1 #ifndef hpp_pinocchio_idl__robots_hpp__ 2 #define hpp_pinocchio_idl__robots_hpp__ 11 #include <hpp/pinocchio/device.hh> 12 #include <hpp/pinocchio/collision-object.hh> 13 #include <hpp/pinocchio/configuration.hh> 14 #include <hpp/pinocchio/liegroup.hh> 15 #include <hpp/pinocchio/center-of-mass-computation.hh> 26 namespace pinocchio_impl {
27 template <
typename _Base,
typename _Storage>
66 namespace corbaServer {
77 namespace pinocchio_impl {
78 template <
typename _Base,
typename _Storage>
153 namespace corbaServer {
164 namespace pinocchio_impl {
165 template <
typename _Base,
typename _Storage>
192 namespace corbaServer {
201 #endif // hpp_pinocchio_idl__robots_hpp__ Definition: servant-base.hh:120
virtual ~CenterOfMassComputationServant()
Definition: robots.hh:32
hpp::value_type mass()
Definition: robots.hh:79
Definition: robots.idl:18
Definition: robots.idl:28
hpp::pinocchio::CenterOfMassComputation HppBase
Definition: robots-fwd.hh:32
Definition: robots-fwd.hh:79
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:35
::CORBA::Boolean setCurrentConfiguration(const hpp::floatSeq &configuration)
Definition: robots.hh:273
hpp::floatSeqSeq * jacobian()
Definition: robots.hh:93
double value_type
Definition: common.idl:18
hpp::floatSeq * com()
Definition: robots.hh:65
void computeFramesForwardKinematics()
Definition: robots.hh:301
Definition: robots.idl:109
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
void deleteThis()
Definition: robots.hh:412
virtual ~DeviceServant()
Definition: robots.hh:125
void saturate(const hpp::floatSeq &qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation)
Definition: robots.hh:227
void integrate(const hpp::floatSeq &config_in, const hpp::floatSeq &velocity, hpp::floatSeq_out result)
Definition: robots.hh:172
void computeForwardKinematics()
Definition: robots.hh:287
void updateGeometryPlacements()
Definition: robots.hh:315
void deleteThis()
Definition: robots.hh:133
void replaceGeometryByConvexHull(const hpp::Names_t &geometryNames)
Definition: robots.hh:244
void compute()
Definition: robots.hh:51
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::CenterOfMassComputation, HppBase)
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
unsigned long frame_index
Definition: common.idl:20
char * name()
Definition: robots.hh:144
hpp::pinocchio::CollisionObject HppBase
Definition: robots-fwd.hh:170
CenterOfMassComputationServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:25
hpp::frame_index getFrameByName(const char *name)
Definition: robots.hh:329
DeviceServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:118
hpp::pinocchio::Device Base
Definition: robots-fwd.hh:154
hpp::floatSeq * getCurrentConfiguration()
Definition: robots.hh:259
hpp::floatSeqSeq * getFrameJacobian(hpp::frame_index frame_id)
Definition: robots.hh:355
Definition: robots-fwd.hh:166
hpp::pinocchio::Device HppBase
Definition: robots-fwd.hh:83
hpp::pinocchio::CenterOfMassComputation Base
Definition: robots-fwd.hh:67
Implementation of Hpp module Corba server.
Definition: server.hh:77
void removeJoints(const hpp::Names_t &joints, const hpp::floatSeq &refConfig)
Definition: robots.hh:371
CollisionObjectServant< POA_hpp::pinocchio_idl::CollisionObject, hpp::weak_ptr< hpp::pinocchio::CollisionObject > > CollisionObject
Definition: robots-fwd.hh:186
CollisionObjectServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:397
Definition: robots-fwd.hh:28
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::Device, HppBase)
DeviceServant< POA_hpp::pinocchio_idl::Device, hpp::weak_ptr< hpp::pinocchio::Device > > Device
Definition: robots-fwd.hh:147
void difference(const hpp::floatSeq &q1, const hpp::floatSeq &q2, hpp::floatSeq_out result)
Definition: robots.hh:190
hpp::pinocchio::CollisionObject Base
Definition: robots-fwd.hh:193
CenterOfMassComputationServant< POA_hpp::pinocchio_idl::CenterOfMassComputation, hpp::weak_ptr< hpp::pinocchio::CenterOfMassComputation > > CenterOfMassComputation
Definition: robots-fwd.hh:60
Definition: servant-base.hh:89
hpp::floatSeq * neutralConfiguration()
Definition: robots.hh:158
void interpolate(const hpp::floatSeq &q1, const hpp::floatSeq &q2, ::CORBA::Float u, hpp::floatSeq_out result)
Definition: robots.hh:208
hpp::Transform__slice * getFramePosition(hpp::frame_index frame_id)
Definition: robots.hh:341
void deleteThis()
Definition: robots.hh:40
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::CollisionObject, HppBase)
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
::CORBA::Double Transform__slice
Definition: common-idl.hh:916
virtual ~CollisionObjectServant()
Definition: robots.hh:404