hpp-corbaserver  4.12.0
Corba server for Humanoid Path Planner applications
robots-fwd.hh
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1 #ifndef hpp_pinocchio_idl__robots_hpp__
2 #define hpp_pinocchio_idl__robots_hpp__
3 
4 //
5 // Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.12.0/idl/hpp/pinocchio_idl/robots.idl
6 //
7 
10 
11 #include <hpp/pinocchio/device.hh>
12 #include <hpp/pinocchio/collision-object.hh>
13 #include <hpp/pinocchio/configuration.hh>
14 #include <hpp/pinocchio/liegroup.hh>
15 #include <hpp/pinocchio/center-of-mass-computation.hh>
16 
17 
18 
19 
20 
21 //
22 // Class implementing IDL interface hpp::pinocchio_idl::CenterOfMassComputation
23 //
24 namespace hpp {
25 
26 namespace pinocchio_impl {
27 template <typename _Base, typename _Storage>
28 class CenterOfMassComputationServant: public hpp::corbaServer::ServantBase<hpp::pinocchio::CenterOfMassComputation, _Storage>, public virtual _Base
29 {
30 public:
32 
34 
35 public:
36  // standard constructor
37  CenterOfMassComputationServant(::hpp::corbaServer::Server* server, const _Storage& s);
39 
40  // methods corresponding to defined IDL attributes and operations
41 
42  void deleteThis ();
43 
44 
45  void compute ();
46 
47 
48  hpp::floatSeq* com ();
49 
50 
52 
53 
55 
56 
57 };
58 
60 } // namespace pinocchio_impl
61 
62 } // namespace hpp
63 
64 namespace hpp {
65 namespace corbaServer {
67 } // namespace corbaServer
68 } // namespace corbaServer
69 
70 
71 //
72 // Class implementing IDL interface hpp::pinocchio_idl::Device
73 //
74 namespace hpp {
75 
76 namespace pinocchio_impl {
77 template <typename _Base, typename _Storage>
78 class DeviceServant: public hpp::corbaServer::ServantBase<hpp::pinocchio::Device, _Storage>, public virtual _Base
79 {
80 public:
82 
84 
85 public:
86  // standard constructor
87  DeviceServant(::hpp::corbaServer::Server* server, const _Storage& s);
88  virtual ~DeviceServant();
89 
90  // methods corresponding to defined IDL attributes and operations
91 
92  void deleteThis ();
93 
94 
95  char* name ();
96 
97 
98  hpp::floatSeq* neutralConfiguration ();
99 
100 
101  void integrate (const hpp::floatSeq& config_in, const hpp::floatSeq& velocity, hpp::floatSeq_out result);
102 
103 
104  void difference (const hpp::floatSeq& q1, const hpp::floatSeq& q2, hpp::floatSeq_out result);
105 
106 
107  void interpolate (const hpp::floatSeq& q1, const hpp::floatSeq& q2, ::CORBA::Float u, hpp::floatSeq_out result);
108 
109 
110  void saturate (const hpp::floatSeq& qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation);
111 
112 
113  void replaceGeometryByConvexHull (const hpp::Names_t& geometryNames);
114 
115 
116  hpp::floatSeq* getCurrentConfiguration ();
117 
118 
119  ::CORBA::Boolean setCurrentConfiguration (const hpp::floatSeq& configuration);
120 
121 
122  void computeForwardKinematics ();
123 
124 
125  void computeFramesForwardKinematics ();
126 
127 
128  void updateGeometryPlacements ();
129 
130 
131  hpp::frame_index getFrameByName (const char* name);
132 
133 
134  hpp::Transform__slice* getFramePosition (hpp::frame_index frame_id);
135 
136 
137  hpp::floatSeqSeq* getFrameJacobian (hpp::frame_index frame_id);
138 
139 
140  void removeJoints (const hpp::Names_t& joints, const hpp::floatSeq& refConfig);
141 
142 
143 };
144 
146 } // namespace pinocchio_impl
147 
148 } // namespace hpp
149 
150 namespace hpp {
151 namespace corbaServer {
153 } // namespace corbaServer
154 } // namespace corbaServer
155 
156 
157 //
158 // Class implementing IDL interface hpp::pinocchio_idl::CollisionObject
159 //
160 namespace hpp {
161 
162 namespace pinocchio_impl {
163 template <typename _Base, typename _Storage>
164 class CollisionObjectServant: public hpp::corbaServer::ServantBase<hpp::pinocchio::CollisionObject, _Storage>, public virtual _Base
165 {
166 public:
168 
170 
171 public:
172  // standard constructor
173  CollisionObjectServant(::hpp::corbaServer::Server* server, const _Storage& s);
174  virtual ~CollisionObjectServant();
175 
176  // methods corresponding to defined IDL attributes and operations
177 
178  void deleteThis ();
179 
180 
181 };
182 
184 } // namespace pinocchio_impl
185 
186 } // namespace hpp
187 
188 namespace hpp {
189 namespace corbaServer {
191 } // namespace corbaServer
192 } // namespace corbaServer
193 
194 
195 
196 
197 
198 #endif // hpp_pinocchio_idl__robots_hpp__
199 
Definition: servant-base.hh:100
virtual ~CenterOfMassComputationServant()
Definition: robots.hh:31
hpp::value_type mass()
Definition: robots.hh:78
Definition: robots.idl:28
hpp::pinocchio::CenterOfMassComputation HppBase
Definition: robots-fwd.hh:31
Definition: robots-fwd.hh:78
Implement CORBA interface ``Obstacle&#39;&#39;.
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
Definition: robots.idl:109
sequence< floatSeq > floatSeqSeq
Definition: common.idl:34
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::CenterOfMassComputation, HppBase)
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
unsigned long frame_index
Definition: common.idl:20
hpp::pinocchio::CollisionObject HppBase
Definition: robots-fwd.hh:167
CenterOfMassComputationServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:25
hpp::pinocchio::Device Base
Definition: robots-fwd.hh:152
Definition: robots-fwd.hh:164
hpp::pinocchio::Device HppBase
Definition: robots-fwd.hh:81
hpp::pinocchio::CenterOfMassComputation Base
Definition: robots-fwd.hh:66
Implementation of Hpp module Corba server.
Definition: server.hh:54
CollisionObjectServant< POA_hpp::pinocchio_idl::CollisionObject, hpp::weak_ptr< hpp::pinocchio::CollisionObject > > CollisionObject
Definition: robots-fwd.hh:183
DeviceServant< POA_hpp::pinocchio_idl::Device, hpp::weak_ptr< hpp::pinocchio::Device > > Device
Definition: robots-fwd.hh:145
hpp::pinocchio::CollisionObject Base
Definition: robots-fwd.hh:190
CenterOfMassComputationServant< POA_hpp::pinocchio_idl::CenterOfMassComputation, hpp::weak_ptr< hpp::pinocchio::CenterOfMassComputation > > CenterOfMassComputation
Definition: robots-fwd.hh:59
Definition: servant-base.hh:66
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