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_robot 12 #ifndef USE_core_stub_in_nt_dll 13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_robot 15 #ifndef USE_dyn_stub_in_nt_dll 16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot 21 #ifndef __common_hh_EXTERNAL_GUARD__ 22 #define __common_hh_EXTERNAL_GUARD__ 25 #ifndef __robots_hh_EXTERNAL_GUARD__ 26 #define __robots_hh_EXTERNAL_GUARD__ 32 #ifdef USE_stub_in_nt_dll 33 # ifndef USE_core_stub_in_nt_dll 34 # define USE_core_stub_in_nt_dll 36 # ifndef USE_dyn_stub_in_nt_dll 37 # define USE_dyn_stub_in_nt_dll 42 # error "A local CPP macro _core_attr has already been defined." 44 # ifdef USE_core_stub_in_nt_dll 45 # define _core_attr _OMNIORB_NTDLL_IMPORT 52 # error "A local CPP macro _dyn_attr has already been defined." 54 # ifdef USE_dyn_stub_in_nt_dll 55 # define _dyn_attr _OMNIORB_NTDLL_IMPORT 67 _CORBA_MODULE corbaserver
71 #ifndef __hpp_mcorbaserver_mRobot__ 72 #define __hpp_mcorbaserver_mRobot__ 92 typedef _CORBA_ObjRef_Var<_objref_Robot, Robot_Helper>
Robot_var;
93 typedef _CORBA_ObjRef_OUT_arg<_objref_Robot,Robot_Helper >
Robot_out;
113 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
134 public virtual ::CORBA::Object,
135 public virtual omniObjRef
139 void loadRobotModel(
const char* robotName,
const char* rootJointType,
const char* urdfName,
const char* srdfName);
140 void loadHumanoidModel(
const char* robotName,
const char* rootJointType,
const char* urdfName,
const char* srdfName);
141 void loadRobotModelFromString(
const char* robotName,
const char* rootJointType,
const char* urdfString,
const char* srdfString);
142 void loadHumanoidModelFromString(
const char* robotName,
const char* rootJointType,
const char* urdfString,
const char* srdfString);
181 void distancesToCollision(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints);
183 void autocollisionPairs(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active);
184 void setAutoCollision(
const char* innerObject,
const char* outerObject, ::CORBA::Boolean active);
199 void createBox(
const char* name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z);
200 void createSphere(
const char* name, ::CORBA::Double radius);
201 void createCylinder(
const char* name, ::CORBA::Double radius, ::CORBA::Double length);
202 ::CORBA::ULong
addPoint(
const char* inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z);
203 ::CORBA::ULong
addTriangle(
const char* inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3);
215 virtual void* _ptrToObjRef(
const char*);
229 virtual omniObjRef*
newObjRef(omniIOR*,omniIdentity*);
230 virtual _CORBA_Boolean
is_a(
const char*)
const;
234 public virtual omniServant
239 virtual void loadRobotModel(
const char* robotName,
const char* rootJointType,
const char* urdfName,
const char* srdfName) = 0;
240 virtual void loadHumanoidModel(
const char* robotName,
const char* rootJointType,
const char* urdfName,
const char* srdfName) = 0;
241 virtual void loadRobotModelFromString(
const char* robotName,
const char* rootJointType,
const char* urdfString,
const char* srdfString) = 0;
242 virtual void loadHumanoidModelFromString(
const char* robotName,
const char* rootJointType,
const char* urdfString,
const char* srdfString) = 0;
281 virtual void distancesToCollision(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints) = 0;
283 virtual void autocollisionPairs(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active) = 0;
284 virtual void setAutoCollision(
const char* innerObject,
const char* outerObject, ::CORBA::Boolean active) = 0;
286 virtual ::CORBA::Double
getMass() = 0;
296 virtual void createRobot(
const char* robotName) = 0;
299 virtual void createBox(
const char* name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0;
300 virtual void createSphere(
const char* name, ::CORBA::Double radius) = 0;
301 virtual void createCylinder(
const char* name, ::CORBA::Double radius, ::CORBA::Double length) = 0;
302 virtual ::CORBA::ULong
addPoint(
const char* inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0;
303 virtual ::CORBA::ULong
addTriangle(
const char* inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3) = 0;
307 virtual _CORBA_Boolean
_dispatch(omniCallHandle&);
310 virtual void* _ptrToInterface(
const char*);
311 virtual const char* _mostDerivedRepoId();
