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>
55 return _ServantBase::deleteIfExpired();
56 }
catch (
const std::exception& e) {
57 throw ::hpp::Error (e.what());
61 template <
typename _Base,
typename _Storage>
66 _ServantBase::persistantStorage(persistant);
67 }
catch (
const std::exception& e) {
68 throw ::hpp::Error (e.what());
72 template <
typename _Base,
typename _Storage>
80 return ::hpp::corbaServer::makeServantDownCast<hpp::pinocchio_impl::Device,hpp::pinocchio_impl::Device>(server_, __return__)._retn();
81 }
catch (
const std::exception& e) {
82 throw ::hpp::Error (e.what());
86 template <
typename _Base,
typename _Storage>
92 getT()->initConfig (q);
94 }
catch (
const std::exception& e) {
95 throw ::hpp::Error (e.what());
99 template <
typename _Base,
typename _Storage>
108 }
catch (
const std::exception& e) {
109 throw ::hpp::Error (e.what());
113 template <
typename _Base,
typename _Storage>
119 getT()->addGoalConfig (q);
121 }
catch (
const std::exception& e) {
122 throw ::hpp::Error (e.what());
126 template <
typename _Base,
typename _Storage>
132 (getT()->resetGoalConfigs ());
135 }
catch (
const std::exception& e) {
136 throw ::hpp::Error (e.what());
140 template <
typename _Base,
typename _Storage>
146 hpp::core::ConstraintPtr_t __return__ (getT()->constraints ());
148 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(server_, __return__)._retn();
149 }
catch (
const std::exception& e) {
150 throw ::hpp::Error (e.what());
154 template <
typename _Base,
typename _Storage>
159 hpp::core::ConstraintPtr_t c = ::hpp::corbaServer::reference_to_servant_base<hpp::core::Constraint>(server_, constraints)->
get();
161 if (!cs)
throw hpp::Error(
"Constraint is not of type ConstraintSet");
162 (getT()->constraints (cs));
164 }
catch (
const std::exception& e) {
165 throw ::hpp::Error (e.what());
169 template <
typename _Base,
typename _Storage>
175 hpp::core::DistancePtr_t __return__ (getT()->distance ());
177 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Distance,hpp::core_impl::Distance>(server_, __return__)._retn();
178 }
catch (
const std::exception& e) {
179 throw ::hpp::Error (e.what());
183 template <
typename _Base,
typename _Storage>
188 hpp::core::DistancePtr_t _d = ::hpp::corbaServer::reference_to_object<hpp::core::Distance>(server_, d);
189 (getT()->distance (_d));
192 }
catch (
const std::exception& e) {
193 throw ::hpp::Error (e.what());
197 template <
typename _Base,
typename _Storage>
205 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::SteeringMethod,hpp::core_impl::SteeringMethod>(server_, __return__)._retn();
206 }
catch (
const std::exception& e) {
207 throw ::hpp::Error (e.what());
211 template <
typename _Base,
typename _Storage>
217 (getT()->steeringMethod (_d));
220 }
catch (
const std::exception& e) {
221 throw ::hpp::Error (e.what());
225 template <
typename _Base,
typename _Storage>
231 hpp::core::PathValidationPtr_t __return__ (getT()->pathValidation ());
233 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::PathValidation,hpp::core_impl::PathValidation>(server_, __return__)._retn();
234 }
catch (
const std::exception& e) {
235 throw ::hpp::Error (e.what());
239 template <
typename _Base,
typename _Storage>
244 hpp::core::PathValidationPtr_t _d = ::hpp::corbaServer::reference_to_object<hpp::core::PathValidation>(server_, d);
245 (getT()->pathValidation (_d));
248 }
catch (
const std::exception& e) {
249 throw ::hpp::Error (e.what());
253 template <
typename _Base,
typename _Storage>
259 hpp::core::PathProjectorPtr_t __return__ (getT()->pathProjector ());
261 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::PathProjector,hpp::core_impl::PathProjector>(server_, __return__)._retn();
262 }
catch (
const std::exception& e) {
263 throw ::hpp::Error (e.what());
267 template <
typename _Base,
typename _Storage>
272 hpp::core::PathProjectorPtr_t _p = ::hpp::corbaServer::reference_to_object<hpp::core::PathProjector>(server_, p);
273 (getT()->pathProjector (_p));
276 }
catch (
const std::exception& e) {
277 throw ::hpp::Error (e.what());
281 template <
typename _Base,
typename _Storage>
287 hpp::core::ConfigValidationPtr_t __return__ (getT()->configValidations ());
289 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::ConfigValidation,hpp::core_impl::ConfigValidation>(server_, __return__)._retn();
290 }
catch (
const std::exception& e) {
291 throw ::hpp::Error (e.what());
295 template <
typename _Base,
typename _Storage>
301 (getT()->clearConfigValidations ());
304 }
catch (
const std::exception& e) {
305 throw ::hpp::Error (e.what());
309 template <
typename _Base,
typename _Storage>
314 hpp::core::ConfigValidationPtr_t _cfgValidation = ::hpp::corbaServer::reference_to_object<hpp::core::ConfigValidation>(server_, cfgValidation);
315 (getT()->addConfigValidation (_cfgValidation));
318 }
catch (
const std::exception& e) {
319 throw ::hpp::Error (e.what());
323 template <
typename _Base,
typename _Storage>
329 hpp::core::ConfigurationShooterPtr_t __return__ (getT()->configurationShooter ());
331 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::ConfigurationShooter,hpp::core_impl::ConfigurationShooter>(server_, __return__)._retn();
332 }
catch (
const std::exception& e) {
