1 #ifndef hpp_constraints_idl__constraints_hxx__ 2 #define hpp_constraints_idl__constraints_hxx__ 23 namespace constraints_impl {
24 template <
typename _Base,
typename _Storage>
30 template <
typename _Base,
typename _Storage>
38 template <
typename _Base,
typename _Storage>
47 }
catch (
const std::exception& e) {
48 throw ::hpp::Error (e.what());
52 template <
typename _Base,
typename _Storage>
61 }
catch (
const std::exception& e) {
62 throw ::hpp::Error (e.what());
66 template <
typename _Base,
typename _Storage>
75 }
catch (
const std::exception& e) {
76 throw ::hpp::Error (e.what());
80 template <
typename _Base,
typename _Storage>
89 }
catch (
const std::exception& e) {
90 throw ::hpp::Error (e.what());
94 template <
typename _Base,
typename _Storage>
103 }
catch (
const std::exception& e) {
104 throw ::hpp::Error (e.what());
108 template <
typename _Base,
typename _Storage>
117 }
catch (
const std::exception& e) {
118 throw ::hpp::Error (e.what());
122 template <
typename _Base,
typename _Storage>
131 }
catch (
const std::exception& e) {
132 throw ::hpp::Error (e.what());
136 template <
typename _Base,
typename _Storage>
141 std::ostringstream oss; oss << *
get();
142 std::string res = oss.str();
143 return CORBA::string_dup(res.c_str());
144 }
catch (
const std::exception& e) {
145 throw ::hpp::Error (e.what());
159 namespace constraints_impl {
160 template <
typename _Base,
typename _Storage>
166 template <
typename _Base,
typename _Storage>
174 template <
typename _Base,
typename _Storage>
180 hpp::constraints::DifferentiableFunctionPtr_t __return__ (
getT()->functionPtr ());
182 return ::hpp::corbaServer::makeServantDownCast<hpp::constraints_impl::DifferentiableFunction,hpp::constraints_impl::DifferentiableFunction>(
server_, __return__)._retn();
183 }
catch (
const std::exception& e) {
184 throw ::hpp::Error (e.what());
188 template <
typename _Base,
typename _Storage>
194 (
getT()->rightHandSideFromConfig (_config));
197 }
catch (
const std::exception& e) {
198 throw ::hpp::Error (e.what());
202 template <
typename _Base,
typename _Storage>
208 (
getT()->rightHandSide (_rhs));
211 }
catch (
const std::exception& e) {
212 throw ::hpp::Error (e.what());
216 template <
typename _Base,
typename _Storage>
225 }
catch (
const std::exception& e) {
226 throw ::hpp::Error (e.what());
230 template <
typename _Base,
typename _Storage>
239 }
catch (
const std::exception& e) {
240 throw ::hpp::Error (e.what());
244 template <
typename _Base,
typename _Storage>
253 }
catch (
const std::exception& e) {
254 throw ::hpp::Error (e.what());
258 template <
typename _Base,
typename _Storage>
267 }
catch (
const std::exception& e) {
268 throw ::hpp::Error (e.what());
282 namespace constraints_impl {
283 template <
typename _Base,
typename _Storage>
289 template <
typename _Base,
typename _Storage>
297 template <
typename _Base,
typename _Storage>
306 }
catch (
const std::exception& e) {
307 throw ::hpp::Error (e.what());
321 namespace constraints_impl {
322 template <
typename _Base,
typename _Storage>
328 template <
typename _Base,
typename _Storage>
336 template <
typename _Base,
typename _Storage>
345 }
catch (
const std::exception& e) {
346 throw ::hpp::Error (e.what());
350 template <
typename _Base,
typename _Storage>
356 (
getT()->weights (_weights));
359 }
catch (
const std::exception& e) {
360 throw ::hpp::Error (e.what());
364 template <
typename _Base,
typename _Storage>
371 }
catch (
const std::exception& e) {
372 throw ::hpp::Error (e.what());
385 #endif // hpp_constraints_idl__constraints_hxx__
void setRightHandSide(const hpp::floatSeq &rhs)
Definition: constraints.hh:203
hpp::size_type inputSize()
Definition: constraints.hh:67
ImplicitServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: constraints.hh:161
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
hpp::size_type outputDerivativeSize()
Definition: constraints.hh:109
double value_type
Definition: common.idl:18
LockedJointServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: constraints.hh:284
sequence< floatSeq > floatSeqSeq
Definition: common.idl:33
hpp::floatSeq * getGoal()
Definition: constraints.hh:365
virtual ~ImplicitServant()
Definition: constraints.hh:167
hpp::size_type inputDerivativeSize()
Definition: constraints.hh:81
char * str()
Definition: constraints.hh:137
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
Server * server_
Definition: servant-base.hh:97
char * c_str(const std::string &in)
Definition: conversions.hh:68
hpp::floatSeq * rightHandSideAt(hpp::value_type s)
Definition: constraints.hh:259
hpp::floatSeqSeq * jacobian(const hpp::floatSeq &arg)
Definition: constraints.hh:53
pinocchio::vector_t vector_t
Definition: fwd.hh:89
ServantBase(Server *server, const Storage &_s)
Definition: servant-base.hh:165
Storage s
Definition: servant-base.hh:171
char * name()
Definition: constraints.hh:123
void setRightHandSideFromConfig(const hpp::floatSeq &config)
Definition: constraints.hh:189
_objref_DifferentiableFunction * DifferentiableFunction_ptr
Definition: constraints-idl.hh:71
Definition: constraints-fwd.hh:27
hpp::constraints_idl::DifferentiableFunction_ptr function()
Definition: constraints.hh:175
virtual ~ConfigurationConstraintServant()
Definition: constraints.hh:329
ConfigurationConstraintServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: constraints.hh:323
hpp::floatSeq * getWeights()
Definition: constraints.hh:337
virtual ~DifferentiableFunctionServant()
Definition: constraints.hh:31
Implementation of Hpp module Corba server.
Definition: server.hh:54
hpp::size_type rightHandSideSize()
Definition: constraints.hh:231
hpp::floatSeq * getRightHandSide()
Definition: constraints.hh:217
hpp::floatSeq * value(const hpp::floatSeq &arg)
Definition: constraints.hh:39
pinocchio::matrix_t matrix_t
Definition: fwd.hh:87
hpp::size_type parameterSize()
Definition: constraints.hh:245
Definition: constraints-fwd.hh:80
floatSeqSeq * matrixToFloatSeqSeq(core::matrixIn_t input)
Returns a sequence of the rows of the input matrix.
hpp::size_type outputSize()
Definition: constraints.hh:95
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
StorageElementShPtr_t getT() const
Definition: servant-base.hh:121
DifferentiableFunctionServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: constraints.hh:25
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
char * jointName()
Definition: constraints.hh:298
virtual ~LockedJointServant()
Definition: constraints.hh:290
void setWeights(const hpp::floatSeq &weights)
Definition: constraints.hh:351
long long size_type
Definition: common.idl:19