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>
72 namespace corbaServer {
83 namespace pinocchio_impl {
84 template <
typename _Base,
typename _Storage>
189 namespace corbaServer {
200 namespace pinocchio_impl {
201 template <
typename _Base,
typename _Storage>
234 namespace corbaServer {
243 #endif // hpp_pinocchio_idl__robots_hpp__ Definition: servant-base.hh:122
hpp::floatSeq * getCurrentVelocity()
Definition: robots.hh:359
virtual ~CenterOfMassComputationServant()
Definition: robots.hh:32
hpp::value_type mass()
Definition: robots.hh:101
Definition: robots.idl:18
hpp::floatSeq * getCurrentAcceleration()
Definition: robots.hh:387
Definition: robots.idl:28
hpp::pinocchio::CenterOfMassComputation HppBase
Definition: robots-fwd.hh:32
Definition: robots-fwd.hh:85
Implement CORBA interface `‘Obstacle’'.
Definition: client.hh:46
::CORBA::Boolean setCurrentConfiguration(const hpp::floatSeq &configuration)
Definition: robots.hh:345
hpp::floatSeqSeq * jacobian()
Definition: robots.hh:115
double value_type
Definition: common.idl:18
void computeForwardKinematics(::CORBA::Short computationFlag)
Definition: robots.hh:441
hpp::floatSeq * com()
Definition: robots.hh:87
::CORBA::Boolean deleteIfExpired()
Definition: robots.hh:51
void computeFramesForwardKinematics()
Definition: robots.hh:455
Definition: robots.idl:130
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
void deleteThis()
Definition: robots.hh:566
virtual ~DeviceServant()
Definition: robots.hh:147
void saturate(const hpp::floatSeq &qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation)
Definition: robots.hh:299
void integrate(const hpp::floatSeq &config_in, const hpp::floatSeq &velocity, hpp::floatSeq_out result)
Definition: robots.hh:244
void updateGeometryPlacements()
Definition: robots.hh:469
void deleteThis()
Definition: robots.hh:155
void replaceGeometryByConvexHull(const hpp::Names_t &geometryNames)
Definition: robots.hh:316
::CORBA::Boolean setCurrentAcceleration(const hpp::floatSeq &acceleration)
Definition: robots.hh:401
void compute()
Definition: robots.hh:73
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:188
hpp::pinocchio::CollisionObject HppBase
Definition: robots-fwd.hh:206
bool persistantStorage() const
See persistantStorage(bool)
Definition: servant-base.hh:166
CenterOfMassComputationServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:25
hpp::size_type numberDof()
Definition: robots.hh:230
hpp::frame_index getFrameByName(const char *name)
Definition: robots.hh:483
DeviceServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:140
hpp::pinocchio::Device Base
Definition: robots-fwd.hh:190
hpp::floatSeq * getCurrentConfiguration()
Definition: robots.hh:331
::CORBA::Short computationFlag()
Definition: robots.hh:415
::CORBA::Boolean deleteIfExpired()
Definition: robots.hh:577
hpp::floatSeqSeq * getFrameJacobian(hpp::frame_index frame_id)
Definition: robots.hh:509
hpp::size_type configSize()
Definition: robots.hh:216
Definition: robots-fwd.hh:202
hpp::pinocchio::Device HppBase
Definition: robots-fwd.hh:89
::CORBA::Boolean setCurrentVelocity(const hpp::floatSeq &velocity)
Definition: robots.hh:373
hpp::pinocchio::CenterOfMassComputation Base
Definition: robots-fwd.hh:73
void controlComputation(::CORBA::Short flag)
Definition: robots.hh:429
Implementation of Hpp module Corba server.
Definition: server.hh:78
void removeJoints(const hpp::Names_t &joints, const hpp::floatSeq &refConfig)
Definition: robots.hh:525
CollisionObjectServant< POA_hpp::pinocchio_idl::CollisionObject, hpp::weak_ptr< hpp::pinocchio::CollisionObject > > CollisionObject
Definition: robots-fwd.hh:228
CollisionObjectServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:551
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:183
void difference(const hpp::floatSeq &q1, const hpp::floatSeq &q2, hpp::floatSeq_out result)
Definition: robots.hh:262
hpp::pinocchio::CollisionObject Base
Definition: robots-fwd.hh:235
CenterOfMassComputationServant< POA_hpp::pinocchio_idl::CenterOfMassComputation, hpp::weak_ptr< hpp::pinocchio::CenterOfMassComputation > > CenterOfMassComputation
Definition: robots-fwd.hh:66
Definition: servant-base.hh:89
hpp::floatSeq * neutralConfiguration()
Definition: robots.hh:202
void interpolate(const hpp::floatSeq &q1, const hpp::floatSeq &q2, ::CORBA::Float u, hpp::floatSeq_out result)
Definition: robots.hh:280
::CORBA::Boolean deleteIfExpired()
Definition: robots.hh:166
hpp::Transform__slice * getFramePosition(hpp::frame_index frame_id)
Definition: robots.hh:495
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
long long size_type
Definition: common.idl:19
virtual ~CollisionObjectServant()
Definition: robots.hh:558