1 #ifndef hpp_pinocchio_idl__robots_hxx__ 2 #define hpp_pinocchio_idl__robots_hxx__ 23 namespace pinocchio_impl {
24 template <
typename _Base,
typename _Storage>
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>
58 }
catch (
const std::exception& e) {
59 throw ::hpp::Error (e.what());
63 template <
typename _Base,
typename _Storage>
72 }
catch (
const std::exception& e) {
73 throw ::hpp::Error (e.what());
77 template <
typename _Base,
typename _Storage>
86 }
catch (
const std::exception& e) {
87 throw ::hpp::Error (e.what());
91 template <
typename _Base,
typename _Storage>
100 }
catch (
const std::exception& e) {
101 throw ::hpp::Error (e.what());
115 namespace pinocchio_impl {
116 template <
typename _Base,
typename _Storage>
122 template <
typename _Base,
typename _Storage>
130 template <
typename _Base,
typename _Storage>
139 }
catch (
const std::exception& e) {
140 throw ::hpp::Error (e.what());
144 template <
typename _Base,
typename _Storage>
151 hpp::pinocchio::integrate<false, hpp::pinocchio::DefaultLieGroupMap> (d,
157 }
catch (
const std::exception& e) {
158 throw ::hpp::Error (e.what());
162 template <
typename _Base,
typename _Storage>
169 hpp::pinocchio::difference<hpp::pinocchio::DefaultLieGroupMap> (d,
175 }
catch (
const std::exception& e) {
176 throw ::hpp::Error (e.what());
180 template <
typename _Base,
typename _Storage>
187 hpp::pinocchio::interpolate<hpp::pinocchio::DefaultLieGroupMap> (d,
194 }
catch (
const std::exception& e) {
195 throw ::hpp::Error (e.what());
199 template <
typename _Base,
typename _Storage>
206 hpp::pinocchio::ArrayXb sat (d->numberDof());
207 hpp::pinocchio::saturate (d, q, sat);
211 }
catch (
const std::exception& e) {
212 throw ::hpp::Error (e.what());
216 template <
typename _Base,
typename _Storage>
222 hpp::pinocchio::replaceGeometryByConvexHull(d->geomModel(),
223 ::hpp::corbaServer::toStrings<std::vector<std::string> >(geometryNames));
226 }
catch (
const std::exception& e) {
227 throw ::hpp::Error (e.what());
240 #endif // hpp_pinocchio_idl__robots_hxx__ pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:51
virtual ~CenterOfMassComputationServant()
Definition: robots.hh:31
hpp::value_type mass()
Definition: robots.hh:78
boolSeq * toBoolSeq(InputIt begin, InputIt end)
Definition: conversions.hh:110
Definition: robots-fwd.hh:71
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
hpp::floatSeqSeq * jacobian()
Definition: robots.hh:92
double value_type
Definition: common.idl:18
hpp::floatSeq * com()
Definition: robots.hh:64
sequence< floatSeq > floatSeqSeq
Definition: common.idl:33
virtual ~DeviceServant()
Definition: robots.hh:123
void saturate(const hpp::floatSeq &qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation)
Definition: robots.hh:200
void integrate(const hpp::floatSeq &config_in, const hpp::floatSeq &velocity, hpp::floatSeq_out result)
Definition: robots.hh:145
void replaceGeometryByConvexHull(const hpp::Names_t &geometryNames)
Definition: robots.hh:217
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
void compute()
Definition: robots.hh:50
char * c_str(const std::string &in)
Definition: conversions.hh:68
sequence< string > Names_t
Sequence of names.
Definition: common.idl:22
char * name()
Definition: robots.hh:131
CenterOfMassComputationServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:25
DeviceServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:117
ServantBase(Server *server, const Storage &_s)
Definition: servant-base.hh:165
Storage s
Definition: servant-base.hh:171
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:43
Implementation of Hpp module Corba server.
Definition: server.hh:54
Definition: robots-fwd.hh:27
void difference(const hpp::floatSeq &q1, const hpp::floatSeq &q2, hpp::floatSeq_out result)
Definition: robots.hh:163
floatSeqSeq * matrixToFloatSeqSeq(core::matrixIn_t input)
Returns a sequence of the rows of the input matrix.
void interpolate(const hpp::floatSeq &q1, const hpp::floatSeq &q2, ::CORBA::Float u, hpp::floatSeq_out result)
Definition: robots.hh:181
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
void deleteThis()
Definition: robots.hh:39
StorageElementShPtr_t getT() const
Definition: servant-base.hh:121
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32