2 #ifndef __obstacle_hh__ 3 #define __obstacle_hh__ 5 #ifndef __CORBA_H_EXTERNAL_GUARD__ 6 #include <omniORB4/CORBA.h> 9 #ifndef USE_stub_in_nt_dll 10 # define USE_stub_in_nt_dll_NOT_DEFINED_obstacle 12 #ifndef USE_core_stub_in_nt_dll 13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_obstacle 15 #ifndef USE_dyn_stub_in_nt_dll 16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_obstacle 21 #ifndef __common_hh_EXTERNAL_GUARD__ 22 #define __common_hh_EXTERNAL_GUARD__ 28 #ifdef USE_stub_in_nt_dll 29 # ifndef USE_core_stub_in_nt_dll 30 # define USE_core_stub_in_nt_dll 32 # ifndef USE_dyn_stub_in_nt_dll 33 # define USE_dyn_stub_in_nt_dll 38 # error "A local CPP macro _core_attr has already been defined." 40 # ifdef USE_core_stub_in_nt_dll 41 # define _core_attr _OMNIORB_NTDLL_IMPORT 48 # error "A local CPP macro _dyn_attr has already been defined." 50 # ifdef USE_dyn_stub_in_nt_dll 51 # define _dyn_attr _OMNIORB_NTDLL_IMPORT 63 _CORBA_MODULE corbaserver
67 #ifndef __hpp_mcorbaserver_mObstacle__ 68 #define __hpp_mcorbaserver_mObstacle__ 80 static _ptr_type
_nil();
81 static _CORBA_Boolean
is_nil(_ptr_type);
88 typedef _CORBA_ObjRef_Var<_objref_Obstacle, Obstacle_Helper>
Obstacle_var;
89 typedef _CORBA_ObjRef_OUT_arg<_objref_Obstacle,Obstacle_Helper >
Obstacle_out;
100 static _ptr_type _duplicate(_ptr_type);
101 static _ptr_type _narrow(::CORBA::Object_ptr);
102 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
104 static _ptr_type
_nil();
106 static inline void _marshalObjRef(_ptr_type, cdrStream&);
109 omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
111 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
118 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
130 public virtual ::CORBA::Object,
131 public virtual omniObjRef
135 void loadObstacleModel(
const char* filename,
const char* prefix);
136 void loadPolyhedron(
const char* obstacleName,
const char* filename);
137 void loadObstacleModelFromString(
const char* urdfString,
const char* prefix);
138 void removeObstacle(
const char* objectName);
139 void removeObstacleFromJoint(
const char* objectName,
const char* jointName, ::CORBA::Boolean collision, ::CORBA::Boolean distance);
141 void addObstacle(
const char* objectName, ::CORBA::Boolean collision, ::CORBA::Boolean distance);
143 void getObstaclePosition(
const char* objectName, ::
hpp::Transform_ cfg);
144 Names_t* getObstacleNames(::CORBA::Boolean collision, ::CORBA::Boolean distance);
145 void createPolyhedron(
const char* polyName);
146 void createBox(
const char* inBoxName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z);
147 void createSphere(
const char* name, ::CORBA::Double radius);
148 void createCylinder(
const char* name, ::CORBA::Double radius, ::CORBA::Double length);
149 ::CORBA::ULong addPoint(
const char* polyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z);
150 ::CORBA::ULong addTriangle(
const char* polyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3);
161 virtual void* _ptrToObjRef(
const char*);
175 virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
176 virtual _CORBA_Boolean is_a(
const char*)
const;
180 public virtual omniServant
185 virtual void loadObstacleModel(
const char* filename,
const char* prefix) = 0;
186 virtual void loadPolyhedron(
const char* obstacleName,
const char* filename) = 0;
187 virtual void loadObstacleModelFromString(
const char* urdfString,
const char* prefix) = 0;
188 virtual void removeObstacle(
const char* objectName) = 0;
189 virtual void removeObstacleFromJoint(
