hpp-corbaserver  4.9.0
Corba server for Humanoid Path Planner applications
_constraints.hh
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1 #ifndef hpp_core_idl____constraints_hxx__
2 #define hpp_core_idl____constraints_hxx__
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/core_idl/_constraints.idl
6 //
7 
9 
10 #include <sstream>
11 
12 #include <hpp/corbaserver/fwd.hh>
15 
16 namespace hpp {
17 
18 namespace corbaServer {
19 
20 //
21 // Implementational code for IDL interface hpp::core_idl::Constraint
22 //
23 namespace core_impl {
24 template <typename _Base, typename _Storage>
26  : ServantBase<hpp::core::Constraint, _Storage> (server, s)
27 {
28  // add extra constructor code here
29 }
30 template <typename _Base, typename _Storage>
32 {
33  // add extra destructor code here
34 }
35 
36 // Methods corresponding to IDL attributes and operations
37 
38 template <typename _Base, typename _Storage>
40 {
41  try {
42  // automatically generated code.
44  ::CORBA::Boolean __return__ (getT()->apply (_config));
45  hpp::corbaServer::vectorToFloatSeq (_config, config);
46  return __return__;
47  } catch (const std::exception& e) {
48  throw ::hpp::Error (e.what());
49  }
50 }
51 
52 template <typename _Base, typename _Storage>
54 {
55  try {
56  // automatically generated code.
57 
58  char* __return__ = ::hpp::corbaServer::c_str (getT()->name ());
59 
60  return __return__;
61  } catch (const std::exception& e) {
62  throw ::hpp::Error (e.what());
63  }
64 }
65 
66 template <typename _Base, typename _Storage>
68 {
69  try {
70  // automatically generated code.
71  std::ostringstream oss; oss << *get();
72  std::string res = oss.str();
73  return CORBA::string_dup(res.c_str());
74  } catch (const std::exception& e) {
75  throw ::hpp::Error (e.what());
76  }
77 }
78 
79 template <typename _Base, typename _Storage>
81 {
82  try {
83  // automatically generated code.
85  ::CORBA::Boolean __return__ (getT()->isSatisfied (_config));
86 
87  return __return__;
88  } catch (const std::exception& e) {
89  throw ::hpp::Error (e.what());
90  }
91 }
92 
93 // End of implementational code
94 } // namespace core_impl
95 
96 //
97 // Implementational code for IDL interface hpp::core_idl::ConfigProjector
98 //
99 namespace core_impl {
100 template <typename _Base, typename _Storage>
102  : hpp::corbaServer::core_impl::ConstraintServant<_Base, _Storage> (server, s)
103 {
104  // add extra constructor code here
105 }
106 template <typename _Base, typename _Storage>
108 {
109  // add extra destructor code here
110 }
111 
112 // Methods corresponding to IDL attributes and operations
113 
114 template <typename _Base, typename _Storage>
116 {
117  try {
118  // automatically generated code.
120  (getT()->rightHandSideFromConfig (_config));
121 
122 
123  } catch (const std::exception& e) {
124  throw ::hpp::Error (e.what());
125  }
126 }
127 
128 template <typename _Base, typename _Storage>
130 {
131  try {
132  // automatically generated code.
133  hpp::constraints::ImplicitPtr_t _nm = reference_to_servant_base<hpp::constraints::Implicit>(server_, nm)->get();
135  (getT()->rightHandSideFromConfig (_nm, _config));
136 
137 
138  } catch (const std::exception& e) {
139  throw ::hpp::Error (e.what());
140  }
141 }
142 
143 template <typename _Base, typename _Storage>
145 {
146  try {
147  // automatically generated code.
149  (getT()->rightHandSide (_param));
150 
151 
152  } catch (const std::exception& e) {
153  throw ::hpp::Error (e.what());
154  }
155 }
156 
157 template <typename _Base, typename _Storage>
159 {
160  try {
161  // automatically generated code.
162  hpp::constraints::ImplicitPtr_t _nm = reference_to_servant_base<hpp::constraints::Implicit>(server_, nm)->get();
164  (getT()->rightHandSide (_nm, _rhs));
165 
166 
167  } catch (const std::exception& e) {
168  throw ::hpp::Error (e.what());
169  }
170 }
171 
172 template <typename _Base, typename _Storage>
174 {
175  try {
176  // automatically generated code.
177 
178  hpp::floatSeq* __return__ = hpp::corbaServer::vectorToFloatSeq (getT()->rightHandSide ());
179 
180  return __return__;
181  } catch (const std::exception& e) {
182  throw ::hpp::Error (e.what());
183  }
184 }
185 
186 template <typename _Base, typename _Storage>
188 {
189  try {
190  // automatically generated code.
191 
192  (getT()->rightHandSideAt (s));
193 
194 
195  } catch (const std::exception& e) {
196  throw ::hpp::Error (e.what());
197  }
198 }
199 
200 template <typename _Base, typename _Storage>
201 ::CORBA::Boolean ConfigProjectorServant<_Base, _Storage>::isConstraintSatisfied (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& arg, hpp::floatSeq_out err, ::CORBA::Boolean& constraintFound)
202 {
203  try {
204  // generated from /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.9.0/idl/hpp/core_idl/_constraints.idl:36
206  hpp::constraints::ImplicitPtr_t _nm = reference_to_servant_base<hpp::constraints::Implicit>(server_, nm)->get();
207  vector_t errorOut (_nm->function ().outputSpace ()->nv ());
208  bool res = getT ()->solver ().isConstraintSatisfied
209  (_nm, _arg,errorOut, constraintFound);
210  err = hpp::corbaServer::vectorToFloatSeq (errorOut);
211  return res;
212 
213  } catch (const std::exception& e) {
214  throw ::hpp::Error (e.what());
215  }
216 }
217 
218 template <typename _Base, typename _Storage>
220 {
221  try {
222  // automatically generated code.
