
Definition: path_planners.idl:22
void addNodeAndEdges(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:149
void tryConnectInitAndGoals()
Definition: path_planners.hh:322
PathPlannerServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:268
PathOptimizerServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:459
long long size_type
Definition: common.idl:19