hpp-corbaserver  4.9.0
Corba server for Humanoid Path Planner applications
_constraints-fwd.hh
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1 #ifndef hpp_core_idl____constraints_hpp__
2 #define hpp_core_idl____constraints_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/core_idl/_constraints.idl
6 //
7 
10 
11 #include <hpp/core/constraint.hh>
12 #include <hpp/core/constraint-set.hh>
13 #include <hpp/core/config-projector.hh>
15 #include <hpp/constraints/solver/by-substitution.hh>
16 
17 
18 namespace hpp {
19 
20 namespace corbaServer {
21 
22 
23 //
24 // Class implementing IDL interface hpp::core_idl::Constraint
25 //
26 namespace core_impl {
27 template <typename _Base, typename _Storage>
28 class ConstraintServant: public ServantBase<hpp::core::Constraint, _Storage>, public virtual _Base
29 {
30 public:
32 
34 
35 public:
36  // standard constructor
37  ConstraintServant(Server* server, const _Storage& s);
38  virtual ~ConstraintServant();
39 
40  // methods corresponding to defined IDL attributes and operations
41 
42  ::CORBA::Boolean apply (hpp::floatSeq& config);
43 
44 
45  char* name ();
46 
47 
48  char* str ();
49 
50 
51  ::CORBA::Boolean isSatisfied (const hpp::floatSeq& config);
52 
53 
54 };
55 
57 } // namespace core_impl
58 
59 //
60 // Class implementing IDL interface hpp::core_idl::ConfigProjector
61 //
62 namespace core_impl {
63 template <typename _Base, typename _Storage>
64 class ConfigProjectorServant: public hpp::corbaServer::core_impl::ConstraintServant<_Base, _Storage>, public virtual _Base
65 {
66 public:
68 
70 
71 public:
72  // standard constructor
73  ConfigProjectorServant(Server* server, const _Storage& s);
74  virtual ~ConfigProjectorServant();
75 
76  // methods corresponding to defined IDL attributes and operations
77 
78  void setRightHandSideFromConfig (const hpp::floatSeq& config);
79 
80 
81  void setRightHandSideOfConstraintFromConfig (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& config);
82 
83 
84  void setRightHandSide (const hpp::floatSeq& param);
85 
86 
87  void setRightHandSideOfConstraint (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& rhs);
88 
89 
90  hpp::floatSeq* getRightHandSide ();
91 
92 
93  void setRightHandSideAt (hpp::value_type s);
94 
95 
96  ::CORBA::Boolean isConstraintSatisfied (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& arg, hpp::floatSeq_out err, ::CORBA::Boolean& constraintFound);
97 
98 
99  hpp::constraints_idl::Implicits* numericalConstraints ();
100 
101 
102  ::CORBA::Boolean add (hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority);
103 
104 
105  void setLastIsOptional (::CORBA::Boolean optional);
106 
107 
108  ::CORBA::Boolean getLastIsOptional ();
109 
110 
111 };
112 
114 } // namespace core_impl
115 
116 //
117 // Class implementing IDL interface hpp::core_idl::ConstraintSet
118 //
119 namespace core_impl {
120 template <typename _Base, typename _Storage>
121 class ConstraintSetServant: public hpp::corbaServer::core_impl::ConstraintServant<_Base, _Storage>, public virtual _Base
122 {
123 public:
125 
127 
128 public:
129  // standard constructor
130  ConstraintSetServant(Server* server, const _Storage& s);
131  virtual ~ConstraintSetServant();
132 
133  // methods corresponding to defined IDL attributes and operations
134 
135  hpp::core_idl::Constraint_ptr getConfigProjector ();
136 
137 
138 };
139 
141 } // namespace core_impl
142 
143 
144 
145 } // namespace hpp
146 
147 } // namespace corbaServer
148 
149 #endif // hpp_core_idl____constraints_hpp__
150 
Definition: servant-base.hh:100
char * name()
Definition: _constraints.hh:53
ConstraintServant< POA_hpp::core_idl::Constraint, boost::weak_ptr< hpp::core::Constraint > > Constraint
Definition: _constraints-fwd.hh:56
SERVANT_BASE_TYPEDEFS(hpp::core_idl::Constraint, HppBase)
sequence< Implicit > Implicits
Definition: _constraints.idl:20
Definition: _constraints-fwd.hh:121
Definition: _constraints.idl:71
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
double value_type
Definition: common.idl:18
::CORBA::Boolean apply(hpp::floatSeq &config)
Definition: _constraints.hh:39
hpp::core::Constraint HppBase
Definition: _constraints-fwd.hh:31
char * str()
Definition: _constraints.hh:67
virtual ~ConstraintServant()
Definition: _constraints.hh:31
Definition: _constraints-fwd.hh:64
Definition: _constraints.idl:35
Definition: _constraints.idl:26
::CORBA::Boolean isSatisfied(const hpp::floatSeq &config)
Definition: _constraints.hh:80
hpp::corbaServer::core_impl::ConstraintServant< _Base, _Storage >::HppBase HppBase
Definition: _constraints-fwd.hh:67
Implementation of Hpp module Corba server.
Definition: server.hh:54
hpp::corbaServer::core_impl::ConstraintServant< _Base, _Storage >::HppBase HppBase
Definition: _constraints-fwd.hh:124
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
ConstraintSetServant< POA_hpp::core_idl::ConstraintSet, boost::weak_ptr< hpp::core::ConstraintSet > > ConstraintSet
Definition: _constraints-fwd.hh:140
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
ConfigProjectorServant< POA_hpp::core_idl::ConfigProjector, boost::weak_ptr< hpp::core::ConfigProjector > > ConfigProjector
Definition: _constraints-fwd.hh:113
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