2 #ifndef pp_core_idl____problem_hh__ 3 #define pp_core_idl____problem_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___problem 12 #ifndef USE_core_stub_in_nt_dll 13 # define USE_core_stub_in_nt_dll_NOT_DEFINED___problem 15 #ifndef USE_dyn_stub_in_nt_dll 16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED___problem 21 #ifndef pp_core_idl__common_hh_EXTERNAL_GUARD__ 22 #define pp_core_idl__common_hh_EXTERNAL_GUARD__ 25 #ifndef pp_core_idl__robots_hh_EXTERNAL_GUARD__ 26 #define pp_core_idl__robots_hh_EXTERNAL_GUARD__ 29 #ifndef pp_core_idl__distances_hh_EXTERNAL_GUARD__ 30 #define pp_core_idl__distances_hh_EXTERNAL_GUARD__ 33 #ifndef pp_core_idl__paths_hh_EXTERNAL_GUARD__ 34 #define pp_core_idl__paths_hh_EXTERNAL_GUARD__ 37 #ifndef pp_core_idl__constraints_hh_EXTERNAL_GUARD__ 38 #define pp_core_idl__constraints_hh_EXTERNAL_GUARD__ 41 #ifndef pp_core_idl____constraints_hh_EXTERNAL_GUARD__ 42 #define pp_core_idl____constraints_hh_EXTERNAL_GUARD__ 45 #ifndef pp_core_idl__steering__methods_hh_EXTERNAL_GUARD__ 46 #define pp_core_idl__steering__methods_hh_EXTERNAL_GUARD__ 49 #ifndef pp_core_idl__path__projectors_hh_EXTERNAL_GUARD__ 50 #define pp_core_idl__path__projectors_hh_EXTERNAL_GUARD__ 53 #ifndef pp_core_idl__path__validations_hh_EXTERNAL_GUARD__ 54 #define pp_core_idl__path__validations_hh_EXTERNAL_GUARD__ 57 #ifndef pp_core_idl__configuration__shooters_hh_EXTERNAL_GUARD__ 58 #define pp_core_idl__configuration__shooters_hh_EXTERNAL_GUARD__ 64 #ifdef USE_stub_in_nt_dll 65 # ifndef USE_core_stub_in_nt_dll 66 # define USE_core_stub_in_nt_dll 68 # ifndef USE_dyn_stub_in_nt_dll 69 # define USE_dyn_stub_in_nt_dll 74 # error "A local CPP macro _core_attr has already been defined." 76 # ifdef USE_core_stub_in_nt_dll 77 # define _core_attr _OMNIORB_NTDLL_IMPORT 84 # error "A local CPP macro _dyn_attr has already been defined." 86 # ifdef USE_dyn_stub_in_nt_dll 87 # define _dyn_attr _OMNIORB_NTDLL_IMPORT 99 _CORBA_MODULE pinocchio_idl
103 #ifndef __hpp_mpinocchio__idl_mDevice__ 104 #define __hpp_mpinocchio__idl_mDevice__ 116 static _ptr_type
_nil();
117 static _CORBA_Boolean
is_nil(_ptr_type);
118 static void release(_ptr_type);
124 typedef _CORBA_ObjRef_Var<_objref_Device, Device_Helper>
Device_var;
125 typedef _CORBA_ObjRef_OUT_arg<_objref_Device,Device_Helper >
Device_out;
129 #ifndef __hpp_mpinocchio__idl_mCollisionObject__ 130 #define __hpp_mpinocchio__idl_mCollisionObject__ 142 static _ptr_type
_nil();
143 static _CORBA_Boolean
is_nil(_ptr_type);
144 static void release(_ptr_type);
157 _CORBA_MODULE core_idl
161 #ifndef __hpp_mcore__idl_mDistance__ 162 #define __hpp_mcore__idl_mDistance__ 174 static _ptr_type
_nil();
175 static _CORBA_Boolean
is_nil(_ptr_type);
176 static void release(_ptr_type);
182 typedef _CORBA_ObjRef_Var<_objref_Distance, Distance_Helper>
Distance_var;
183 typedef _CORBA_ObjRef_OUT_arg<_objref_Distance,Distance_Helper >
Distance_out;
187 #ifndef __hpp_mcore__idl_mSteeringMethod__ 188 #define __hpp_mcore__idl_mSteeringMethod__ 200 static _ptr_type
_nil();
201 static _CORBA_Boolean
is_nil(_ptr_type);
202 static void release(_ptr_type);
213 #ifndef __hpp_mcore__idl_mConfigValidation__ 214 #define __hpp_mcore__idl_mConfigValidation__ 226 static _ptr_type
_nil();
227 static _CORBA_Boolean
is_nil(_ptr_type);
228 static void release(_ptr_type);
