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>
135 _ServantBase::deleteThis();
136 }
catch (
const std::exception& e) {
137 throw ::hpp::Error (e.what());
141 template <
typename _Base,
typename _Storage>
150 }
catch (
const std::exception& e) {
151 throw ::hpp::Error (e.what());
155 template <
typename _Base,
typename _Storage>
164 }
catch (
const std::exception& e) {
165 throw ::hpp::Error (e.what());
169 template <
typename _Base,
typename _Storage>
176 hpp::pinocchio::integrate<false, hpp::pinocchio::DefaultLieGroupMap> (d,
182 }
catch (
const std::exception& e) {
183 throw ::hpp::Error (e.what());
187 template <
typename _Base,
typename _Storage>
194 hpp::pinocchio::difference<hpp::pinocchio::DefaultLieGroupMap> (d,
200 }
catch (
const std::exception& e) {
201 throw ::hpp::Error (e.what());
205 template <
typename _Base,
typename _Storage>
212 hpp::pinocchio::interpolate<hpp::pinocchio::DefaultLieGroupMap> (d,
219 }
catch (
const std::exception& e) {
220 throw ::hpp::Error (e.what());
224 template <
typename _Base,
typename _Storage>
231 hpp::pinocchio::ArrayXb sat (d->numberDof());
232 hpp::pinocchio::saturate (d, q, sat);
236 }
catch (
const std::exception& e) {
237 throw ::hpp::Error (e.what());
241 template <
typename _Base,
typename _Storage>
247 hpp::pinocchio::replaceGeometryByConvexHull(d->geomModel(),
248 ::hpp::corbaServer::toStrings<std::vector<std::string> >(geometryNames));
251 }
catch (
const std::exception& e) {
252 throw ::hpp::Error (e.what());
256 template <
typename _Base,
typename _Storage>
265 }
catch (
const std::exception& e) {
266 throw ::hpp::Error (e.what());
270 template <
typename _Base,
typename _Storage>
276 ::CORBA::Boolean __return__ (
getT()->currentConfiguration (_configuration));
279 }
catch (
const std::exception& e) {
280 throw ::hpp::Error (e.what());
284 template <
typename _Base,
typename _Storage>
290 (
getT()->computeForwardKinematics ());
293 }
catch (
const std::exception& e) {
294 throw ::hpp::Error (e.what());
298 template <
typename _Base,
typename _Storage>
304 (
getT()->computeFramesForwardKinematics ());
307 }
catch (
const std::exception& e) {
308 throw ::hpp::Error (e.what());
312 template <
typename _Base,
typename _Storage>
318 (
getT()->updateGeometryPlacements ());
321 }
catch (
const std::exception& e) {
322 throw ::hpp::Error (e.what());
326 template <
typename _Base,
typename _Storage>
333 }
catch (
const std::exception& e) {
334 throw ::hpp::Error (e.what());
338 template <
typename _Base,
typename _Storage>
343 if (
getT()->model().nframes <= (
int)frame_id)
throw hpp::Error(
"Index out of range");
347 }
catch (
const std::exception& e) {
348 throw ::hpp::Error (e.what());
352 template <
typename _Base,
typename _Storage>
357 if (
getT()->model().nframes <= (
int)frame_id)
throw hpp::Error(
"Index out of range");
358 if (!(
getT()->computationFlag() & hpp::pinocchio::JACOBIAN))
359 throw hpp::Error(
"Invalid computation flags");
363 }
catch (
const std::exception& e) {
364 throw ::hpp::Error (e.what());
368 template <
typename _Base,
typename _Storage>
373 typedef std::vector<std::string> strings_t;strings_t _joints = hpp::corbaServer::toStrings<strings_t> (joints);
375 (
getT()->removeJoints (_joints, _refConfig));
378 }
catch (
const std::exception& e) {
379 throw ::hpp::Error (e.what());
393 namespace pinocchio_impl {
394 template <
typename _Base,
typename _Storage>
400 template <
typename _Base,
typename _Storage>
408 template <
typename _Base,
typename _Storage>
413 _ServantBase::deleteThis();
414 }
catch (
const std::exception& e) {
415 throw ::hpp::Error (e.what());
428 #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:113
Definition: robots-fwd.hh:78
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
::CORBA::Boolean setCurrentConfiguration(const hpp::floatSeq &configuration)
Definition: robots.hh:271
hpp::floatSeqSeq * jacobian()
Definition: robots.hh:92
double value_type
Definition: common.idl:18
hpp::floatSeq * com()
Definition: robots.hh:64
void computeFramesForwardKinematics()
Definition: robots.hh:299
sequence< floatSeq > floatSeqSeq
Definition: common.idl:34
void deleteThis()
Definition: robots.hh:409
virtual ~DeviceServant()
Definition: robots.hh:123
void saturate(const hpp::floatSeq &qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation)
Definition: robots.hh:225
void integrate(const hpp::floatSeq &config_in, const hpp::floatSeq &velocity, hpp::floatSeq_out result)
Definition: robots.hh:170
void computeForwardKinematics()
Definition: robots.hh:285
void updateGeometryPlacements()
Definition: robots.hh:313
void deleteThis()
Definition: robots.hh:131
void replaceGeometryByConvexHull(const hpp::Names_t &geometryNames)
Definition: robots.hh:242
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
void compute()
Definition: robots.hh:50
Corba exception travelling through the Corba channel.
Definition: common.idl:25
char * c_str(const std::string &in)
Definition: conversions.hh:71
pinocchio::Frame Frame
Definition: fwd.hh:58
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
unsigned long frame_index
Definition: common.idl:20
char * name()
Definition: robots.hh:142
pinocchio::vector_t vector_t
Definition: fwd.hh:89
CenterOfMassComputationServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:25
hpp::frame_index getFrameByName(const char *name)
Definition: robots.hh:327
DeviceServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:117
ServantBase(Server *server, const Storage &_s)
Definition: servant-base.hh:165
hpp::floatSeq * getCurrentConfiguration()
Definition: robots.hh:257
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:43
void toHppTransform(const Transform3f &in, Transform_ out)
hpp::floatSeqSeq * getFrameJacobian(hpp::frame_index frame_id)
Definition: robots.hh:353
Definition: robots-fwd.hh:164
Implementation of Hpp module Corba server.
Definition: server.hh:54
void removeJoints(const hpp::Names_t &joints, const hpp::floatSeq &refConfig)
Definition: robots.hh:369
CollisionObjectServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:395
Definition: robots-fwd.hh:28
void difference(const hpp::floatSeq &q1, const hpp::floatSeq &q2, hpp::floatSeq_out result)
Definition: robots.hh:188
floatSeqSeq * matrixToFloatSeqSeq(core::matrixIn_t input)
Returns a sequence of the rows of the input matrix.
hpp::floatSeq * neutralConfiguration()
Definition: robots.hh:156
void interpolate(const hpp::floatSeq &q1, const hpp::floatSeq &q2, ::CORBA::Float u, hpp::floatSeq_out result)
Definition: robots.hh:206
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
hpp::Transform__slice * getFramePosition(hpp::frame_index frame_id)
Definition: robots.hh:339
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:33
::CORBA::Double Transform__slice
Definition: common-idl.hh:802
virtual ~CollisionObjectServant()
Definition: robots.hh:401