hpp-corbaserver  4.10.1
Corba server for Humanoid Path Planner applications
_constraints.hh
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1 #ifndef hpp_core_idl____constraints_hxx__
2 #define hpp_core_idl____constraints_hxx__
3 
4 //
5 // Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.10.1/idl/hpp/core_idl/_constraints.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::Constraint
20 //
21 namespace hpp {
22 
23 namespace core_impl {
24 template <typename _Base, typename _Storage>
26  : hpp::corbaServer::ServantBase<hpp::core::Constraint, _Storage> (server, s)
27 {
28  // add extra constructor code here
29 }
30 template <typename _Base, typename _Storage>
32 {
33  // add extra destructor code here
34 }
35 
36 // Methods corresponding to IDL attributes and operations
37 
38 template <typename _Base, typename _Storage>
40 {
41  try {
42  // automatically generated code.
44  ::CORBA::Boolean __return__ (getT()->apply (_config));
45  hpp::corbaServer::vectorToFloatSeq (_config, config);
46  return __return__;
47  } catch (const std::exception& e) {
48  throw ::hpp::Error (e.what());
49  }
50 }
51 
52 template <typename _Base, typename _Storage>
54 {
55  try {
56  // automatically generated code.
57 
58  char* __return__ = ::hpp::corbaServer::c_str (getT()->name ());
59 
60  return __return__;
61  } catch (const std::exception& e) {
62  throw ::hpp::Error (e.what());
63  }
64 }
65 
66 template <typename _Base, typename _Storage>
68 {
69  try {
70  // automatically generated code.
71  std::ostringstream oss; oss << *get();
72  std::string res = oss.str();
73  return CORBA::string_dup(res.c_str());
74  } catch (const std::exception& e) {
75  throw ::hpp::Error (e.what());
76  }
77 }
78 
79 template <typename _Base, typename _Storage>
81 {
82  try {
83  // automatically generated code.
85  ::CORBA::Boolean __return__ (getT()->isSatisfied (_config));
86 
87  return __return__;
88  } catch (const std::exception& e) {
89  throw ::hpp::Error (e.what());
90  }
91 }
92 
93 template <typename _Base, typename _Storage>
95 {
96  try {
97  // automatically generated code.
98 
99  hpp::core::ConstraintPtr_t __return__ (getT()->copy ());
100 
101  return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(server_, __return__)._retn();
102  } catch (const std::exception& e) {
103  throw ::hpp::Error (e.what());
104  }
105 }
106 
107 // End of implementational code
108 } // namespace core_impl
109 
110 } // namespace hpp
111 
112 //
113 // Implementational code for IDL interface hpp::core_idl::ConfigProjector
114 //
115 namespace hpp {
116 
117 namespace core_impl {
118 template <typename _Base, typename _Storage>
120  : hpp::core_impl::ConstraintServant<_Base, _Storage> (server, s)
121 {
122  // add extra constructor code here
123 }
124 template <typename _Base, typename _Storage>
126 {
127  // add extra destructor code here
128 }
129 
130 // Methods corresponding to IDL attributes and operations
131 
132 template <typename _Base, typename _Storage>
134 {
135  try {
136  // automatically generated code.
138  (getT()->rightHandSideFromConfig (_config));
139 
140 
141  } catch (const std::exception& e) {
142  throw ::hpp::Error (e.what());
143  }
144 }
145 
146 template <typename _Base, typename _Storage>
148 {
149  try {
150  // automatically generated code.
151  hpp::constraints::ImplicitPtr_t _nm = ::hpp::corbaServer::reference_to_servant_base<hpp::constraints::Implicit>(server_, nm)->get();
153  (getT()->rightHandSideFromConfig (_nm, _config));
154 
155 
156  } catch (const std::exception& e) {
157  throw ::hpp::Error (e.what());
158  }
159 }
160 
161 template <typename _Base, typename _Storage>
163 {
164  try {
165  // automatically generated code.