239 #ifndef __hpp_mcore__idl_mPathProjector__ 240 #define __hpp_mcore__idl_mPathProjector__ 252 static _ptr_type
_nil();
253 static _CORBA_Boolean
is_nil(_ptr_type);
254 static void release(_ptr_type);
265 #ifndef __hpp_mcore__idl_mPathValidation__ 266 #define __hpp_mcore__idl_mPathValidation__ 278 static _ptr_type
_nil();
279 static _CORBA_Boolean
is_nil(_ptr_type);
280 static void release(_ptr_type);
291 #ifndef __hpp_mcore__idl_mConfigurationShooter__ 292 #define __hpp_mcore__idl_mConfigurationShooter__ 304 static _ptr_type
_nil();
305 static _CORBA_Boolean
is_nil(_ptr_type);
306 static void release(_ptr_type);
317 #ifndef __hpp_mcore__idl_mConstraint__ 318 #define __hpp_mcore__idl_mConstraint__ 330 static _ptr_type
_nil();
331 static _CORBA_Boolean
is_nil(_ptr_type);
332 static void release(_ptr_type);
339 typedef _CORBA_ObjRef_OUT_arg<_objref_Constraint,Constraint_Helper >
Constraint_out;
343 #ifndef __hpp_mcore__idl_mConstraintSet__ 344 #define __hpp_mcore__idl_mConstraintSet__ 356 static _ptr_type
_nil();
357 static _CORBA_Boolean
is_nil(_ptr_type);
358 static void release(_ptr_type);
369 #ifndef __hpp_mcore__idl_mProblem__ 370 #define __hpp_mcore__idl_mProblem__ 382 static _ptr_type
_nil();
383 static _CORBA_Boolean
is_nil(_ptr_type);
384 static void release(_ptr_type);
390 typedef _CORBA_ObjRef_Var<_objref_Problem, Problem_Helper>
Problem_var;
391 typedef _CORBA_ObjRef_OUT_arg<_objref_Problem,Problem_Helper >
Problem_out;
402 static _ptr_type _duplicate(_ptr_type);
403 static _ptr_type _narrow(::CORBA::Object_ptr);
404 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
406 static _ptr_type
_nil();
408 static inline void _marshalObjRef(_ptr_type, cdrStream&);
411 omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
413 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
420 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
432 public virtual ::CORBA::Object,
433 public virtual omniObjRef
442 void resetGoalConfigs();
454 void clearConfigValidations();
458 void filterCollisionPairs();
461 void setParameter(
const char* name, const ::CORBA::Any& value);
462 ::CORBA::Any* getParameter(
const char* name);
473 virtual void* _ptrToObjRef(
const char*);
482 class _pof_Problem :
public _OMNI_NS(proxyObjectFactory) {
487 virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
488 virtual _CORBA_Boolean is_a(
const char*)
const;
492 public virtual omniServant
497 virtual void deleteThis() = 0;
500 virtual floatSeq* getInitConfig() = 0;
502 virtual void resetGoalConfigs() = 0;
514 virtual void clearConfigValidations() = 0;
518 virtual void filterCollisionPairs() = 0;
521 virtual void setParameter(
const char* name, const ::CORBA::Any& value) = 0;
522 virtual ::CORBA::Any* getParameter(
const char* name) = 0;
525 virtual _CORBA_Boolean _dispatch(omniCallHandle&);
528 virtual void* _ptrToInterface(
const char*);
529 virtual const char* _mostDerivedRepoId();
540 _CORBA_MODULE POA_hpp
543 _CORBA_MODULE pinocchio_idl
548 _CORBA_MODULE core_idl
552 public virtual hpp::core_idl::_impl_Problem,
553 public virtual ::PortableServer::ServantBase
569 _CORBA_MODULE OBV_hpp
572 _CORBA_MODULE pinocchio_idl
577 _CORBA_MODULE core_idl
595 omniObjRef::_marshal(obj->_PR_getobj(),s);