322 _CORBA_MODULE POA_hpp
325 _CORBA_MODULE corbaserver
329 public virtual hpp::corbaserver::_impl_Robot,
330 public virtual ::PortableServer::ServantBase
346 _CORBA_MODULE OBV_hpp
349 _CORBA_MODULE corbaserver
367 omniObjRef::_marshal(obj->_PR_getobj(),s);
372 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_robot 373 # undef USE_stub_in_nt_dll 374 # undef USE_stub_in_nt_dll_NOT_DEFINED_robot 376 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_robot 377 # undef USE_core_stub_in_nt_dll 378 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_robot 380 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot 381 # undef USE_dyn_stub_in_nt_dll 382 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot 385 #endif // __robot_hh__
floatSeq * getCenterOfMassVelocity()
floatSeq * getRobotAABB()
::CORBA::Long getConfigSize()
virtual void autocollisionPairs(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active)=0
TransformSeq * getLinksPosition(const ::hpp::floatSeq &q, const ::hpp::Names_t &linkName)
void setJointConfig(const char *jointName, const ::hpp::floatSeq &config)
void createSphere(const char *name, ::CORBA::Double radius)
void setJointPositionInParentFrame(const char *jointName, const ::hpp::Transform_ position)
floatSeq * getJointVelocity(const char *jointName)
virtual ::CORBA::Long getJointNumberDof(const char *jointName)=0
virtual Names_t * getJointTypes()=0
#define _core_attr
Definition: robot-idl.hh:47
virtual floatSeq * getJointVelocity(const char *jointName)=0
Definition: robot-idl.hh:80
virtual floatSeqSeq * getJacobianCenterOfMass()=0
virtual floatSeq * shootRandomConfig()=0
virtual Transform__slice * getJointPositionInParentFrame(const char *jointName)=0
floatSeq * getJointConfig(const char *jointName)
Transform__slice * getLinkPosition(const char *linkName)
Definition: robot-idl.hh:98
virtual void addPartialCom(const char *comName, const ::hpp::Names_t &jointNames)=0
virtual void loadHumanoidModelFromString(const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)=0
Names_t * getAllJointNames()
virtual Names_t * getJointOuterObjects(const char *jointName)=0
static void release(_ptr_type)
Names_t * getJointTypes()
Implement CORBA interface `‘Obstacle’'.
Definition: client.hh:46
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
virtual void setExtraConfigSpaceBounds(const ::hpp::floatSeq &bounds)=0
char * getJointType(const char *jointName)
virtual void setCurrentVelocity(const ::hpp::floatSeq &qDot)=0
virtual Names_t * getAllJointNames()=0
virtual ::CORBA::ULong addTriangle(const char *inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3)=0
virtual ::CORBA::Long getConfigSize()=0
static _ptr_type _narrow(::CORBA::Object_ptr)
virtual Names_t * getLinkNames(const char *jointName)=0
virtual Names_t * getJointNames()=0
virtual floatSeq * getVelocityPartialCom(const char *comName)=0
virtual pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation(const char *name)=0
void setJointBounds(const char *jointName, const ::hpp::floatSeq &inJointBound)
static _CORBA_Boolean is_nil(_ptr_type)
floatSeq * getJointVelocityInLocalFrame(const char *jointName)
Robot_ptr _ptr_type
Definition: robot-idl.hh:101
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
floatSeq * getCurrentVelocity()
virtual void autocollisionCheck(::hpp::boolSeq_out collide)=0
virtual TransformSeq * getJointsPosition(const ::hpp::floatSeq &q, const ::hpp::Names_t &jointNames)=0
virtual floatSeq * getPartialCom(const char *comName)=0
virtual TransformSeq * getLinksPosition(const ::hpp::floatSeq &q, const ::hpp::Names_t &linkName)=0
virtual floatSeq * getJointBounds(const char *jointName)=0
virtual void createSphere(const char *name, ::CORBA::Double radius)=0
virtual void isConfigValid(const ::hpp::floatSeq &dofArray, ::CORBA::Boolean &validity, ::CORBA::String_out report)=0
void createPolyhedron(const char *inPolyName)
_objref_Robot * Robot_ptr
Definition: robot-idl.hh:75
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
_CORBA_ObjRef_OUT_arg< _objref_Robot, Robot_Helper > Robot_out
Definition: robot-idl.hh:93
::CORBA::Long getJointConfigSize(const char *jointName)
static _ptr_type _duplicate(_ptr_type)
floatSeq * getJointBounds(const char *jointName)
::CORBA::Double getMass()
virtual void createCylinder(const char *name, ::CORBA::Double radius, ::CORBA::Double length)=0