223 
225 
226  return __return__;
227  } catch (const std::exception& e) {
228  throw ::hpp::Error (e.what());
229  }
230 }
231 
232 template <typename _Base, typename _Storage>
233 ::CORBA::Boolean ConfigProjectorServant<_Base, _Storage>::add (hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority)
234 {
235  try {
236  // automatically generated code.
237  hpp::constraints::ImplicitPtr_t _numconstraint = reference_to_servant_base<hpp::constraints::Implicit>(server_, numconstraint)->get();
238  ::CORBA::Boolean __return__ (getT()->add (_numconstraint, priority));
239 
240  return __return__;
241  } catch (const std::exception& e) {
242  throw ::hpp::Error (e.what());
243  }
244 }
245 
246 template <typename _Base, typename _Storage>
248 {
249  try {
250  // automatically generated code.
251 
252  (getT()->lastIsOptional (optional));
253 
254 
255  } catch (const std::exception& e) {
256  throw ::hpp::Error (e.what());
257  }
258 }
259 
260 template <typename _Base, typename _Storage>
262 {
263  try {
264  // automatically generated code.
265 
266  ::CORBA::Boolean __return__ (getT()->lastIsOptional ());
267 
268  return __return__;
269  } catch (const std::exception& e) {
270  throw ::hpp::Error (e.what());
271  }
272 }
273 
274 // End of implementational code
275 } // namespace core_impl
276 
277 //
278 // Implementational code for IDL interface hpp::core_idl::ConstraintSet
279 //
280 namespace core_impl {
281 template <typename _Base, typename _Storage>
283  : hpp::corbaServer::core_impl::ConstraintServant<_Base, _Storage> (server, s)
284 {
285  // add extra constructor code here
286 }
287 template <typename _Base, typename _Storage>
289 {
290  // add extra destructor code here
291 }
292 
293 // Methods corresponding to IDL attributes and operations
294 
295 template <typename _Base, typename _Storage>
297 {
298  try {
299  // automatically generated code.
300 
301  hpp::core::ConstraintPtr_t __return__ (getT()->configProjector ());
302 
303  return makeServantDownCast<hpp::corbaServer::core_impl::Constraint,hpp::corbaServer::core_impl::Constraint>(server_, __return__)._retn();
304  } catch (const std::exception& e) {
305  throw ::hpp::Error (e.what());
306  }
307 }
308 
309 // End of implementational code
310 } // namespace core_impl
311 
312 
313 
314 } // namespace hpp
315 
316 } // namespace corbaServer
317 
318 #endif // hpp_core_idl____constraints_hxx__
319 
Definition: servant-base.hh:100
char * name()
Definition: _constraints.hh:53
sequence< Implicit > Implicits
Definition: _constraints.idl:20
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
double value_type
Definition: common.idl:18
void setRightHandSide(const hpp::floatSeq &param)
Definition: _constraints.hh:144
::CORBA::Boolean apply(hpp::floatSeq &config)
Definition: _constraints.hh:39
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
char * c_str(const std::string &in)
Definition: conversions.hh:68
hpp::core_idl::Constraint_ptr getConfigProjector()
Definition: _constraints.hh:296
virtual ~ConfigProjectorServant()
Definition: _constraints.hh:107
void setRightHandSideOfConstraint(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &rhs)
Definition: _constraints.hh:158
hpp::constraints_idl::Implicits * numericalConstraints()
Definition: _constraints.hh:219
pinocchio::vector_t vector_t
Definition: fwd.hh:83
char * str()
Definition: _constraints.hh:67
virtual ~ConstraintServant()
Definition: _constraints.hh:31
void setLastIsOptional(::CORBA::Boolean optional)
Definition: _constraints.hh:247
void setRightHandSideOfConstraintFromConfig(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &config)
Definition: _constraints.hh:129
::CORBA::Boolean getLastIsOptional()
Definition: _constraints.hh:261
::CORBA::Boolean add(hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority)
Definition: _constraints.hh:233
Definition: servant-base.hh:411
void setRightHandSideAt(hpp::value_type s)
Definition: _constraints.hh:187
ConstraintSetServant(Server *server, const _Storage &s)
Definition: _constraints.hh:282
::CORBA::Boolean isSatisfied(const hpp::floatSeq &config)
Definition: _constraints.hh:80
Implementation of Hpp module Corba server.
Definition: server.hh:54
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
ConfigProjectorServant(Server *server, const _Storage &s)
Definition: _constraints.hh:101
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
StorageElementShPtr_t getT() const
Definition: servant-base.hh:121
::CORBA::Boolean isConstraintSatisfied(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &arg, hpp::floatSeq_out err, ::CORBA::Boolean &constraintFound)
Definition: _constraints.hh:201
hpp::floatSeq * getRightHandSide()
Definition: _constraints.hh:173
void setRightHandSideFromConfig(const hpp::floatSeq &config)
Definition: _constraints.hh:115
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
ConstraintServant(Server *server, const _Storage &s)
Definition: _constraints.hh:25
Definition: _constraints-fwd.hh:28
virtual ~ConstraintSetServant()
Definition: _constraints.hh:288