hpp-corbaserver  4.10.1
Corba server for Humanoid Path Planner applications
_problem.hh
Go to the documentation of this file.
1 #ifndef hpp_core_idl____problem_hxx__
2 #define hpp_core_idl____problem_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/_problem.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::Problem
20 //
21 namespace hpp {
22 
23 namespace core_impl {
24 template <typename _Base, typename _Storage>
26  : hpp::corbaServer::ServantBase<hpp::core::Problem, _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.
43  _ServantBase::deleteThis();
44  } catch (const std::exception& e) {
45  throw ::hpp::Error (e.what());
46  }
47 }
48 
49 template <typename _Base, typename _Storage>
51 {
52  try {
53  // automatically generated code.
54 
55  hpp::pinocchio::DevicePtr_t __return__ (getT()->robot ());
56 
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());
60  }
61 }
62 
63 template <typename _Base, typename _Storage>
65 {
66  try {
67  // generated from /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.10.1/idl/hpp/core_idl/_problem.idl:29
69  getT()->initConfig (q);
70 
71  } catch (const std::exception& e) {
72  throw ::hpp::Error (e.what());
73  }
74 }
75 
76 template <typename _Base, typename _Storage>
78 {
79  try {
80  // automatically generated code.
81 
82  hpp::floatSeq* __return__ = hpp::corbaServer::vectorToFloatSeq (getT()->initConfig ());
83 
84  return __return__;
85  } catch (const std::exception& e) {
86  throw ::hpp::Error (e.what());
87  }
88 }
89 
90 template <typename _Base, typename _Storage>
92 {
93  try {
94  // automatically generated code.
95 
96  (getT()->resetGoalConfigs ());
97 
98 
99  } catch (const std::exception& e) {
100  throw ::hpp::Error (e.what());
101  }
102 }
103 
104 template <typename _Base, typename _Storage>
106 {
107  try {
108  // automatically generated code.
109 
110  hpp::core::ConstraintPtr_t __return__ (getT()->constraints ());
111 
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());
115  }
116 }
117 
118 template <typename _Base, typename _Storage>
120 {
121  try {
122  // automatically generated code.
123 
124  hpp::core::DistancePtr_t __return__ (getT()->distance ());
125 
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());
129  }
130 }
131 
132 template <typename _Base, typename _Storage>
134 {
135  try {
136  // automatically generated code.
137  hpp::core::DistancePtr_t _d = ::hpp::corbaServer::reference_to_servant_base<hpp::core::Distance>(server_, d)->get();
138  (getT()->distance (_d));
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 
152  hpp::core::SteeringMethodPtr_t __return__ (getT()->steeringMethod ());
153 
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());
157  }
158 }
159 
160 template <typename _Base, typename _Storage>
162 {
163  try {
164  // automatically generated code.
165  hpp::core::SteeringMethodPtr_t _d = ::hpp::corbaServer::reference_to_servant_base<hpp::core::SteeringMethod>(server_, d)->get();
166  (getT()->steeringMethod (_d));
167 
168 
169  } catch (const std::exception& e) {
170  throw ::hpp::Error (e.what());
171  }
172 }
173 
174 template <typename _Base, typename _Storage>
176 {
177  try {
178  // automatically generated code.
179 
180  hpp::core::PathValidationPtr_t __return__ (getT()->pathValidation ());
181 
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());
185  }
186 }
187 
188 template <typename _Base, typename _Storage>
190 {
191  try {
192  // automatically generated code.
193  hpp::core::PathValidationPtr_t _d = ::hpp::corbaServer::reference_to_servant_base<hpp::core::PathValidation>(server_, d)->get();
194  (getT()->pathValidation (_d));
195 
196 
197  } catch (const std::exception& e) {
198  throw ::hpp::Error (e.what());
199  }
200 }
201 
202 template <typename _Base, typename _Storage>
204 {
205  try {
206  // automatically generated code.
207 
208  hpp::core::ConfigurationShooterPtr_t __return__ (getT()->configurationShooter ());
209 
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());
213  }
214 }
215 
216 template <typename _Base, typename _Storage>
218 {
219  try {
220  // automatically generated code.
221  hpp::core::ConfigurationShooterPtr_t _d = ::hpp::corbaServer::reference_to_servant_base<hpp::core::ConfigurationShooter>(server_, d)->get();
222  (getT()->configurationShooter (_d));
223 
224 
225  } catch (const std::exception& e) {
226  throw ::hpp::Error (e.what());
227  }
228 }
229 
230 template <typename _Base, typename _Storage>
232 {
233  try {
234  // automatically generated code.
235 
236  (getT()->filterCollisionPairs ());
237 
238 
239  } catch (const std::exception& e) {
240  throw ::hpp::Error (e.what());
241  }
242 }
243 
244 template <typename _Base, typename _Storage>
246 {
247  try {
248  // automatically generated code.
250  (getT()->setSecurityMargins (_margins));
251 
252 
253  } catch (const std::exception& e) {
254  throw ::hpp::Error (e.what());
255  }
256 }
257 
258 // End of implementational code
259 } // namespace core_impl
260 
261 } // namespace hpp
262 
263 
264 
265 
266 
267 #endif // hpp_core_idl____problem_hxx__
268 
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&#39;&#39;.
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