2 #ifndef pp_pinocchio_idl__robots_hh__ 3 #define pp_pinocchio_idl__robots_hh__ 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_robots 12 #ifndef USE_core_stub_in_nt_dll 13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_robots 15 #ifndef USE_dyn_stub_in_nt_dll 16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots 21 #ifndef pp_pinocchio_idl__common_hh_EXTERNAL_GUARD__ 22 #define pp_pinocchio_idl__common_hh_EXTERNAL_GUARD__ 28 #ifdef USE_stub_in_nt_dll 29 # ifndef USE_core_stub_in_nt_dll 30 # define USE_core_stub_in_nt_dll 32 # ifndef USE_dyn_stub_in_nt_dll 33 # define USE_dyn_stub_in_nt_dll 38 # error "A local CPP macro _core_attr has already been defined." 40 # ifdef USE_core_stub_in_nt_dll 41 # define _core_attr _OMNIORB_NTDLL_IMPORT 48 # error "A local CPP macro _dyn_attr has already been defined." 50 # ifdef USE_dyn_stub_in_nt_dll 51 # define _dyn_attr _OMNIORB_NTDLL_IMPORT 63 _CORBA_MODULE pinocchio_idl
67 #ifndef __hpp_mpinocchio__idl_mCenterOfMassComputation__ 68 #define __hpp_mpinocchio__idl_mCenterOfMassComputation__ 109 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
130 public virtual ::CORBA::Object,
131 public virtual omniObjRef
152 virtual void* _ptrToObjRef(
const char*);
166 virtual omniObjRef*
newObjRef(omniIOR*,omniIdentity*);
167 virtual _CORBA_Boolean
is_a(
const char*)
const;
171 public virtual omniServant
185 virtual _CORBA_Boolean
_dispatch(omniCallHandle&);
188 virtual void* _ptrToInterface(
const char*);
189 virtual const char* _mostDerivedRepoId();
194 #ifndef __hpp_mpinocchio__idl_mDevice__ 195 #define __hpp_mpinocchio__idl_mDevice__ 215 typedef _CORBA_ObjRef_Var<_objref_Device, Device_Helper>
Device_var;
216 typedef _CORBA_ObjRef_OUT_arg<_objref_Device,Device_Helper >
Device_out;
236 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
257 public virtual ::CORBA::Object,
258 public virtual omniObjRef
299 virtual void* _ptrToObjRef(
const char*);
313 virtual omniObjRef*
newObjRef(omniIOR*,omniIdentity*);
314 virtual _CORBA_Boolean
is_a(
const char*)
const;
318 public virtual omniServant
326 virtual char*
name() = 0;
352 virtual _CORBA_Boolean
_dispatch(omniCallHandle&);
355 virtual void* _ptrToInterface(
const char*);
356 virtual const char* _mostDerivedRepoId();
361 #ifndef __hpp_mpinocchio__idl_mCollisionObject__ 362 #define __hpp_mpinocchio__idl_mCollisionObject__ 403 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
424 public virtual ::CORBA::Object,
425 public virtual omniObjRef
442 virtual void* _ptrToObjRef(
const char*);
456 virtual omniObjRef*
newObjRef(omniIOR*,omniIdentity*);
457 virtual _CORBA_Boolean
is_a(
const char*)
const;
461 public virtual omniServant
471 virtual _CORBA_Boolean
_dispatch(omniCallHandle&);
474 virtual void* _ptrToInterface(
const char*);
475 virtual const char* _mostDerivedRepoId();
486 _CORBA_MODULE POA_hpp
489 _CORBA_MODULE pinocchio_idl
493 public virtual hpp::pinocchio_idl::_impl_CenterOfMassComputation,
494 public virtual ::PortableServer::ServantBase
505 public virtual hpp::pinocchio_idl::_impl_Device,
506 public virtual ::PortableServer::ServantBase
517 public virtual hpp::pinocchio_idl::_impl_CollisionObject,
518 public virtual ::PortableServer::ServantBase
534 _CORBA_MODULE OBV_hpp
537 _CORBA_MODULE pinocchio_idl
555 omniObjRef::_marshal(obj->_PR_getobj(),s);
560 omniObjRef::_marshal(obj->_PR_getobj(),s);
565 omniObjRef::_marshal(obj->_PR_getobj(),s);
