hpp-corbaserver  4.10.1
Corba server for Humanoid Path Planner applications
path_planners-fwd.hh
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1 #ifndef hpp_core_idl__path__planners_hpp__
2 #define hpp_core_idl__path__planners_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/path_planners.idl
6 //
7 
10 
11 #include <boost/utility.hpp>
12 #include <hpp/core/path-planner.hh>
13 #include <hpp/core/roadmap.hh>
14 #include <hpp/core/edge.hh>
15 #include <hpp/core/node.hh>
16 #include <hpp/core_idl/paths.hh>
17 
18 
19 
20 
21 
22 //
23 // Class implementing IDL interface hpp::core_idl::Roadmap
24 //
25 namespace hpp {
26 
27 namespace core_impl {
28 template <typename _Base, typename _Storage>
29 class RoadmapServant: public hpp::corbaServer::ServantBase<hpp::core::Roadmap, _Storage>, public virtual _Base
30 {
31 public:
33 
35 
36 public:
37  // standard constructor
38  RoadmapServant(::hpp::corbaServer::Server* server, const _Storage& s);
39  virtual ~RoadmapServant();
40 
41  // methods corresponding to defined IDL attributes and operations
42 
43  void clear ();
44 
45 
46  void addNode (const hpp::floatSeq& config);
47 
48 
49  void addNodeAndEdge (const hpp::floatSeq& cfgfrom, const hpp::floatSeq& cfgto, hpp::core_idl::Path_ptr path_);
50 
51 
52  void addNodeAndEdges (const hpp::floatSeq& cfgfrom, const hpp::floatSeq& cfgto, hpp::core_idl::Path_ptr path_);
53 
54 
55  hpp::floatSeq* nearestNode (const hpp::floatSeq& config, hpp::value_type& distance, ::CORBA::Boolean reverse);
56 
57 
59 
60 
62 
63 
65 
66 
68 
69 
71 
72 
73 };
74 
76 } // namespace core_impl
77 
78 } // namespace hpp
79 
80 
81 //
82 // Class implementing IDL interface hpp::core_idl::PathPlanner
83 //
84 namespace hpp {
85 
86 namespace core_impl {
87 template <typename _Base, typename _Storage>
88 class PathPlannerServant: public hpp::corbaServer::ServantBase<hpp::core::PathPlanner, _Storage>, public virtual _Base
89 {
90 public:
92 
94 
95 public:
96  // standard constructor
97  PathPlannerServant(::hpp::corbaServer::Server* server, const _Storage& s);
98  virtual ~PathPlannerServant();
99 
100  // methods corresponding to defined IDL attributes and operations
101 
103 
104 
105  void startSolve ();
106 
107 
108  void tryConnectInitAndGoals ();
109 
110 
111  void oneStep ();
112 
113 
114  hpp::core_idl::PathVector_ptr computePath ();
115 
116 
118 
119 
120  void interrupt ();
121 
122 
123  void maxIterations (hpp::size_type n);
124 
125 
126  void timeOut (hpp::value_type seconds);
127 
128 
129  hpp::core_idl::Roadmap_ptr getRoadmap ();
130 
131 
132 };
133 
135 } // namespace core_impl
136 
137 } // namespace hpp
138 
139 
140 
141 
142 
143 #endif // hpp_core_idl__path__planners_hpp__
144 
Definition: servant-base.hh:100
void clear()
Definition: path_planners.hh:39
Definition: path_planners-fwd.hh:29
hpp::core::PathPlanner HppBase
Definition: path_planners-fwd.hh:91
RoadmapServant< POA_hpp::core_idl::Roadmap, boost::weak_ptr< hpp::core::Roadmap > > Roadmap
Definition: path_planners-fwd.hh:75
Definition: path_planners.idl:22
Definition: path_planners.idl:67
hpp::core_idl::Path_ptr getEdge(hpp::size_type i)
Definition: path_planners.hh:162
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
RoadmapServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:25
double value_type
Definition: common.idl:18
sequence< floatSeq > floatSeqSeq
Definition: common.idl:33
hpp::floatSeqSeq * nearestNodes(const hpp::floatSeq &config, hpp::size_type &k)
Definition: path_planners.hh:108
_objref_Roadmap * Roadmap_ptr
Definition: path_planners-idl.hh:109
hpp::floatSeq * getNode(hpp::size_type i)
Definition: path_planners.hh:138
void addNode(const hpp::floatSeq &config)
Definition: path_planners.hh:53
virtual ~RoadmapServant()
Definition: path_planners.hh:31
hpp::size_type getNbEdges()
Definition: path_planners.hh:150
hpp::size_type getNbNodes()
Definition: path_planners.hh:126
hpp::floatSeq * nearestNode(const hpp::floatSeq &config, hpp::value_type &distance, ::CORBA::Boolean reverse)
Definition: path_planners.hh:95
hpp::core::Roadmap HppBase
Definition: path_planners-fwd.hh:32
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82
SERVANT_BASE_TYPEDEFS(hpp::core_idl::Roadmap, HppBase)
Implementation of Hpp module Corba server.
Definition: server.hh:54
void addNodeAndEdge(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:67
Definition: path_planners-fwd.hh:88
PathPlannerServant< POA_hpp::core_idl::PathPlanner, boost::weak_ptr< hpp::core::PathPlanner > > PathPlanner
Definition: path_planners-fwd.hh:134
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
void addNodeAndEdges(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:81
long long size_type
Definition: common.idl:19