hpp-affordance-corba  4.14.0
Corba server for Humanoid Path Planner Affordance applications
hpp-affordance-corba Documentation

Introduction

This package implements a Corba server running the hpp-affordance package functions and the corresponding client.

The corba server part is compiled into library libhpp-affordance-corba.so that implements the following class:

The client part is provided through python module hpp.corbaserver.affordance

An executable called hpp-affordance-server is installed. This executable runs

  • the corba server implemented by library libhpp-affordance-corba.so, as well as
  • the corba server implemented in hpp-corbaserver.

See these package documentations for details.

How to communicate with the CORBA server

How to communicate with the CORBA server

The easiest way is to launch the hpp-affordance-server executable, open a python terminal and type:

from hpp.corbaserver.affordance import Client as AffordanceClient
aff = AffordanceClient ()

Then variable aff contains a member affordance that can send requests to the server. For instance

aff.affordance.analyseAll ()

A python class is provided that embeds a corba client and that forwards corba resquest to the server side:

How to embed a server in an application

How to embed a server in an application

Embedding the corba server into an application can be done by linking the application with libhpp-affordance-corba.so in a similar way as hpp-corbaserver corba server.