1 #ifndef hpp_core_idl____problem_hxx__ 2 #define hpp_core_idl____problem_hxx__ 24 template <
typename _Base,
typename _Storage>
26 :
hpp::corbaServer::ServantBase<
hpp::core::
Problem, _Storage> (server, s)
30 template <
typename _Base,
typename _Storage>
38 template <
typename _Base,
typename _Storage>
43 _ServantBase::deleteThis();
44 }
catch (
const std::exception& e) {
45 throw ::hpp::Error (e.what());
49 template <
typename _Base,
typename _Storage>
57 return ::hpp::corbaServer::makeServantDownCast<hpp::pinocchio_impl::Device,hpp::pinocchio_impl::Device>(
server_, __return__)._retn();
58 }
catch (
const std::exception& e) {
59 throw ::hpp::Error (e.what());
63 template <
typename _Base,
typename _Storage>
69 getT()->initConfig (q);
71 }
catch (
const std::exception& e) {
72 throw ::hpp::Error (e.what());
76 template <
typename _Base,
typename _Storage>
85 }
catch (
const std::exception& e) {
86 throw ::hpp::Error (e.what());
90 template <
typename _Base,
typename _Storage>
96 (
getT()->resetGoalConfigs ());
99 }
catch (
const std::exception& e) {
100 throw ::hpp::Error (e.what());
104 template <
typename _Base,
typename _Storage>
110 hpp::core::ConstraintPtr_t __return__ (
getT()->constraints ());
112 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(
server_, __return__)._retn();
113 }
catch (
const std::exception& e) {
114 throw ::hpp::Error (e.what());
118 template <
typename _Base,
typename _Storage>
124 hpp::core::DistancePtr_t __return__ (
getT()->distance ());
126 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Distance,hpp::core_impl::Distance>(
server_, __return__)._retn();
127 }
catch (
const std::exception& e) {
128 throw ::hpp::Error (e.what());
132 template <
typename _Base,
typename _Storage>
137 hpp::core::DistancePtr_t _d = ::hpp::corbaServer::reference_to_servant_base<hpp::core::Distance>(
server_, d)->
get();
138 (
getT()->distance (_d));
141 }
catch (
const std::exception& e) {
142 throw ::hpp::Error (e.what());
146 template <
typename _Base,
typename _Storage>
154 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::SteeringMethod,hpp::core_impl::SteeringMethod>(
server_, __return__)._retn();
155 }
catch (
const std::exception& e) {
156 throw ::hpp::Error (e.what());
160 template <
typename _Base,
typename _Storage>
166 (
getT()->steeringMethod (_d));
169 }
catch (
const std::exception& e) {
170 throw ::hpp::Error (e.what());
174 template <
typename _Base,
typename _Storage>
180 hpp::core::PathValidationPtr_t __return__ (
getT()->pathValidation ());
182 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::PathValidation,hpp::core_impl::PathValidation>(
server_, __return__)._retn();
183 }
catch (
const std::exception& e) {
184 throw ::hpp::Error (e.what());
188 template <
typename _Base,
typename _Storage>
193 hpp::core::PathValidationPtr_t _d = ::hpp::corbaServer::reference_to_servant_base<hpp::core::PathValidation>(
server_, d)->
get();
194 (
getT()->pathValidation (_d));
197 }
catch (
const std::exception& e) {
198 throw ::hpp::Error (e.what());
202 template <
typename _Base,
typename _Storage>
208 hpp::core::ConfigurationShooterPtr_t __return__ (
getT()->configurationShooter ());
210 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::ConfigurationShooter,hpp::core_impl::ConfigurationShooter>(
server_, __return__)._retn();
211 }
catch (
const std::exception& e) {
212 throw ::hpp::Error (e.what());
216 template <
typename _Base,
typename _Storage>
221 hpp::core::ConfigurationShooterPtr_t _d = ::hpp::corbaServer::reference_to_servant_base<hpp::core::ConfigurationShooter>(
server_, d)->
get();
222 (
getT()->configurationShooter (_d));
225 }
catch (
const std::exception& e) {
226 throw ::hpp::Error (e.what());
230 template <
typename _Base,
typename _Storage>
236 (
getT()->filterCollisionPairs ());
239 }
catch (
const std::exception& e) {
240 throw ::hpp::Error (e.what());
244 template <
typename _Base,
typename _Storage>
250 (
getT()->setSecurityMargins (_margins));
253 }
catch (
const std::exception& e) {
254 throw ::hpp::Error (e.what());
267 #endif // hpp_core_idl____problem_hxx__ void filterCollisionPairs()
Definition: _problem.hh:231
ProblemServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _problem.hh:25
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:51
hpp::pinocchio_idl::Device_ptr robot()
Definition: _problem.hh:50
core::matrix_t floatSeqSeqToMatrix(const floatSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
ConfigurationPtr_t floatSeqToConfigPtr(const DevicePtr_t &robot, const floatSeq &dofArray, bool throwIfNotNormalized)
_objref_SteeringMethod * SteeringMethod_ptr
Definition: _problem-idl.hh:161
void setSecurityMargins(const hpp::floatSeqSeq &margins)
Definition: _problem.hh:245
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
_objref_PathValidation * PathValidation_ptr
Definition: _problem-idl.hh:187
sequence< floatSeq > floatSeqSeq
Definition: common.idl:33
Definition: _problem-fwd.hh:29
virtual ~ProblemServant()
Definition: _problem.hh:31
Server * server_
Definition: servant-base.hh:97
void deleteThis()
Definition: _problem.hh:39
void setConfigurationShooter(hpp::core_idl::ConfigurationShooter_ptr d)
Definition: _problem.hh:217
hpp::floatSeq * getInitConfig()
Definition: _problem.hh:77
void setPathValidation(hpp::core_idl::PathValidation_ptr d)
Definition: _problem.hh:189
core::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:44
void setSteeringMethod(hpp::core_idl::SteeringMethod_ptr d)
Definition: _problem.hh:161
_objref_ConfigurationShooter * ConfigurationShooter_ptr
Definition: _problem-idl.hh:213
void setInitConfig(const hpp::floatSeq &init)
Definition: _problem.hh:64
Implementation of Hpp module Corba server.
Definition: server.hh:54
pinocchio::matrix_t matrix_t
Definition: fwd.hh:87
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
hpp::core_idl::SteeringMethod_ptr getSteeringMethod()
Definition: _problem.hh:147
hpp::core_idl::ConfigurationShooter_ptr getConfigurationShooter()
Definition: _problem.hh:203
hpp::core_idl::Constraint_ptr getConstraints()
Definition: _problem.hh:105
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
core::SteeringMethodPtr_t SteeringMethodPtr_t
Definition: fwd.hh:79
StorageElementShPtr_t getT() const
Definition: servant-base.hh:121
void setDistance(hpp::core_idl::Distance_ptr d)
Definition: _problem.hh:133
hpp::core_idl::Distance_ptr getDistance()
Definition: _problem.hh:119
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
_objref_Device * Device_ptr
Definition: _problem-idl.hh:103
hpp::core_idl::PathValidation_ptr getPathValidation()
Definition: _problem.hh:175
void resetGoalConfigs()
Definition: _problem.hh:91
_objref_Distance * Distance_ptr
Definition: _problem-idl.hh:135