1 #ifndef hpp_core_idl____problem_hxx__ 2 #define hpp_core_idl____problem_hxx__ 24 template <
typename _Base,
typename _Storage>
26 :
hpp::corbaServer::ServantBase<
hpp::core::
Problem, _Storage> (server, s)
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>
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());
63 template <
typename _Base,
typename _Storage>
69 getT()->initConfig (q);
71 }
catch (
const std::exception& e) {
72 throw ::hpp::Error (e.what());
76 template <
typename _Base,
typename _Storage>
85 }
catch (
const std::exception& e) {
86 throw ::hpp::Error (e.what());
90 template <
typename _Base,
typename _Storage>
96 getT()->addGoalConfig (q);
98 }
catch (
const std::exception& e) {
99 throw ::hpp::Error (e.what());
103 template <
typename _Base,
typename _Storage>
109 (
getT()->resetGoalConfigs ());
112 }
catch (
const std::exception& e) {
113 throw ::hpp::Error (e.what());
117 template <
typename _Base,
typename _Storage>
123 hpp::core::ConstraintPtr_t __return__ (
getT()->constraints ());
125 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(
server_, __return__)._retn();
126 }
catch (
const std::exception& e) {
127 throw ::hpp::Error (e.what());
131 template <
typename _Base,
typename _Storage>
136 hpp::core::ConstraintPtr_t c = ::hpp::corbaServer::reference_to_servant_base<hpp::core::Constraint>(
server_, constraints)->
get();
138 if (!cs)
throw hpp::Error(
"Constraint is not of type ConstraintSet");
139 (
getT()->constraints (cs));
141 }
catch (
const std::exception& e) {
142 throw ::hpp::Error (e.what());
146 template <
typename _Base,
typename _Storage>
152 hpp::core::DistancePtr_t __return__ (
getT()->distance ());
154 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Distance,hpp::core_impl::Distance>(
server_, __return__)._retn();
155 }
catch (
const std::exception& e) {
156 throw ::hpp::Error (e.what());
160 template <
typename _Base,
typename _Storage>
165 hpp::core::DistancePtr_t _d = ::hpp::corbaServer::reference_to_object<hpp::core::Distance>(
server_, d);
166 (
getT()->distance (_d));
169 }
catch (
const std::exception& e) {
170 throw ::hpp::Error (e.what());
174 template <
typename _Base,
typename _Storage>
182 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::SteeringMethod,hpp::core_impl::SteeringMethod>(
server_, __return__)._retn();
183 }
catch (
const std::exception& e) {
184 throw ::hpp::Error (e.what());
188 template <
typename _Base,
typename _Storage>
194 (
getT()->steeringMethod (_d));
197 }
catch (
const std::exception& e) {
198 throw ::hpp::Error (e.what());
202 template <
typename _Base,
typename _Storage>
208 hpp::core::PathValidationPtr_t __return__ (
getT()->pathValidation ());
210 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::PathValidation,hpp::core_impl::PathValidation>(
server_, __return__)._retn();
211 }
catch (
const std::exception& e) {
212 throw ::hpp::Error (e.what());
216 template <
typename _Base,
typename _Storage>
221 hpp::core::PathValidationPtr_t _d = ::hpp::corbaServer::reference_to_object<hpp::core::PathValidation>(
server_, d);
222 (
getT()->pathValidation (_d));
225 }
catch (
const std::exception& e) {
226 throw ::hpp::Error (e.what());
230 template <
typename _Base,
typename _Storage>
236 hpp::core::ConfigValidationPtr_t __return__ (
getT()->configValidations ());
238 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::ConfigValidation,hpp::core_impl::ConfigValidation>(
server_, __return__)._retn();
239 }
catch (
const std::exception& e) {
240 throw ::hpp::Error (e.what());
244 template <
typename _Base,
typename _Storage>
250 (
getT()->clearConfigValidations ());
253 }
catch (
const std::exception& e) {
254 throw ::hpp::Error (e.what());
258 template <
typename _Base,
typename _Storage>
263 hpp::core::ConfigValidationPtr_t _cfgValidation = ::hpp::corbaServer::reference_to_object<hpp::core::ConfigValidation>(
server_, cfgValidation);
264 (
getT()->addConfigValidation (_cfgValidation));
267 }
catch (
const std::exception& e) {
268 throw ::hpp::Error (e.what());
272 template <
typename _Base,
typename _Storage>
278 hpp::core::ConfigurationShooterPtr_t __return__ (
getT()->configurationShooter ());
280 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::ConfigurationShooter,hpp::core_impl::ConfigurationShooter>(
server_, __return__)._retn();
281 }
catch (
const std::exception& e) {
282 throw ::hpp::Error (e.what());
286 template <