570 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_robots 571 # undef USE_stub_in_nt_dll 572 # undef USE_stub_in_nt_dll_NOT_DEFINED_robots 574 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_robots 575 # undef USE_core_stub_in_nt_dll 576 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_robots 578 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots 579 # undef USE_dyn_stub_in_nt_dll 580 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots 583 #endif // __robots_hh__ inline ::hpp::pinocchio_idl::Device_ptr _this()
Definition: robots-idl.hh:511
virtual void persistantStorage(::CORBA::Boolean persistant)=0
Device_var _var_type
Definition: robots-idl.hh:225
::CORBA::Boolean setCurrentVelocity(const ::hpp::floatSeq &velocity)
virtual ::CORBA::Boolean setCurrentVelocity(const ::hpp::floatSeq &velocity)=0
virtual ~_objref_CenterOfMassComputation()
Definition: robots-idl.hh:317
virtual ~_impl_CollisionObject()
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: robots-idl.hh:410
virtual Transform__slice * getFramePosition(::hpp::frame_index frame_id)=0
_objref_Device * Device_ptr
Definition: robots-idl.hh:198
Definition: robots-idl.hh:423
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
CollisionObject_var _var_type
Definition: robots-idl.hh:392
::CORBA::Boolean deleteIfExpired()
Definition: robots-idl.hh:460
virtual void controlComputation(::CORBA::Short flag)=0
virtual ::CORBA::Boolean deleteIfExpired()=0
void removeJoints(const ::hpp::Names_t &joints, const ::hpp::floatSeq &refConfig)
_CORBA_ObjRef_OUT_arg< _objref_Device, Device_Helper > Device_out
Definition: robots-idl.hh:216
::CORBA::Short computationFlag()
void replaceGeometryByConvexHull(const ::hpp::Names_t &geometryNames)
virtual ::CORBA::Short computationFlag()=0
static _core_attr const char * _PD_repoId
Definition: robots-idl.hh:250
Implement CORBA interface `‘Obstacle’'.
Definition: client.hh:46
virtual ::CORBA::Boolean setCurrentAcceleration(const ::hpp::floatSeq &acceleration)=0
virtual ::CORBA::Boolean deleteIfExpired()=0
_objref_CollisionObject * CollisionObject_ptr
Definition: robots-idl.hh:365
static void marshalObjRef(_ptr_type, cdrStream &)
static _ptr_type unmarshalObjRef(cdrStream &)
virtual frame_index getFrameByName(const char *name)=0
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
Device_ptr _ptr_type
Definition: robots-idl.hh:224
static void release(_ptr_type)
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: robots-idl.hh:564
floatSeqSeq * getFrameJacobian(::hpp::frame_index frame_id)
Device_ptr _ptr_type
Definition: robots-idl.hh:205
static _ptr_type _duplicate(_ptr_type)
CenterOfMassComputation_ptr _ptr_type
Definition: robots-idl.hh:78
_objref_CenterOfMassComputation()
Definition: robots-idl.hh:144
::CORBA::LongLong size_type
Definition: common-idl.hh:66
_CORBA_ObjRef_Var< _objref_Device, Device_Helper > Device_var
Definition: _problem-idl.hh:124
virtual value_type mass()=0
void updateGeometryPlacements()
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: robots-idl.hh:243
#define _core_attr
Definition: robots-idl.hh:43
_objref_CollisionObject()
Definition: robots-idl.hh:434
::CORBA::Boolean deleteIfExpired()
virtual ~_objref_Device()
void integrate(const ::hpp::floatSeq &config_in, const ::hpp::floatSeq &velocity, ::hpp::floatSeq_out result)
virtual void computeForwardKinematics(::CORBA::Short computationFlag)=0
virtual _CORBA_Boolean is_a(const char *) const
