hpp-corbaserver  5.0.0
Corba server for Humanoid Path Planner applications
steering_methods.hh
Go to the documentation of this file.
1 #ifndef hpp_core_idl__steering__methods_hxx__
2 #define hpp_core_idl__steering__methods_hxx__
3 
4 //
5 // Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-5.0.0/idl/hpp/core_idl/steering_methods.idl
6 //
7 
9 
10 #include <sstream>
11 
12 #include <hpp/corbaserver/fwd.hh>
15 
16 
17 
18 //
19 // Implementational code for IDL interface hpp::core_idl::SteeringMethod
20 //
21 namespace hpp {
22 
23 namespace core_impl {
24 template <typename _Base, typename _Storage>
26  const _Storage& s)
27  : hpp::corbaServer::ServantBase<hpp::core::SteeringMethod, _Storage> (server, s)
28 {
29  // add extra constructor code here
30 }
31 template <typename _Base, typename _Storage>
33 {
34  // add extra destructor code here
35 }
36 
37 // Methods corresponding to IDL attributes and operations
38 
39 template <typename _Base, typename _Storage>
41 {
42  try {
43  // automatically generated code.
44  _ServantBase::deleteThis();
45  } catch (const std::exception& e) {
46  throw ::hpp::Error (e.what());
47  }
48 }
49 
50 template <typename _Base, typename _Storage>
52 {
53  try {
54  // automatically generated code.
55  return _ServantBase::deleteIfExpired();
56  } catch (const std::exception& e) {
57  throw ::hpp::Error (e.what());
58  }
59 }
60 
61 template <typename _Base, typename _Storage>
63 {
64  try {
65  // automatically generated code.
66  _ServantBase::persistantStorage(persistant);
67  } catch (const std::exception& e) {
68  throw ::hpp::Error (e.what());
69  }
70 }
71 
72 template <typename _Base, typename _Storage>
74 {
75  try {
76  // automatically generated code.
79  hpp::core::PathPtr_t __return__ (getT()->operator() (_q1, _q2));
80 
81  return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
82  } catch (const std::exception& e) {
83  throw ::hpp::Error (e.what());
84  }
85 }
86 
87 template <typename _Base, typename _Storage>
89 {
90  try {
91  // automatically generated code.
92  hpp::core::ConstraintSetPtr_t _constraints = ::hpp::corbaServer::reference_to_object<hpp::core::ConstraintSet>(server_, constraints);
93  (getT()->constraints (_constraints));
94 
95 
96  } catch (const std::exception& e) {
97  throw ::hpp::Error (e.what());
98  }
99 }
100 
101 template <typename _Base, typename _Storage>
103 {
104  try {
105  // automatically generated code.
106 
107  hpp::core::ConstraintPtr_t __return__ (getT()->constraints ());
108 
109  return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(server_, __return__)._retn();
110  } catch (const std::exception& e) {
111  throw ::hpp::Error (e.what());
112  }
113 }
114 
115 // End of implementational code
116 } // namespace core_impl
117 
118 } // namespace hpp
119 
120 //
121 // Implementational code for IDL interface hpp::core_idl::steeringMethod_idl::SplineBernstein3
122 //
123 namespace hpp {
124 
125 namespace core_impl {
126 
127 namespace steeringMethod_impl {
128 template <typename _Base, typename _Storage>
130  const _Storage& s)
131  : hpp::core_impl::SteeringMethodServant<_Base, _Storage> (server, s)
132 {
133  // add extra constructor code here
134 }
135 template <typename _Base, typename _Storage>
137 {
138  // add extra destructor code here
139 }
140 
141 // Methods corresponding to IDL attributes and operations
142 
143 template <typename _Base, typename _Storage>
144 hpp::core_idl::Path_ptr SplineBernstein3Servant<_Base, _Storage>::steer (const hpp::floatSeq& q1, const hpp::intSeq& order1, const hpp::floatSeqSeq& derivatives1, const hpp::floatSeq& q2, const hpp::intSeq& order2, const hpp::floatSeqSeq& derivatives2, ::CORBA::Float length)
145 {
146  try {
147  // automatically generated code.