const char* objectName,
const char* jointName, ::CORBA::Boolean collision, ::CORBA::Boolean distance) = 0;
191 virtual void addObstacle(
const char* objectName, ::CORBA::Boolean collision, ::CORBA::Boolean distance) = 0;
193 virtual void getObstaclePosition(
const char* objectName, ::
hpp::Transform_ cfg) = 0;
194 virtual Names_t* getObstacleNames(::CORBA::Boolean collision, ::CORBA::Boolean distance) = 0;
195 virtual void createPolyhedron(
const char* polyName) = 0;
196 virtual void createBox(
const char* inBoxName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0;
197 virtual void createSphere(
const char* name, ::CORBA::Double radius) = 0;
198 virtual void createCylinder(
const char* name, ::CORBA::Double radius, ::CORBA::Double length) = 0;
199 virtual ::CORBA::ULong addPoint(
const char* polyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0;
200 virtual ::CORBA::ULong addTriangle(
const char* polyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3) = 0;
203 virtual _CORBA_Boolean _dispatch(omniCallHandle&);
206 virtual void* _ptrToInterface(
const char*);
207 virtual const char* _mostDerivedRepoId();
218 _CORBA_MODULE POA_hpp
221 _CORBA_MODULE corbaserver
225 public virtual hpp::corbaserver::_impl_Obstacle,
226 public virtual ::PortableServer::ServantBase
242 _CORBA_MODULE OBV_hpp
245 _CORBA_MODULE corbaserver
263 omniObjRef::_marshal(obj->_PR_getobj(),s);
268 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_obstacle 269 # undef USE_stub_in_nt_dll 270 # undef USE_stub_in_nt_dll_NOT_DEFINED_obstacle 272 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_obstacle 273 # undef USE_core_stub_in_nt_dll 274 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_obstacle 276 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_obstacle 277 # undef USE_dyn_stub_in_nt_dll 278 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_obstacle 281 #endif // __obstacle_hh__ static void marshalObjRef(_ptr_type, cdrStream &)
_CORBA_ObjRef_OUT_arg< _objref_Obstacle, Obstacle_Helper > Obstacle_out
Definition: obstacle-idl.hh:89
Definition: obstacle-idl.hh:94
static _ptr_type unmarshalObjRef(cdrStream &)
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
_objref_Obstacle * Obstacle_ptr
Definition: obstacle-idl.hh:71
Obstacle_ptr _ptr_type
Definition: obstacle-idl.hh:97
Obstacle_var _var_type
Definition: obstacle-idl.hh:98
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: obstacle-idl.hh:116
::CORBA::Double Transform_[7]
Definition: common-idl.hh:796
#define _core_attr
Definition: obstacle-idl.hh:43
Definition: common-idl.hh:73
static void release(_ptr_type)
inline ::hpp::corbaserver::Obstacle_ptr _this()
Definition: obstacle-idl.hh:231
static void duplicate(_ptr_type)
Definition: obstacle-idl.hh:170
Obstacle_ptr ObstacleRef
Definition: obstacle-idl.hh:74
Definition: obstacle-idl.hh:76
Definition: obstacle-idl.hh:179
double Transform_[7]
Element of SE(3) represented by a vector and a unit quaternion.
Definition: common.idl:36
static _core_attr const char * _PD_repoId
Definition: obstacle-idl.hh:123
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: obstacle-idl.hh:108
_CORBA_ObjRef_Var< _objref_Obstacle, Obstacle_Helper > Obstacle_var
Definition: obstacle-idl.hh:88
_pof_Obstacle()
Definition: obstacle-idl.hh:172
Obstacle_ptr _ptr_type
Definition: obstacle-idl.hh:78
Definition: obstacle-idl.hh:129
_objref_Obstacle()
Definition: obstacle-idl.hh:153
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
static _CORBA_Boolean is_nil(_ptr_type)