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
static void release(_ptr_type)
static void release(_ptr_type)
unsigned long frame_index
Definition: common.idl:20
virtual ~_impl_CenterOfMassComputation()
Definition: _problem-idl.hh:138
Definition: robots-idl.hh:221
inline ::hpp::pinocchio_idl::CenterOfMassComputation_ptr _this()
Definition: robots-idl.hh:499
virtual ::CORBA::Boolean deleteIfExpired()=0
virtual ~_pof_CenterOfMassComputation()
Definition: robots-idl.hh:170
virtual void removeJoints(const ::hpp::Names_t &joints, const ::hpp::floatSeq &refConfig)=0
void persistantStorage(::CORBA::Boolean persistant)
CenterOfMassComputation_ptr _ptr_type
Definition: robots-idl.hh:97
Transform__slice * getFramePosition(::hpp::frame_index frame_id)
::CORBA::ULong frame_index
Definition: common-idl.hh:71
::CORBA::Boolean setCurrentAcceleration(const ::hpp::floatSeq &acceleration)
static _ptr_type _narrow(::CORBA::Object_ptr)
virtual void deleteThis()=0
Definition: robots-idl.hh:256
CollisionObject_ptr _ptr_type
Definition: robots-idl.hh:391
virtual size_type configSize()=0
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: robots-idl.hh:116
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
Definition: common-idl.hh:803
virtual void persistantStorage(::CORBA::Boolean persistant)=0
virtual floatSeq * getCurrentConfiguration()=0
_CORBA_ObjRef_Var< _objref_CollisionObject, CollisionObject_Helper > CollisionObject_var
Definition: _problem-idl.hh:150
virtual void updateGeometryPlacements()=0
static _core_attr const char * _PD_repoId
Definition: robots-idl.hh:123
frame_index getFrameByName(const char *name)
static _ptr_type _narrow(::CORBA::Object_ptr)
_pof_CenterOfMassComputation()
Definition: robots-idl.hh:163
virtual void interpolate(const ::hpp::floatSeq &q1, const ::hpp::floatSeq &q2, ::CORBA::Float u, ::hpp::floatSeq_out result)=0
static _ptr_type _narrow(::CORBA::Object_ptr)
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
void difference(const ::hpp::floatSeq &q1, const ::hpp::floatSeq &q2, ::hpp::floatSeq_out result)
virtual floatSeqSeq * jacobian()=0
Device_ptr DeviceRef
Definition: robots-idl.hh:201
inline ::hpp::pinocchio_idl::CollisionObject_ptr _this()
Definition: robots-idl.hh:523
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
static void duplicate(_ptr_type)
floatSeq * getCurrentVelocity()
_objref_CenterOfMassComputation * CenterOfMassComputation_ptr
Definition: robots-idl.hh:71
void computeFramesForwardKinematics()
virtual void difference(const ::hpp::floatSeq &q1, const ::hpp::floatSeq &q2, ::hpp::floatSeq_out result)=0
static _CORBA_Boolean is_nil(_ptr_type)
virtual ~CollisionObject()
Definition: robots-idl.hh:161
virtual void replaceGeometryByConvexHull(const ::hpp::Names_t &geometryNames)=0
_CORBA_ObjRef_Var< _objref_CollisionObject, CollisionObject_Helper > CollisionObject_var
Definition: robots-idl.hh:382
static _ptr_type _duplicate(_ptr_type)
virtual floatSeq * neutralConfiguration()=0
void interpolate(const ::hpp::floatSeq &q1, const ::hpp::floatSeq &q2, ::CORBA::Float u, ::hpp::floatSeq_out result)
void persistantStorage(::CORBA::Boolean persistant)
virtual ::CORBA::Boolean setCurrentConfiguration(const ::hpp::floatSeq &configuration)=0
Definition: robots-idl.hh:451
virtual floatSeqSeq * getFrameJacobian(::hpp::frame_index frame_id)=0
void computeForwardKinematics(::CORBA::Short computationFlag)
floatSeq * neutralConfiguration()