::CORBA::Long getJointNumberDof(const char *jointName)
virtual floatSeq * getCurrentVelocity()=0
virtual floatSeq * getRobotAABB()=0
Robot_var _var_type
Definition: robot-idl.hh:102
virtual void setJointConfig(const char *jointName, const ::hpp::floatSeq &config)=0
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
::CORBA::ULong getDimensionExtraConfigSpace()
Definition: robot-idl.hh:133
floatSeq * getCenterOfMass()
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: robot-idl.hh:366
Transform__slice * getJointPosition(const char *jointName)
::CORBA::Double Transform_[7]
Definition: common-idl.hh:915
virtual ::CORBA::Double getMass()=0
Transform__slice * getRootJointPosition()
virtual floatSeq * getJointVelocityInLocalFrame(const char *jointName)=0
virtual void setJointBounds(const char *jointName, const ::hpp::floatSeq &inJointBound)=0
void loadRobotModel(const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)
void autocollisionPairs(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active)
Names_t * getJointOuterObjects(const char *jointName)
void createCylinder(const char *name, ::CORBA::Double radius, ::CORBA::Double length)
virtual void setDimensionExtraConfigSpace(::CORBA::ULong dimension)=0
void loadRobotModelFromString(const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)
Names_t * getLinkNames(const char *jointName)
Definition: common-idl.hh:78
virtual ::CORBA::Long getNumberDof()=0
virtual floatSeq * getJointConfig(const char *jointName)=0
void addObjectToJoint(const char *jointName, const char *objectName, const ::hpp::Transform_ pos)
floatSeqSeq * getCurrentTransformation(const char *jointName)
virtual void setRootJointPosition(const ::hpp::Transform_ position)=0
floatSeq * getCurrentConfig()
floatSeqSeq * getJacobianCenterOfMass()
Definition: common-idl.hh:803
Robot_ptr _ptr_type
Definition: robot-idl.hh:82
virtual floatSeqSeq * getCurrentTransformation(const char *jointName)=0
virtual char * getJointType(const char *jointName)=0
virtual char * getParentJointName(const char *jointName)=0
TransformSeq * getJointsPosition(const ::hpp::floatSeq &q, const ::hpp::Names_t &jointNames)
void setCurrentConfig(const ::hpp::floatSeq &dofArray)
_pof_Robot()
Definition: robot-idl.hh:226
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: robot-idl.hh:120
static _ptr_type unmarshalObjRef(cdrStream &)
void appendJoint(const char *parentJoint, const char *jointName, const char *jointType, const ::hpp::Transform_ pos)
virtual floatSeq * jointIntegrate(const ::hpp::floatSeq &jointCfg, const char *jointName, const ::hpp::floatSeq &speed, ::CORBA::Boolean saturate)=0
void setAutoCollision(const char *innerObject, const char *outerObject, ::CORBA::Boolean active)
_CORBA_ObjRef_Var< _objref_Robot, Robot_Helper > Robot_var
Definition: robot-idl.hh:92
void addPartialCom(const char *comName, const ::hpp::Names_t &jointNames)
::CORBA::Long getNumberDof()
void getObjectPosition(const char *objectName, ::hpp::Transform_ cfg)
virtual void loadRobotModelFromString(const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)=0
void setRootJointPosition(const ::hpp::Transform_ position)
virtual void distancesToCollision(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints)=0
_objref_CenterOfMassComputation * CenterOfMassComputation_ptr
Definition: robots-idl.hh:71
virtual Transform__slice * getLinkPosition(const char *linkName)=0
void distancesToCollision(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints)
void setCurrentVelocity(const ::hpp::floatSeq &qDot)
virtual Names_t * getJointInnerObjects(const char *jointName)=0
void isConfigValid(const ::hpp::floatSeq &dofArray, ::CORBA::Boolean &validity, ::CORBA::String_out report)
Robot_ptr RobotRef
Definition: robot-idl.hh:78
void createBox(const char *name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)
floatSeq * getPartialCom(const char *comName)
virtual void createRobot(const char *robotName)=0
virtual Transform__slice * getRootJointPosition()=0
virtual void setAutoCollision(const char *innerObject, const char *outerObject, ::CORBA::Boolean active)=0
virtual void loadHumanoidModel(const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)=0
double Transform_[7]
Element of SE(3) represented by a vector and a unit quaternion.
