1 #ifndef hpp_pinocchio_idl__robots_hpp__ 2 #define hpp_pinocchio_idl__robots_hpp__ 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> 26 namespace pinocchio_impl {
27 template <
typename _Base,
typename _Storage>
66 namespace corbaServer {
77 namespace pinocchio_impl {
78 template <
typename _Base,
typename _Storage>
112 void saturate (
const hpp::floatSeq& qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation);
115 void replaceGeometryByConvexHull (
const hpp::Names_t& geometryNames);
121 ::CORBA::Boolean setCurrentConfiguration (
const hpp::floatSeq& configuration);
124 void computeForwardKinematics ();
127 void computeFramesForwardKinematics ();
130 void updateGeometryPlacements ();
153 namespace corbaServer {
164 namespace pinocchio_impl {
165 template <
typename _Base,
typename _Storage>
192 namespace corbaServer {
201 #endif // hpp_pinocchio_idl__robots_hpp__ Definition: servant-base.hh:120
virtual ~CenterOfMassComputationServant()
Definition: robots.hh:32
hpp::value_type mass()
Definition: robots.hh:79
Definition: robots.idl:18
Definition: robots.idl:28
hpp::pinocchio::CenterOfMassComputation HppBase
Definition: robots-fwd.hh:32
Definition: robots-fwd.hh:79
Implement CORBA interface ``Obstacle''.
Definition: client.hh:46
hpp::floatSeqSeq * jacobian()
Definition: robots.hh:93
double value_type
Definition: common.idl:18
hpp::floatSeq * com()
Definition: robots.hh:65
Definition: robots.idl:109
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
void compute()
Definition: robots.hh:51
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:170
CenterOfMassComputationServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: robots.hh:25
hpp::pinocchio::Device Base
Definition: robots-fwd.hh:154
Definition: robots-fwd.hh:166
hpp::pinocchio::Device HppBase
Definition: robots-fwd.hh:83
hpp::pinocchio::CenterOfMassComputation Base
Definition: robots-fwd.hh:67
Implementation of Hpp module Corba server.
Definition: server.hh:77
CollisionObjectServant< POA_hpp::pinocchio_idl::CollisionObject, hpp::weak_ptr< hpp::pinocchio::CollisionObject > > CollisionObject
Definition: robots-fwd.hh:186
Definition: robots-fwd.hh:28
DeviceServant< POA_hpp::pinocchio_idl::Device, hpp::weak_ptr< hpp::pinocchio::Device > > Device
Definition: robots-fwd.hh:147
hpp::pinocchio::CollisionObject Base
Definition: robots-fwd.hh:193
CenterOfMassComputationServant< POA_hpp::pinocchio_idl::CenterOfMassComputation, hpp::weak_ptr< hpp::pinocchio::CenterOfMassComputation > > CenterOfMassComputation
Definition: robots-fwd.hh:60
Definition: servant-base.hh:89
void deleteThis()
Definition: robots.hh:40
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
::CORBA::Double Transform__slice
Definition: common-idl.hh:916