hpp-corbaserver  4.10.1
Corba server for Humanoid Path Planner applications
_constraints-fwd.hh
Go to the documentation of this file.
1 #ifndef hpp_core_idl____constraints_hpp__
2 #define hpp_core_idl____constraints_hpp__
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 
10 
11 #include <hpp/core/constraint.hh>
12 #include <hpp/core/constraint-set.hh>
13 #include <hpp/core/config-projector.hh>
15 #include <hpp/constraints/solver/by-substitution.hh>
16 
17 
18 
19 
20 
21 //
22 // Class implementing IDL interface hpp::core_idl::Constraint
23 //
24 namespace hpp {
25 
26 namespace core_impl {
27 template <typename _Base, typename _Storage>
28 class ConstraintServant: public hpp::corbaServer::ServantBase<hpp::core::Constraint, _Storage>, public virtual _Base
29 {
30 public:
32 
34 
35 public:
36  // standard constructor
37  ConstraintServant(::hpp::corbaServer::Server* server, const _Storage& s);
38  virtual ~ConstraintServant();
39 
40  // methods corresponding to defined IDL attributes and operations
41 
42  ::CORBA::Boolean apply (hpp::floatSeq& config);
43 
44 
45  char* name ();
46 
47 
48  char* str ();
49 
50 
51  ::CORBA::Boolean isSatisfied (const hpp::floatSeq& config);
52 
53 
55 
56 
57 };
58 
60 } // namespace core_impl
61 
62 } // namespace hpp
63 
64 //
65 // Class implementing IDL interface hpp::core_idl::ConfigProjector
66 //
67 namespace hpp {
68 
69 namespace core_impl {
70 template <typename _Base, typename _Storage>
71 class ConfigProjectorServant: public hpp::core_impl::ConstraintServant<_Base, _Storage>, public virtual _Base
72 {
73 public:
75 
77 
78 public:
79  // standard constructor
80  ConfigProjectorServant(::hpp::corbaServer::Server* server, const _Storage& s);
81  virtual ~ConfigProjectorServant();
82 
83  // methods corresponding to defined IDL attributes and operations
84 
85  void setRightHandSideFromConfig (const hpp::floatSeq& config);
86 
87 
88  void setRightHandSideOfConstraintFromConfig (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& config);
89 
90 
91  void setRightHandSide (const hpp::floatSeq& param);
92 
93 
94  void setRightHandSideOfConstraint (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& rhs);
95 
96 
97  hpp::floatSeq* getRightHandSide ();
98 
99 
100  void setRightHandSideAt (hpp::value_type s);
101 
102 
103  ::CORBA::Boolean isConstraintSatisfied (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& arg, hpp::floatSeq_out err, ::CORBA::Boolean& constraintFound);
104 
105 
106  hpp::constraints_idl::Implicits* numericalConstraints ();
107 
108 
109  ::CORBA::Boolean add (hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority);
110 
111 
112  void setLastIsOptional (::CORBA::Boolean optional);
113 
114 
115  ::CORBA::Boolean getLastIsOptional ();
116 
117 
118  void setErrorThreshold (hpp::value_type threshold);
119 
120 
121  hpp::value_type getErrorThreshold ();
122 
123 
124 };
125 
127 } // namespace core_impl
128 
129 } // namespace hpp
130 
131 //
132 // Class implementing IDL interface hpp::core_idl::ConstraintSet
133 //
134 namespace hpp {
135 
136 namespace core_impl {
137 template <typename _Base, typename _Storage>
138 class ConstraintSetServant: public hpp::core_impl::ConstraintServant<_Base, _Storage>, public virtual _Base
139 {
140 public:
142 
144 
145 public:
146  // standard constructor
147  ConstraintSetServant(::hpp::corbaServer::Server* server, const _Storage& s);
148  virtual ~ConstraintSetServant();
149 
150  // methods corresponding to defined IDL attributes and operations
151 
152  hpp::core_idl::Constraint_ptr getConfigProjector ();
153 
154 
155 };
156 
158 } // namespace core_impl
159 
160 } // namespace hpp
161 
162 
163 
164 
165 
166 #endif // hpp_core_idl____constraints_hpp__
167 
Definition: servant-base.hh:100
hpp::core::Constraint HppBase
Definition: _constraints-fwd.hh:31
sequence< Implicit > Implicits
Definition: _constraints.idl:20
Definition: _constraints.idl:78
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
double value_type
Definition: common.idl:18
hpp::core_impl::ConstraintServant< _Base, _Storage >::HppBase HppBase
Definition: _constraints-fwd.hh:74
Definition: _constraints-fwd.hh:71
ConstraintServant< POA_hpp::core_idl::Constraint, boost::weak_ptr< hpp::core::Constraint > > Constraint
Definition: _constraints-fwd.hh:59
Definition: _constraints-fwd.hh:138
virtual ~ConstraintServant()
Definition: _constraints.hh:31
Definition: _constraints-fwd.hh:28
ConfigProjectorServant< POA_hpp::core_idl::ConfigProjector, boost::weak_ptr< hpp::core::ConfigProjector > > ConfigProjector
Definition: _constraints-fwd.hh:126
Definition: _constraints.idl:37
Definition: _constraints.idl:26
hpp::core_impl::ConstraintServant< _Base, _Storage >::HppBase HppBase
Definition: _constraints-fwd.hh:141
ConstraintSetServant< POA_hpp::core_idl::ConstraintSet, boost::weak_ptr< hpp::core::ConstraintSet > > ConstraintSet
Definition: _constraints-fwd.hh:157
char * str()
Definition: _constraints.hh:67
hpp::core_idl::Constraint_ptr copy()
Definition: _constraints.hh:94
ConstraintServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:25
SERVANT_BASE_TYPEDEFS(hpp::core_idl::Constraint, HppBase)
Implementation of Hpp module Corba server.
Definition: server.hh:54
::CORBA::Boolean apply(hpp::floatSeq &config)
Definition: _constraints.hh:39
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
char * name()
Definition: _constraints.hh:53
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