Definition: common.idl:38
virtual char * getRobotName()=0
virtual _CORBA_Boolean is_a(const char *) const
inline ::hpp::corbaserver::Robot_ptr _this()
Definition: robot-idl.hh:335
virtual floatSeq * getCenterOfMass()=0
Transform__slice * getJointPositionInParentFrame(const char *jointName)
void setDimensionExtraConfigSpace(::CORBA::ULong dimension)
Names_t * getJointNames()
pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation(const char *name)
void loadHumanoidModelFromString(const char *robotName, const char *rootJointType, const char *urdfString, const char *srdfString)
virtual ::CORBA::ULong getDimensionExtraConfigSpace()=0
floatSeq * shootRandomConfig()
::CORBA::ULong addPoint(const char *inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)
void setExtraConfigSpaceBounds(const ::hpp::floatSeq &bounds)
virtual floatSeq * getCurrentConfig()=0
virtual void loadRobotModel(const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)=0
virtual floatSeq * getCenterOfMassVelocity()=0
virtual void appendJoint(const char *parentJoint, const char *jointName, const char *jointType, const ::hpp::Transform_ pos)=0
void loadHumanoidModel(const char *robotName, const char *rootJointType, const char *urdfName, const char *srdfName)
floatSeq * jointIntegrate(const ::hpp::floatSeq &jointCfg, const char *jointName, const ::hpp::floatSeq &speed, ::CORBA::Boolean saturate)
_objref_Robot()
Definition: robot-idl.hh:207
floatSeqSeq * getJacobianPartialCom(const char *comName)
floatSeq * getVelocityPartialCom(const char *comName)
virtual void createBox(const char *name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)=0
static void duplicate(_ptr_type)
Definition: robot-idl.hh:233
virtual ::CORBA::Long getJointConfigSize(const char *jointName)=0
Definition: common-idl.hh:689
virtual void getObjectPosition(const char *objectName, ::hpp::Transform_ cfg)=0
virtual void setJointPositionInParentFrame(const char *jointName, const ::hpp::Transform_ position)=0
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: robot-idl.hh:112
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
virtual Transform__slice * getJointPosition(const char *jointName)=0
virtual floatSeqSeq * getJacobianPartialCom(const char *comName)=0
virtual void setCurrentConfig(const ::hpp::floatSeq &dofArray)=0
void createRobot(const char *robotName)
Names_t * getJointInnerObjects(const char *jointName)
static void marshalObjRef(_ptr_type, cdrStream &)
Definition: robot-idl.hh:224
void autocollisionCheck(::hpp::boolSeq_out collide)
virtual ::CORBA::ULong addPoint(const char *inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)=0
char * getParentJointName(const char *jointName)
static _core_attr const char * _PD_repoId
Definition: robot-idl.hh:127
virtual void createPolyhedron(const char *inPolyName)=0
::CORBA::Double Transform__slice
Definition: common-idl.hh:916
::CORBA::ULong addTriangle(const char *inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3)
virtual void addObjectToJoint(const char *jointName, const char *objectName, const ::hpp::Transform_ pos)=0