1 #ifndef hpp_pinocchio_idl__robots_hxx__ 2 #define hpp_pinocchio_idl__robots_hxx__ 18 namespace corbaServer {
23 namespace pinocchio_impl {
24 template <
typename _Base,
typename _Storage>
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>
58 }
catch (
const std::exception& e) {
59 throw ::hpp::Error (e.what());
63 template <
typename _Base,
typename _Storage>
72 }
catch (
const std::exception& e) {
73 throw ::hpp::Error (e.what());
77 template <
typename _Base,
typename _Storage>
86 }
catch (
const std::exception& e) {
87 throw ::hpp::Error (e.what());
91 template <
typename _Base,
typename _Storage>
100 }
catch (
const std::exception& e) {
101 throw ::hpp::Error (e.what());
111 namespace pinocchio_impl {
112 template <
typename _Base,
typename _Storage>
118 template <
typename _Base,
typename _Storage>
126 template <
typename _Base,
typename _Storage>
135 }
catch (
const std::exception& e) {
136 throw ::hpp::Error (e.what());
140 template <
typename _Base,
typename _Storage>
147 hpp::pinocchio::integrate<false, hpp::pinocchio::DefaultLieGroupMap> (d,
153 }
catch (
const std::exception& e) {
154 throw ::hpp::Error (e.what());
158 template <
typename _Base,
typename _Storage>
165 hpp::pinocchio::difference<hpp::pinocchio::DefaultLieGroupMap> (d,
171 }
catch (
const std::exception& e) {
172 throw ::hpp::Error (e.what());
176 template <
typename _Base,
typename _Storage>
183 hpp::pinocchio::interpolate<hpp::pinocchio::DefaultLieGroupMap> (d,
190 }
catch (
const std::exception& e) {
191 throw ::hpp::Error (e.what());
195 template <
typename _Base,
typename _Storage>
202 hpp::pinocchio::ArrayXb sat (d->numberDof());
203 hpp::pinocchio::saturate (d, q, sat);
205 saturation =
toBoolSeq(sat.data(), sat.data()+sat.size());
207 }
catch (
const std::exception& e) {
208 throw ::hpp::Error (e.what());
221 #endif // hpp_pinocchio_idl__robots_hxx__ void compute()
Definition: robots.hh:50
Definition: servant-base.hh:100
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:51
boolSeq * toBoolSeq(InputIt begin, InputIt end)
Definition: conversions.hh:110
virtual ~CenterOfMassComputationServant()
Definition: robots.hh:31
hpp::value_type mass()
Definition: robots.hh:78
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
Definition: robots-fwd.hh:67
double value_type
Definition: common.idl:18
sequence< floatSeq > floatSeqSeq
Definition: common.idl:33
hpp::floatSeq * com()
Definition: robots.hh:64
void interpolate(const hpp::floatSeq &q1, const hpp::floatSeq &q2, ::CORBA::Float u, hpp::floatSeq_out result)
Definition: robots.hh:177
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
char * c_str(const std::string &in)
Definition: conversions.hh:68
CenterOfMassComputationServant(Server *server, const _Storage &s)
Definition: robots.hh:25
char * name()
Definition: robots.hh:127
void saturate(const hpp::floatSeq &qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation)
Definition: robots.hh:196
Storage s
Definition: servant-base.hh:171
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:43
void integrate(const hpp::floatSeq &config_in, const hpp::floatSeq &velocity, hpp::floatSeq_out result)
Definition: robots.hh:141
Implementation of Hpp module Corba server.
Definition: server.hh:54
Definition: robots-fwd.hh:27
floatSeqSeq * matrixToFloatSeqSeq(core::matrixIn_t input)
Returns a sequence of the rows of the input matrix.
void deleteThis()
Definition: robots.hh:39
void difference(const hpp::floatSeq &q1, const hpp::floatSeq &q2, hpp::floatSeq_out result)
Definition: robots.hh:159
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
StorageElementShPtr_t getT() const
Definition: servant-base.hh:121
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
hpp::floatSeqSeq * jacobian()
Definition: robots.hh:92
DeviceServant(Server *server, const _Storage &s)
Definition: robots.hh:113
virtual ~DeviceServant()
Definition: robots.hh:119