typename _Base,
typename _Storage>
291 hpp::core::ConfigurationShooterPtr_t _d = ::hpp::corbaServer::reference_to_object<hpp::core::ConfigurationShooter>(
server_, d);
292 (
getT()->configurationShooter (_d));
295 }
catch (
const std::exception& e) {
296 throw ::hpp::Error (e.what());
300 template <
typename _Base,
typename _Storage>
306 (
getT()->filterCollisionPairs ());
309 }
catch (
const std::exception& e) {
310 throw ::hpp::Error (e.what());
314 template <
typename _Base,
typename _Storage>
320 (
getT()->setSecurityMargins (_margins));
323 }
catch (
const std::exception& e) {
324 throw ::hpp::Error (e.what());
328 template <
typename _Base,
typename _Storage>
334 (
getT()->addObstacle (_object));
337 }
catch (
const std::exception& e) {
338 throw ::hpp::Error (e.what());
342 template <
typename _Base,
typename _Storage>
349 }
catch (
const std::exception& e) {
350 throw ::hpp::Error (e.what());
354 template <
typename _Base,
typename _Storage>
361 }
catch (
const std::exception& e) {
362 throw ::hpp::Error (e.what());
375 #endif // hpp_core_idl____problem_hxx__ void filterCollisionPairs()
Definition: _problem.hh:301
CORBA::Any * toCorbaAnyPtr(const core::Parameter ¶meter)
Definition: conversions.hh:146
ProblemServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _problem.hh:25
hpp::core_idl::ConfigValidation_ptr getConfigValidations()
Definition: _problem.hh:231
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:187
void setSecurityMargins(const hpp::floatSeqSeq &margins)
Definition: _problem.hh:315
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
_objref_CollisionObject * CollisionObject_ptr
Definition: _problem-idl.hh:129
void setParameter(const char *name, const ::CORBA::Any &value)
Definition: _problem.hh:343
void setConstraints(hpp::core_idl::Constraint_ptr constraints)
Definition: _problem.hh:132
_objref_PathValidation * PathValidation_ptr
Definition: _problem-idl.hh:239
sequence< floatSeq > floatSeqSeq
Definition: common.idl:34
Definition: _problem-fwd.hh:30
virtual ~ProblemServant()
Definition: _problem.hh:31
::CORBA::Any * getParameter(const char *name)
Definition: _problem.hh:355
Server * server_
Definition: servant-base.hh:97
Corba exception travelling through the Corba channel.
Definition: common.idl:25
void deleteThis()
Definition: _problem.hh:39
void setConfigurationShooter(hpp::core_idl::ConfigurationShooter_ptr d)
Definition: _problem.hh:287
hpp::floatSeq * getInitConfig()
Definition: _problem.hh:77
_objref_ConfigValidation * ConfigValidation_ptr
Definition: _problem-idl.hh:213
void setPathValidation(hpp::core_idl::PathValidation_ptr d)
Definition: _problem.hh:217
core::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:44
void setSteeringMethod(hpp::core_idl::SteeringMethod_ptr d)
Definition: _problem.hh:189
void addObstacle(hpp::pinocchio_idl::CollisionObject_ptr object)
Definition: _problem.hh:329
_objref_ConfigurationShooter * ConfigurationShooter_ptr
Definition: _problem-idl.hh:265
void setInitConfig(const hpp::floatSeq &init)
Definition: _problem.hh:64
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:41
ConstraintSetServant< POA_hpp::core_idl::ConstraintSet, hpp::weak_ptr< hpp::core::ConstraintSet > > ConstraintSet
Definition: _constraints-fwd.hh:169
core::Parameter toParameter(const CORBA::Any &any)
Implementation of Hpp module Corba server.
Definition: server.hh:54
void addGoalConfig(const hpp::floatSeq &goal)
Definition: _problem.hh:91
pinocchio::matrix_t matrix_t
Definition: fwd.hh:87
void addConfigValidation(hpp::core_idl::ConfigValidation_ptr cfgValidation)
Definition: _problem.hh:259
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
hpp::core_idl::SteeringMethod_ptr getSteeringMethod()
Definition: _problem.hh:175
hpp::core_idl::ConfigurationShooter_ptr getConfigurationShooter()
Definition: _problem.hh:273
hpp::core_idl::Constraint_ptr getConstraints()
Definition: _problem.hh:118
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:161
hpp::core_idl::Distance_ptr getDistance()
Definition: _problem.hh:147
void clearConfigValidations()
Definition: _problem.hh:245
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:33
_objref_Device * Device_ptr
Definition: _problem-idl.hh:103
hpp::core_idl::PathValidation_ptr getPathValidation()
Definition: _problem.hh:203
void resetGoalConfigs()
Definition: _problem.hh:104
_objref_Distance * Distance_ptr
Definition: _problem-idl.hh:161