167  (getT()->rightHandSide (_param));
168 
169 
170  } catch (const std::exception& e) {
171  throw ::hpp::Error (e.what());
172  }
173 }
174 
175 template <typename _Base, typename _Storage>
177 {
178  try {
179  // automatically generated code.
180  hpp::constraints::ImplicitPtr_t _nm = ::hpp::corbaServer::reference_to_servant_base<hpp::constraints::Implicit>(server_, nm)->get();
182  (getT()->rightHandSide (_nm, _rhs));
183 
184 
185  } catch (const std::exception& e) {
186  throw ::hpp::Error (e.what());
187  }
188 }
189 
190 template <typename _Base, typename _Storage>
192 {
193  try {
194  // automatically generated code.
195 
196  hpp::floatSeq* __return__ = hpp::corbaServer::vectorToFloatSeq (getT()->rightHandSide ());
197 
198  return __return__;
199  } catch (const std::exception& e) {
200  throw ::hpp::Error (e.what());
201  }
202 }
203 
204 template <typename _Base, typename _Storage>
206 {
207  try {
208  // automatically generated code.
209 
210  (getT()->rightHandSideAt (s));
211 
212 
213  } catch (const std::exception& e) {
214  throw ::hpp::Error (e.what());
215  }
216 }
217 
218 template <typename _Base, typename _Storage>
219 ::CORBA::Boolean ConfigProjectorServant<_Base, _Storage>::isConstraintSatisfied (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& arg, hpp::floatSeq_out err, ::CORBA::Boolean& constraintFound)
220 {
221  try {
222  // generated from /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.10.1/idl/hpp/core_idl/_constraints.idl:38
224  hpp::constraints::ImplicitPtr_t _nm = hpp::corbaServer::reference_to_servant_base<hpp::constraints::Implicit>(server_, nm)->get();
225  hpp::core::vector_t errorOut (_nm->function ().outputSpace ()->nv ());
226  bool res = getT ()->solver ().isConstraintSatisfied
227  (_nm, _arg,errorOut, constraintFound);
228  err = hpp::corbaServer::vectorToFloatSeq (errorOut);
229  return res;
230 
231  } catch (const std::exception& e) {
232  throw ::hpp::Error (e.what());
233  }
234 }
235 
236 template <typename _Base, typename _Storage>
238 {
239  try {
240  // automatically generated code.
241 
243 
244  return __return__;
245  } catch (const std::exception& e) {
246  throw ::hpp::Error (e.what());
247  }
248 }
249 
250 template <typename _Base, typename _Storage>
251 ::CORBA::Boolean ConfigProjectorServant<_Base, _Storage>::add (hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority)
252 {
253  try {
254  // automatically generated code.
255  hpp::constraints::ImplicitPtr_t _numconstraint = ::hpp::corbaServer::reference_to_servant_base<hpp::constraints::Implicit>(server_, numconstraint)->get();
256  ::CORBA::Boolean __return__ (getT()->add (_numconstraint, priority));
257 
258  return __return__;
259  } catch (const std::exception& e) {
260  throw ::hpp::Error (e.what());
261  }
262 }
263 
264 template <typename _Base, typename _Storage>
266 {
267  try {
268  // automatically generated code.
269 
270  (getT()->lastIsOptional (optional));
271 
272 
273  } catch (const std::exception& e) {
274  throw ::hpp::Error (e.what());
275  }
276 }
277 
278 template <typename _Base, typename _Storage>
280 {
281  try {
282  // automatically generated code.
283 
284  ::CORBA::Boolean __return__ (getT()->lastIsOptional ());
285 
286  return __return__;
287  } catch (const std::exception& e) {
288  throw ::hpp::Error (e.what());
289  }
290 }
291 
292 template <typename _Base, typename _Storage>
294 {
295  try {
296  // automatically generated code.
297 
298  (getT()->errorThreshold (threshold));
299 
300 
301  } catch (const std::exception& e) {
302  throw ::hpp::Error (e.what());
303  }
304 }
305 
306 template <typename _Base, typename _Storage>
308 {
309  try {
310  // automatically generated code.
