1 #ifndef hpp_core_idl____constraints_hxx__ 2 #define hpp_core_idl____constraints_hxx__ 24 template <
typename _Base,
typename _Storage>
31 template <
typename _Base,
typename _Storage>
39 template <
typename _Base,
typename _Storage>
45 ::CORBA::Boolean __return__ (
getT()->
apply (_config));
48 }
catch (
const std::exception& e) {
49 throw ::hpp::Error (e.what());
53 template <
typename _Base,
typename _Storage>
62 }
catch (
const std::exception& e) {
63 throw ::hpp::Error (e.what());
67 template <
typename _Base,
typename _Storage>
72 std::ostringstream oss; oss << *
get();
73 std::string res = oss.str();
74 return CORBA::string_dup(res.c_str());
75 }
catch (
const std::exception& e) {
76 throw ::hpp::Error (e.what());
80 template <
typename _Base,
typename _Storage>
89 }
catch (
const std::exception& e) {
90 throw ::hpp::Error (e.what());
94 template <
typename _Base,
typename _Storage>
100 hpp::core::ConstraintPtr_t __return__ (
getT()->
copy ());
102 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(
server_, __return__)._retn();
103 }
catch (
const std::exception& e) {
104 throw ::hpp::Error (e.what());
118 namespace core_impl {
119 template <
typename _Base,
typename _Storage>
126 template <
typename _Base,
typename _Storage>
134 template <
typename _Base,
typename _Storage>
140 (
getT()->rightHandSideFromConfig (_config));
143 }
catch (
const std::exception& e) {
144 throw ::hpp::Error (e.what());
148 template <
typename _Base,
typename _Storage>
153 hpp::constraints::ImplicitPtr_t _nm = ::hpp::corbaServer::reference_to_object<hpp::constraints::Implicit>(
server_, nm);
155 (
getT()->rightHandSideFromConfig (_nm, _config));
158 }
catch (
const std::exception& e) {
159 throw ::hpp::Error (e.what());
163 template <
typename _Base,
typename _Storage>
169 (
getT()->rightHandSide (_param));
172 }
catch (
const std::exception& e) {
173 throw ::hpp::Error (e.what());
177 template <
typename _Base,
typename _Storage>
182 hpp::constraints::ImplicitPtr_t _nm = ::hpp::corbaServer::reference_to_object<hpp::constraints::Implicit>(
server_, nm);
184 (
getT()->rightHandSide (_nm, _rhs));
187 }
catch (
const std::exception& e) {
188 throw ::hpp::Error (e.what());
192 template <
typename _Base,
typename _Storage>
201 }
catch (
const std::exception& e) {
202 throw ::hpp::Error (e.what());
206 template <
typename _Base,
typename _Storage>
212 (
getT()->rightHandSideAt (s));
215 }
catch (
const std::exception& e) {
216 throw ::hpp::Error (e.what());
220 template <
typename _Base,
typename _Storage>
226 hpp::constraints::ImplicitPtr_t _nm = hpp::corbaServer::reference_to_servant_base<hpp::constraints::Implicit>(
server_, nm)->
get();
228 bool res =
getT ()->solver ().isConstraintSatisfied
229 (_nm, _arg,errorOut, constraintFound);
233 }
catch (
const std::exception& e) {
234 throw ::hpp::Error (e.what());
238 template <
typename _Base,
typename _Storage>
247 }
catch (
const std::exception& e) {
248 throw ::hpp::Error (e.what());
252 template <
typename _Base,
typename _Storage>
257 hpp::constraints::ImplicitPtr_t _numconstraint = ::hpp::corbaServer::reference_to_object<hpp::constraints::Implicit>(
server_, numconstraint);
258 ::CORBA::Boolean __return__ (
getT()->
add (_numconstraint, priority));
261 }
catch (
const std::exception& e) {
262 throw ::hpp::Error (e.what());
266 template <
typename _Base,
typename _Storage>
272 (
getT()->lastIsOptional (optional));
275 }
catch (
const std::exception& e) {
276 throw ::hpp::Error (e.what());
280 template <
typename _Base,
typename _Storage>
286 ::CORBA::Boolean __return__ (
getT()->lastIsOptional ());
289 }
catch (
const std::exception& e) {
290 throw ::hpp::Error (e.what());
294 template <
typename _Base,
typename _Storage>
300 (
getT()->errorThreshold (threshold));
303 }
catch (
const std::exception& e) {
304 throw ::hpp::Error (e.what());
308 template <
typename _Base,
typename _Storage>
317 }
catch (
const std::exception& e) {
318 throw ::hpp::Error (e.what());
332 namespace core_impl {
333 template <
typename _Base,
typename _Storage>
340 template <
typename _Base,
typename _Storage>
348 template <
typename _Base,
typename _Storage>
354 hpp::core::ConstraintPtr_t __return__ (
getT()->configProjector ());
356 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(
server_, __return__)._retn();
357 }
catch (
const std::exception& e) {
358 throw ::hpp::Error (e.what());
371 #endif // hpp_core_idl____constraints_hxx__ ConfigProjectorServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:120
void setLastIsOptional(::CORBA::Boolean optional)
Definition: _constraints.hh:267
virtual ~ConstraintSetServant()
Definition: _constraints.hh:341
sequence< Implicit > Implicits
Definition: _constraints.idl:20
::CORBA::Boolean add(hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority)
Definition: _constraints.hh:253
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:35
double value_type
Definition: common.idl:18
hpp::core_idl::Constraint_ptr getConfigProjector()
Definition: _constraints.hh:349
void setRightHandSide(const hpp::floatSeq ¶m)
Definition: _constraints.hh:164
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
void setRightHandSideFromConfig(const hpp::floatSeq &config)
Definition: _constraints.hh:135
Server * server_
Definition: servant-base.hh:116
char * c_str(const std::string &in)
Definition: conversions.hh:92
void setRightHandSideOfConstraintFromConfig(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &config)
Definition: _constraints.hh:149
hpp::constraints_idl::Implicits * numericalConstraints()
Definition: _constraints.hh:239
pinocchio::vector_t vector_t
Definition: fwd.hh:112
virtual ~ConstraintServant()
Definition: _constraints.hh:32
Definition: _constraints-fwd.hh:28
char * str()
Definition: _constraints.hh:68
Definition: servant-base.hh:436
void setErrorThreshold(hpp::value_type threshold)
Definition: _constraints.hh:295
hpp::core_idl::Constraint_ptr copy()
Definition: _constraints.hh:95
ConstraintServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:25
virtual ~ConfigProjectorServant()
Definition: _constraints.hh:127
::CORBA::Boolean getLastIsOptional()
Definition: _constraints.hh:281
Implementation of Hpp module Corba server.
Definition: server.hh:77
::CORBA::Boolean apply(hpp::floatSeq &config)
Definition: _constraints.hh:40
void setRightHandSideOfConstraint(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &rhs)
Definition: _constraints.hh:178
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
hpp::value_type getErrorThreshold()
Definition: _constraints.hh:309
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
StorageElementShPtr_t getT() const
Definition: servant-base.hh:139
char * name()
Definition: _constraints.hh:54
ConstraintSetServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:334
hpp::floatSeq * getRightHandSide()
Definition: _constraints.hh:193
void setRightHandSideAt(hpp::value_type s)
Definition: _constraints.hh:207
::CORBA::Boolean isConstraintSatisfied(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &arg, hpp::floatSeq_out err, ::CORBA::Boolean &constraintFound)
Definition: _constraints.hh:221
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
::CORBA::Boolean isSatisfied(const hpp::floatSeq &config)
Definition: _constraints.hh:81