17 #ifndef HPP_CORBASERVER_CONVERSIONS_HH 18 #define HPP_CORBASERVER_CONVERSIONS_HH 20 # include <hpp/util/exception-factory.hh> 23 # include <hpp/core/parameter.hh> 27 namespace corbaServer {
28 typedef Eigen::Matrix<CORBA::Long, Eigen::Dynamic, Eigen::Dynamic>
IntMatrix_t;
46 if (!input)
return NULL;
69 unsigned int length = 3);
71 inline char*
c_str (
const std::string& in)
73 char* out =
new char[in.length()+1];
74 strcpy (out, in.c_str());
81 char** nameList = Names_t::allocbuf((CORBA::ULong) len);
82 Names_t *ret =
new Names_t ((CORBA::ULong) len, (CORBA::ULong) len, nameList,
true);
85 while (begin != end) {
86 nameList[i] =
c_str (*begin);
95 return toNames_t(iterable.begin(), iterable.end());
98 template <
typename InputIt>
inline intSeq*
toIntSeq (InputIt begin, InputIt end)
102 indexes->length ((CORBA::ULong) len);
105 while (begin != end) {
106 (*indexes)[i] = *begin;
117 indexes->length ((CORBA::ULong) len);
120 while (begin != end) {
121 (*indexes)[(CORBA::ULong)i] = *begin;
131 for (CORBA::ULong i = 0; i < names.length(); ++i)
132 ret.push_back (std::string(names[i]));
142 core::Parameter
toParameter (
const CORBA::Any& any);
144 CORBA::Any
toCorbaAny (
const core::Parameter& parameter);
148 CORBA::Any* ap =
new CORBA::Any;
156 #endif // HPP_CORBASERVER_CONVERSIONS_HH CORBA::Any * toCorbaAnyPtr(const core::Parameter ¶meter)
Definition: conversions.hh:146
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:51
boolSeq * toBoolSeq(InputIt begin, InputIt end)
Definition: conversions.hh:113
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)
Definition: common-idl.hh:347
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
constraints::ComparisonTypes_t convertComparison(hpp::ComparisonTypes_t comp)
Convert CORBA comparison types to C++ comparison type.
std::vector< bool > boolSeqToVector(const hpp::boolSeq &mask, unsigned int length=3)
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
char * c_str(const std::string &in)
Definition: conversions.hh:71
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
sequence< long > intSeq
Definition: common.idl:30
pinocchio::vector_t vector_t
Definition: fwd.hh:89
Definition: common-idl.hh:78
Eigen::Matrix< CORBA::Long, Eigen::Dynamic, Eigen::Dynamic > IntMatrix_t
Definition: conversions.hh:28
Definition: common-idl.hh:689
core::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:44
Definition: common-idl.hh:233
sequence< boolean > boolSeq
Definition: common.idl:29
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:43
void toHppTransform(const Transform3f &in, Transform_ out)
Names_t * toNames_t(InputIt begin, InputIt end)
Definition: conversions.hh:78
intSeqSeq * matrixToIntSeqSeq(Eigen::Ref< const IntMatrix_t > input)
OutputType toStrings(const Names_t &names)
Definition: conversions.hh:128
core::Parameter toParameter(const CORBA::Any &any)
Definition: common-idl.hh:461
IntMatrix_t intSeqSeqToMatrix(const intSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
intSeq * toIntSeq(InputIt begin, InputIt end)
Definition: conversions.hh:98
double Transform_[7]
Element of SE(3) represented by a vector and a unit quaternion.
Definition: common.idl:37
pinocchio::matrix_t matrix_t
Definition: fwd.hh:87
pinocchio::vector3_t vector3_t
Definition: fwd.hh:90
vector3_t floatSeqToVector3(const floatSeq &dofArray)
floatSeqSeq * matrixToFloatSeqSeq(core::matrixIn_t input)
Returns a sequence of the rows of the input matrix.
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
_CORBA_MODULE hpp _CORBA_MODULE_BEG _CORBA_MODULE core_idl _CORBA_MODULE_BEG typedef ::CORBA::ULongLong size_t
Definition: paths-idl.hh:75
Definition: common-idl.hh:575
sequence< ComparisonType > ComparisonTypes_t
Definition: common.idl:49
Configuration_t floatSeqToConfig(const DevicePtr_t &robot, const floatSeq &dofArray, bool throwIfNotNormalized)
void toTransform3f(const Transform_ in, Transform3f &out)
pinocchio::Transform3f Transform3f
Definition: fwd.hh:80
::CORBA::Double Transform__slice
Definition: common-idl.hh:802
pinocchio::size_type size_type
Definition: fwd.hh:92
CORBA::Any toCorbaAny(const core::Parameter ¶meter)