311 
312  hpp::value_type __return__ (getT()->errorThreshold ());
313 
314  return __return__;
315  } catch (const std::exception& e) {
316  throw ::hpp::Error (e.what());
317  }
318 }
319 
320 // End of implementational code
321 } // namespace core_impl
322 
323 } // namespace hpp
324 
325 //
326 // Implementational code for IDL interface hpp::core_idl::ConstraintSet
327 //
328 namespace hpp {
329 
330 namespace core_impl {
331 template <typename _Base, typename _Storage>
333  : hpp::core_impl::ConstraintServant<_Base, _Storage> (server, s)
334 {
335  // add extra constructor code here
336 }
337 template <typename _Base, typename _Storage>
339 {
340  // add extra destructor code here
341 }
342 
343 // Methods corresponding to IDL attributes and operations
344 
345 template <typename _Base, typename _Storage>
347 {
348  try {
349  // automatically generated code.
350 
351  hpp::core::ConstraintPtr_t __return__ (getT()->configProjector ());
352 
353  return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(server_, __return__)._retn();
354  } catch (const std::exception& e) {
355  throw ::hpp::Error (e.what());
356  }
357 }
358 
359 // End of implementational code
360 } // namespace core_impl
361 
362 } // namespace hpp
363 
364 
365 
366 
367 
368 #endif // hpp_core_idl____constraints_hxx__
369 
ConfigProjectorServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:119
void setLastIsOptional(::CORBA::Boolean optional)
Definition: _constraints.hh:265
virtual ~ConstraintSetServant()
Definition: _constraints.hh:338
sequence< Implicit > Implicits
Definition: _constraints.idl:20
::CORBA::Boolean add(hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority)
Definition: _constraints.hh:251
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
double value_type
Definition: common.idl:18
hpp::core_idl::Constraint_ptr getConfigProjector()
Definition: _constraints.hh:346
void setRightHandSide(const hpp::floatSeq &param)
Definition: _constraints.hh:162
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
void setRightHandSideFromConfig(const hpp::floatSeq &config)
Definition: _constraints.hh:133
char * c_str(const std::string &in)
Definition: conversions.hh:68
void setRightHandSideOfConstraintFromConfig(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &config)
Definition: _constraints.hh:147
hpp::constraints_idl::Implicits * numericalConstraints()
Definition: _constraints.hh:237
pinocchio::vector_t vector_t
Definition: fwd.hh:89
virtual ~ConstraintServant()
Definition: _constraints.hh:31
Definition: _constraints-fwd.hh:28
char * str()
Definition: _constraints.hh:67
Definition: servant-base.hh:413
void setErrorThreshold(hpp::value_type threshold)
Definition: _constraints.hh:293
hpp::core_idl::Constraint_ptr copy()
Definition: _constraints.hh:94
ConstraintServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:25
virtual ~ConfigProjectorServant()
Definition: _constraints.hh:125
::CORBA::Boolean getLastIsOptional()
Definition: _constraints.hh:279
Implementation of Hpp module Corba server.
Definition: server.hh:54
::CORBA::Boolean apply(hpp::floatSeq &config)
Definition: _constraints.hh:39
void setRightHandSideOfConstraint(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &rhs)
Definition: _constraints.hh:176
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
hpp::value_type getErrorThreshold()
Definition: _constraints.hh:307
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
StorageElementShPtr_t getT() const
Definition: servant-base.hh:121
char * name()
Definition: _constraints.hh:53
ConstraintSetServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:332
hpp::floatSeq * getRightHandSide()
Definition: _constraints.hh:191
void setRightHandSideAt(hpp::value_type s)
Definition: _constraints.hh:205
::CORBA::Boolean isConstraintSatisfied(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &arg, hpp::floatSeq_out err, ::CORBA::Boolean &constraintFound)
Definition: _constraints.hh:219
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
::CORBA::Boolean isSatisfied(const hpp::floatSeq &config)
Definition: _constraints.hh:80