hpp-corbaserver  4.9.0
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-4.9.0/idl/hpp/pinocchio_idl/robots.idl
6 //
7 
10 
11 #include <hpp/pinocchio/device.hh>
12 #include <hpp/pinocchio/configuration.hh>
13 #include <hpp/pinocchio/liegroup.hh>
14 #include <hpp/pinocchio/center-of-mass-computation.hh>
15 
16 
17 namespace hpp {
18 
19 namespace corbaServer {
20 
21 
22 //
23 // Class implementing IDL interface hpp::pinocchio_idl::CenterOfMassComputation
24 //
25 namespace pinocchio_impl {
26 template <typename _Base, typename _Storage>
27 class CenterOfMassComputationServant: public ServantBase<hpp::pinocchio::CenterOfMassComputation, _Storage>, public virtual _Base
28 {
29 public:
31 
33 
34 public:
35  // standard constructor
36  CenterOfMassComputationServant(Server* server, const _Storage& s);
38 
39  // methods corresponding to defined IDL attributes and operations
40 
41  void deleteThis ();
42 
43 
44  void compute ();
45 
46 
47  hpp::floatSeq* com ();
48 
49 
51 
52 
54 
55 
56 };
57 
59 } // namespace pinocchio_impl
60 
61 
62 //
63 // Class implementing IDL interface hpp::pinocchio_idl::Device
64 //
65 namespace pinocchio_impl {
66 template <typename _Base, typename _Storage>
67 class DeviceServant: public ServantBase<hpp::pinocchio::Device, _Storage>, public virtual _Base
68 {
69 public:
71 
73 
74 public:
75  // standard constructor
76  DeviceServant(Server* server, const _Storage& s);
77  virtual ~DeviceServant();
78 
79  // methods corresponding to defined IDL attributes and operations
80 
81  char* name ();
82 
83 
84  void integrate (const hpp::floatSeq& config_in, const hpp::floatSeq& velocity, hpp::floatSeq_out result);
85 
86 
87  void difference (const hpp::floatSeq& q1, const hpp::floatSeq& q2, hpp::floatSeq_out result);
88 
89 
90  void interpolate (const hpp::floatSeq& q1, const hpp::floatSeq& q2, ::CORBA::Float u, hpp::floatSeq_out result);
91 
92 
93  void saturate (const hpp::floatSeq& qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation);
94 
95 
96 };
97 
99 } // namespace pinocchio_impl
100 
101 
102 
103 } // namespace hpp
104 
105 } // namespace corbaServer
106 
107 #endif // hpp_pinocchio_idl__robots_hpp__
108 
Definition: servant-base.hh:100
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::CenterOfMassComputation, HppBase)
virtual ~CenterOfMassComputationServant()
Definition: robots.hh:31
Definition: robots.idl:28
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
hpp::pinocchio::Device HppBase
Definition: robots-fwd.hh:70
double value_type
Definition: common.idl:18
sequence< floatSeq > floatSeqSeq
Definition: common.idl:33
DeviceServant< POA_hpp::pinocchio_idl::Device, boost::weak_ptr< hpp::pinocchio::Device > > Device
Definition: robots-fwd.hh:98
CenterOfMassComputationServant(Server *server, const _Storage &s)
Definition: robots.hh:25
hpp::pinocchio::CenterOfMassComputation HppBase
Definition: robots-fwd.hh:30
Implementation of Hpp module Corba server.
Definition: server.hh:54
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
hpp::floatSeqSeq * jacobian()
Definition: robots.hh:92
CenterOfMassComputationServant< POA_hpp::pinocchio_idl::CenterOfMassComputation, boost::weak_ptr< hpp::pinocchio::CenterOfMassComputation > > CenterOfMassComputation
Definition: robots-fwd.hh:58