1 #ifndef hpp_core_idl____constraints_hxx__ 2 #define hpp_core_idl____constraints_hxx__ 24 template <
typename _Base,
typename _Storage>
30 template <
typename _Base,
typename _Storage>
38 template <
typename _Base,
typename _Storage>
44 ::CORBA::Boolean __return__ (
getT()->
apply (_config));
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>
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());
79 template <
typename _Base,
typename _Storage>
88 }
catch (
const std::exception& e) {
89 throw ::hpp::Error (e.what());
93 template <
typename _Base,
typename _Storage>
99 hpp::core::ConstraintPtr_t __return__ (
getT()->
copy ());
101 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(
server_, __return__)._retn();
102 }
catch (
const std::exception& e) {
103 throw ::hpp::Error (e.what());
117 namespace core_impl {
118 template <
typename _Base,
typename _Storage>
124 template <
typename _Base,
typename _Storage>
132 template <
typename _Base,
typename _Storage>
138 (
getT()->rightHandSideFromConfig (_config));
141 }
catch (
const std::exception& e) {
142 throw ::hpp::Error (e.what());
146 template <
typename _Base,
typename _Storage>
151 hpp::constraints::ImplicitPtr_t _nm = ::hpp::corbaServer::reference_to_object<hpp::constraints::Implicit>(
server_, nm);
153 (
getT()->rightHandSideFromConfig (_nm, _config));
156 }
catch (
const std::exception& e) {
157 throw ::hpp::Error (e.what());
161 template <
typename _Base,
typename _Storage>
167 (
getT()->rightHandSide (_param));
170 }
catch (
const std::exception& e) {
171 throw ::hpp::Error (e.what());
175 template <
typename _Base,
typename _Storage>
180 hpp::constraints::ImplicitPtr_t _nm = ::hpp::corbaServer::reference_to_object<hpp::constraints::Implicit>(
server_, nm);
182 (
getT()->rightHandSide (_nm, _rhs));
185 }
catch (
const std::exception& e) {
186 throw ::hpp::Error (e.what());
190 template <
typename _Base,
typename _Storage>
199 }
catch (
const std::exception& e) {
200 throw ::hpp::Error (e.what());
204 template <
typename _Base,
typename _Storage>
210 (
getT()->rightHandSideAt (s));
213 }
catch (
const std::exception& e) {
214 throw ::hpp::Error (e.what());
218 template <
typename _Base,
typename _Storage>
224 hpp::constraints::ImplicitPtr_t _nm = hpp::corbaServer::reference_to_servant_base<hpp::constraints::Implicit>(
server_, nm)->
get();
226 bool res =
getT ()->solver ().isConstraintSatisfied
227 (_nm, _arg,errorOut, constraintFound);
231 }
catch (
const std::exception& e) {
232 throw ::hpp::Error (e.what());
236 template <
typename _Base,
typename _Storage>
245 }
catch (
const std::exception& e) {
246 throw ::hpp::Error (e.what());
250 template <
typename _Base,
typename _Storage>
255 hpp::constraints::ImplicitPtr_t _numconstraint = ::hpp::corbaServer::reference_to_object<hpp::constraints::Implicit>(
server_, numconstraint);
256 ::CORBA::Boolean __return__ (
getT()->
add (_numconstraint, priority));
259 }
catch (
const std::exception& e) {
260 throw ::hpp::Error (e.what());
264 template <
typename _Base,
typename _Storage>
270 (
getT()->lastIsOptional (optional));
273 }
catch (
const std::exception& e) {
274 throw ::hpp::Error (e.what());
278 template <
typename _Base,
typename _Storage>
284 ::CORBA::Boolean __return__ (
getT()->lastIsOptional ());
287 }
catch (
const std::exception& e) {
288 throw ::hpp::Error (e.what());
292 template <
typename _Base,
typename _Storage>
298 (
getT()->errorThreshold (threshold));
301 }
catch (
const std::exception& e) {
302 throw ::hpp::Error (e.what());
306 template <
typename _Base,
typename _Storage>
315 }
catch (
const std::exception& e) {
316 throw ::hpp::Error (e.what());
330 namespace core_impl {
331 template <
typename _Base,
typename _Storage>
337 template <
typename _Base,
typename _Storage>
345 template <
typename _Base,
typename _Storage>
351 hpp::core::ConstraintPtr_t __return__ (
getT()->configProjector ());
353 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(
server_, __return__)._retn();
354 }
catch (
const std::exception& e) {
355 throw ::hpp::Error (e.what());
368 #endif // hpp_core_idl____constraints_hxx__ ConfigProjectorServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:119
void setLastIsOptional(::CORBA::Boolean optional)
Definition: _constraints.hh:265
virtual ~ConstraintSetServant()
Definition: _constraints.hh:338
sequence< Implicit > Implicits
Definition: _constraints.idl:20
::CORBA::Boolean add(hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority)
Definition: _constraints.hh:251
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
double value_type
Definition: common.idl:18
hpp::core_idl::Constraint_ptr getConfigProjector()
Definition: _constraints.hh:346
void setRightHandSide(const hpp::floatSeq ¶m)
Definition: _constraints.hh:162
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
void setRightHandSideFromConfig(const hpp::floatSeq &config)
Definition: _constraints.hh:133
Server * server_
Definition: servant-base.hh:97
char * c_str(const std::string &in)
Definition: conversions.hh:71
void setRightHandSideOfConstraintFromConfig(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &config)
Definition: _constraints.hh:147
hpp::constraints_idl::Implicits * numericalConstraints()
Definition: _constraints.hh:237
pinocchio::vector_t vector_t
Definition: fwd.hh:89
virtual ~ConstraintServant()
Definition: _constraints.hh:31
Definition: _constraints-fwd.hh:28
char * str()
Definition: _constraints.hh:67
Definition: servant-base.hh:427
void setErrorThreshold(hpp::value_type threshold)
Definition: _constraints.hh:293
hpp::core_idl::Constraint_ptr copy()
Definition: _constraints.hh:94
ConstraintServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:25
virtual ~ConfigProjectorServant()
Definition: _constraints.hh:125
::CORBA::Boolean getLastIsOptional()
Definition: _constraints.hh:279
Implementation of Hpp module Corba server.
Definition: server.hh:54
::CORBA::Boolean apply(hpp::floatSeq &config)
Definition: _constraints.hh:39
void setRightHandSideOfConstraint(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &rhs)
Definition: _constraints.hh:176
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
hpp::value_type getErrorThreshold()
Definition: _constraints.hh:307
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
StorageElementShPtr_t getT() const
Definition: servant-base.hh:121
char * name()
Definition: _constraints.hh:53
ConstraintSetServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:332
hpp::floatSeq * getRightHandSide()
Definition: _constraints.hh:191
void setRightHandSideAt(hpp::value_type s)
Definition: _constraints.hh:205
::CORBA::Boolean isConstraintSatisfied(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &arg, hpp::floatSeq_out err, ::CORBA::Boolean &constraintFound)
Definition: _constraints.hh:219
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:33
::CORBA::Boolean isSatisfied(const hpp::floatSeq &config)
Definition: _constraints.hh:80