149  std::vector<int> _order1 = hpp::corbaServer::intSeqToVector (order1);
150  hpp::core::matrix_t _derivatives1 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives1);
152  std::vector<int> _order2 = hpp::corbaServer::intSeqToVector (order2);
153  hpp::core::matrix_t _derivatives2 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives2);
154  hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length));
155 
156  return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
157  } catch (const std::exception& e) {
158  throw ::hpp::Error (e.what());
159  }
160 }
161 
162 // End of implementational code
163 } // namespace steeringMethod_impl
164 
165 } // namespace core_impl
166 
167 } // namespace hpp
168 
169 //
170 // Implementational code for IDL interface hpp::core_idl::steeringMethod_idl::SplineBernstein5
171 //
172 namespace hpp {
173 
174 namespace core_impl {
175 
176 namespace steeringMethod_impl {
177 template <typename _Base, typename _Storage>
179  const _Storage& s)
180  : hpp::core_impl::SteeringMethodServant<_Base, _Storage> (server, s)
181 {
182  // add extra constructor code here
183 }
184 template <typename _Base, typename _Storage>
186 {
187  // add extra destructor code here
188 }
189 
190 // Methods corresponding to IDL attributes and operations
191 
192 template <typename _Base, typename _Storage>
193 hpp::core_idl::Path_ptr SplineBernstein5Servant<_Base, _Storage>::steer (const hpp::floatSeq& q1, const hpp::intSeq& order1, const hpp::floatSeqSeq& derivatives1, const hpp::floatSeq& q2, const hpp::intSeq& order2, const hpp::floatSeqSeq& derivatives2, ::CORBA::Float length)
194 {
195  try {
196  // automatically generated code.
198  std::vector<int> _order1 = hpp::corbaServer::intSeqToVector (order1);
199  hpp::core::matrix_t _derivatives1 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives1);
201  std::vector<int> _order2 = hpp::corbaServer::intSeqToVector (order2);
202  hpp::core::matrix_t _derivatives2 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives2);
203  hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length));
204 
205  return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
206  } catch (const std::exception& e) {
207  throw ::hpp::Error (e.what());
208  }
209 }
210 
211 // End of implementational code
212 } // namespace steeringMethod_impl
213 
214 } // namespace core_impl
215 
216 } // namespace hpp
217 
218 
219 
220 
221 
222 #endif // hpp_core_idl__steering__methods_hxx__
223 
virtual ~SplineBernstein5Servant()
Definition: steering_methods.hh:185
SteeringMethodServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:25
core::matrix_t floatSeqSeqToMatrix(const floatSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
void deleteThis()
Definition: steering_methods.hh:40
::CORBA::Boolean deleteIfExpired()
Definition: steering_methods.hh:51
hpp::core_idl::Constraint_ptr getConstraints()
Definition: steering_methods.hh:102
Implement CORBA interface `‘Obstacle’&#39;.
Definition: client.hh:46
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
hpp::core_idl::Path_ptr call(const hpp::floatSeq &q1, const hpp::floatSeq &q2)
Definition: steering_methods.hh:73
std::vector< int > intSeqToVector(const intSeq &dofArray)
hpp::core_idl::Path_ptr steer(const hpp::floatSeq &q1, const hpp::intSeq &order1, const hpp::floatSeqSeq &derivatives1, const hpp::floatSeq &q2, const hpp::intSeq &order2, const hpp::floatSeqSeq &derivatives2, ::CORBA::Float length)
Definition: steering_methods.hh:193
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
sequence< long > intSeq
Definition: common.idl:31
bool persistantStorage() const
See persistantStorage(bool)
Definition: servant-base.hh:166
hpp::core_idl::Path_ptr steer(const hpp::floatSeq &q1, const hpp::intSeq &order1, const hpp::floatSeqSeq &derivatives1, const hpp::floatSeq &q2, const hpp::intSeq &order2, const hpp::floatSeqSeq &derivatives2, ::CORBA::Float length)
Definition: steering_methods.hh:144
pinocchio::vector_t vector_t
Definition: fwd.hh:108
virtual ~SplineBernstein3Servant()
Definition: steering_methods.hh:136
virtual ~SteeringMethodServant()
Definition: steering_methods.hh:32
SplineBernstein3Servant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:129
Implementation of Hpp module Corba server.
Definition: server.hh:78
pinocchio::matrix_t matrix_t
Definition: fwd.hh:106
void setConstraints(hpp::core_idl::ConstraintSet_ptr constraints)
Definition: steering_methods.hh:88
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
_objref_ConstraintSet * ConstraintSet_ptr
Definition: _constraints-idl.hh:486
SplineBernstein5Servant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:178
Definition: steering_methods-fwd.hh:27
_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
core::PathPtr_t PathPtr_t
Definition: fwd.hh:96