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
_objref_Device()
Definition: robots-idl.hh:291
virtual void integrate(const ::hpp::floatSeq &config_in, const ::hpp::floatSeq &velocity, ::hpp::floatSeq_out result)=0
virtual void deleteThis()=0
void saturate(const ::hpp::floatSeq &qin, ::hpp::floatSeq_out qout, ::hpp::boolSeq_out saturation)
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: robots-idl.hh:554
virtual void computeFramesForwardKinematics()=0
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: robots-idl.hh:402
Definition: robots-idl.hh:129
static _core_attr const char * _PD_repoId
Definition: robots-idl.hh:417
_pof_CollisionObject()
Definition: robots-idl.hh:453
static _CORBA_Boolean is_nil(_ptr_type)
virtual _CORBA_Boolean is_a(const char *) const
virtual _CORBA_Boolean is_a(const char *) const
_CORBA_ObjRef_OUT_arg< _objref_CenterOfMassComputation, CenterOfMassComputation_Helper > CenterOfMassComputation_out
Definition: robots-idl.hh:89
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: robots-idl.hh:559
virtual ~_objref_CollisionObject()
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
void persistantStorage(::CORBA::Boolean persistant)
::CORBA::Boolean deleteIfExpired()
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: robots-idl.hh:108
Definition: robots-idl.hh:388
CenterOfMassComputation_ptr CenterOfMassComputationRef
Definition: robots-idl.hh:74
static void marshalObjRef(_ptr_type, cdrStream &)
static void duplicate(_ptr_type)
_pof_Device()
Definition: robots-idl.hh:310
Definition: robots-idl.hh:94
_CORBA_ObjRef_Var< _objref_Device, Device_Helper > Device_var
Definition: robots-idl.hh:215
floatSeq * getCurrentConfiguration()
::CORBA::Double value_type
Definition: common-idl.hh:61
Definition: common-idl.hh:689
virtual void persistantStorage(::CORBA::Boolean persistant)=0
floatSeq * getCurrentAcceleration()
static _CORBA_Boolean is_nil(_ptr_type)
virtual ~CenterOfMassComputation()
_CORBA_ObjRef_Var< _objref_CenterOfMassComputation, CenterOfMassComputation_Helper > CenterOfMassComputation_var
Definition: robots-idl.hh:88
Definition: robots-idl.hh:308
_CORBA_ObjRef_OUT_arg< _objref_CollisionObject, CollisionObject_Helper > CollisionObject_out
Definition: robots-idl.hh:383
static void duplicate(_ptr_type)
virtual size_type numberDof()=0
CenterOfMassComputation_var _var_type
Definition: robots-idl.hh:98
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
static _ptr_type unmarshalObjRef(cdrStream &)
static _ptr_type unmarshalObjRef(cdrStream &)
virtual floatSeq * com()=0
static void marshalObjRef(_ptr_type, cdrStream &)
virtual void deleteThis()=0
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: robots-idl.hh:235
virtual floatSeq * getCurrentVelocity()=0
virtual void saturate(const ::hpp::floatSeq &qin, ::hpp::floatSeq_out qout, ::hpp::boolSeq_out saturation)=0
Definition: _problem-idl.hh:112
Definition: robots-idl.hh:76
CollisionObject_ptr _ptr_type
Definition: robots-idl.hh:372
virtual floatSeq * getCurrentAcceleration()=0
::CORBA::Double Transform__slice
Definition: common-idl.hh:916
CollisionObject_ptr CollisionObjectRef
Definition: robots-idl.hh:368
static _ptr_type _duplicate(_ptr_type)
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
void controlComputation(::CORBA::Short flag)
virtual ~_pof_CollisionObject()
::CORBA::Boolean setCurrentConfiguration(const ::hpp::floatSeq &configuration)