333 throw ::hpp::Error (e.what());
337 template <
typename _Base,
typename _Storage>
342 hpp::core::ConfigurationShooterPtr_t _d = ::hpp::corbaServer::reference_to_object<hpp::core::ConfigurationShooter>(server_, d);
343 (getT()->configurationShooter (_d));
346 }
catch (
const std::exception& e) {
347 throw ::hpp::Error (e.what());
351 template <
typename _Base,
typename _Storage>
357 (getT()->filterCollisionPairs ());
360 }
catch (
const std::exception& e) {
361 throw ::hpp::Error (e.what());
365 template <
typename _Base,
typename _Storage>
371 (getT()->setSecurityMargins (_margins));
374 }
catch (
const std::exception& e) {
375 throw ::hpp::Error (e.what());
379 template <
typename _Base,
typename _Storage>
385 (getT()->addObstacle (_object));
388 }
catch (
const std::exception& e) {
389 throw ::hpp::Error (e.what());
393 template <
typename _Base,
typename _Storage>
400 }
catch (
const std::exception& e) {
401 throw ::hpp::Error (e.what());
405 template <
typename _Base,
typename _Storage>
412 }
catch (
const std::exception& e) {
413 throw ::hpp::Error (e.what());
426 #endif // hpp_core_idl____problem_hxx__ void filterCollisionPairs()
Definition: _problem.hh:352
CORBA::Any * toCorbaAnyPtr(const core::Parameter ¶meter)
Definition: conversions.hh:164
ProblemServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _problem.hh:25
hpp::core_idl::ConfigValidation_ptr getConfigValidations()
Definition: _problem.hh:282
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:73
hpp::pinocchio_idl::Device_ptr robot()
Definition: _problem.hh:73
core::matrix_t floatSeqSeqToMatrix(const floatSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
hpp::core_idl::PathProjector_ptr getPathProjector()
Definition: _problem.hh:254
_objref_SteeringMethod * SteeringMethod_ptr
Definition: _problem-idl.hh:191
_objref_PathProjector * PathProjector_ptr
Definition: _problem-idl.hh:243
::CORBA::Boolean deleteIfExpired()
Definition: _problem.hh:51
void setSecurityMargins(const hpp::floatSeqSeq &margins)
Definition: _problem.hh:366
Implement CORBA interface `‘Obstacle’'.
Definition: client.hh:46
_objref_CollisionObject * CollisionObject_ptr
Definition: _problem-idl.hh:133
void setParameter(const char *name, const ::CORBA::Any &value)
Definition: _problem.hh:394
void setConstraints(hpp::core_idl::Constraint_ptr constraints)
Definition: _problem.hh:155
_objref_PathValidation * PathValidation_ptr
Definition: _problem-idl.hh:269
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
Definition: _problem-fwd.hh:31
virtual ~ProblemServant()
Definition: _problem.hh:32
::CORBA::Any * getParameter(const char *name)
Definition: _problem.hh:406
Corba exception travelling through the Corba channel.
Definition: common.idl:26
bool persistantStorage() const
See persistantStorage(bool)
Definition: servant-base.hh:166
void deleteThis()
Definition: _problem.hh:40
void setConfigurationShooter(hpp::core_idl::ConfigurationShooter_ptr d)
Definition: _problem.hh:338
hpp::floatSeq * getInitConfig()
Definition: _problem.hh:100
_objref_ConfigValidation * ConfigValidation_ptr
Definition: _problem-idl.hh:217
void setPathValidation(hpp::core_idl::PathValidation_ptr d)
Definition: _problem.hh:240
void setSteeringMethod(hpp::core_idl::SteeringMethod_ptr d)
Definition: _problem.hh:212
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:66
void addObstacle(hpp::pinocchio_idl::CollisionObject_ptr object)
Definition: _problem.hh:380
_objref_ConfigurationShooter * ConfigurationShooter_ptr
Definition: _problem-idl.hh:295
void setInitConfig(const hpp::floatSeq &init)
Definition: _problem.hh:87
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:64
void setPathProjector(hpp::core_idl::PathProjector_ptr p)
Definition: _problem.hh:268
ConstraintSetServant< POA_hpp::core_idl::ConstraintSet, hpp::weak_ptr< hpp::core::ConstraintSet > > ConstraintSet
Definition: _constraints-fwd.hh:182
core::Parameter toParameter(const CORBA::Any &any)
Implementation of Hpp module Corba server.
Definition: server.hh:78
void addGoalConfig(const hpp::floatSeq &goal)
Definition: _problem.hh:114
pinocchio::matrix_t matrix_t
Definition: fwd.hh:106
void addConfigValidation(hpp::core_idl::ConfigValidation_ptr cfgValidation)
Definition: _problem.hh:310
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
hpp::core_idl::SteeringMethod_ptr getSteeringMethod()
Definition: _problem.hh:198
hpp::core_idl::ConfigurationShooter_ptr getConfigurationShooter()
Definition: _problem.hh:324
hpp::core_idl::Constraint_ptr getConstraints()
Definition: _problem.hh:141
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
core::SteeringMethodPtr_t SteeringMethodPtr_t
Definition: fwd.hh:101
void setDistance(hpp::core_idl::Distance_ptr d)
Definition: _problem.hh:184
hpp::core_idl::Distance_ptr getDistance()
Definition: _problem.hh:170
Configuration_t floatSeqToConfig(const DevicePtr_t &robot, const floatSeq &dofArray, bool throwIfNotNormalized)
void clearConfigValidations()
Definition: _problem.hh:296
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:107
hpp::core_idl::PathValidation_ptr getPathValidation()
Definition: _problem.hh:226
void resetGoalConfigs()
Definition: _problem.hh:127
_objref_Distance * Distance_ptr
Definition: _problem-idl.hh:165