600 #ifdef USE_stub_in_nt_dll_NOT_DEFINED___problem 601 # undef USE_stub_in_nt_dll 602 # undef USE_stub_in_nt_dll_NOT_DEFINED___problem 604 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED___problem 605 # undef USE_core_stub_in_nt_dll 606 # undef USE_core_stub_in_nt_dll_NOT_DEFINED___problem 608 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED___problem 609 # undef USE_dyn_stub_in_nt_dll 610 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED___problem 613 #endif // ____problem_hh__
Definition: steering_methods-idl.hh:106
Definition: configuration_shooters-idl.hh:129
Definition: robots-idl.hh:303
_CORBA_ObjRef_OUT_arg< _objref_ConfigValidation, ConfigValidation_Helper > ConfigValidation_out
Definition: _problem-idl.hh:235
_CORBA_ObjRef_OUT_arg< _objref_PathValidation, PathValidation_Helper > PathValidation_out
Definition: _problem-idl.hh:287
PathProjector_ptr _ptr_type
Definition: _problem-idl.hh:250
Constraint_ptr _ptr_type
Definition: _problem-idl.hh:328
Definition: robots-idl.hh:399
Definition: problem-idl.hh:339
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: _problem-idl.hh:410
SteeringMethod_ptr _ptr_type
Definition: _problem-idl.hh:198
Definition: _constraints-idl.hh:485
Definition: robots-idl.hh:434
PathProjector_ptr PathProjectorRef
Definition: _problem-idl.hh:246
_objref_Problem()
Definition: _problem-idl.hh:465
Definition: _constraints-idl.hh:538
inline ::hpp::core_idl::Problem_ptr _this()
Definition: _problem-idl.hh:558
_objref_SteeringMethod * SteeringMethod_ptr
Definition: _problem-idl.hh:191
_objref_PathProjector * PathProjector_ptr
Definition: _problem-idl.hh:243
_CORBA_ObjRef_OUT_arg< _objref_CollisionObject, CollisionObject_Helper > CollisionObject_out
Definition: _problem-idl.hh:151
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:35
Device_ptr DeviceRef
Definition: _problem-idl.hh:110
_objref_CollisionObject * CollisionObject_ptr
Definition: _problem-idl.hh:133
_CORBA_ObjRef_OUT_arg< _objref_Constraint, Constraint_Helper > Constraint_out
Definition: _problem-idl.hh:339
_objref_PathValidation * PathValidation_ptr
Definition: _problem-idl.hh:269
Definition: _constraints-idl.hh:242
_CORBA_ObjRef_Var< _objref_Problem, Problem_Helper > Problem_var
Definition: _problem-idl.hh:390
Definition: path_projectors-idl.hh:141
Device_ptr _ptr_type
Definition: _problem-idl.hh:114
Problem_ptr _ptr_type
Definition: _problem-idl.hh:399
Definition: problem-idl.hh:138
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
_CORBA_ObjRef_Var< _objref_Device, Device_Helper > Device_var
Definition: _problem-idl.hh:124
Definition: configuration_shooters-idl.hh:94
Definition: path_validations-idl.hh:118
Distance_ptr _ptr_type
Definition: _problem-idl.hh:172
ConfigurationShooter_ptr ConfigurationShooterRef
Definition: _problem-idl.hh:298
_CORBA_ObjRef_Var< _objref_PathValidation, PathValidation_Helper > PathValidation_var
Definition: _problem-idl.hh:286
_CORBA_ObjRef_OUT_arg< _objref_ConfigurationShooter, ConfigurationShooter_Helper > ConfigurationShooter_out
Definition: _problem-idl.hh:313
SteeringMethod_ptr SteeringMethodRef
Definition: _problem-idl.hh:194
Definition: path_projectors-idl.hh:106
static void release(_ptr_type)
Definition: _constraints-idl.hh:572
Definition: _problem-idl.hh:138
Definition: robots-idl.hh:217
Distance_ptr DistanceRef
Definition: _problem-idl.hh:168
Definition: _problem-idl.hh:248
_objref_ConstraintSet * ConstraintSet_ptr
Definition: _problem-idl.hh:347
_objref_ConfigValidation * ConfigValidation_ptr
Definition: _problem-idl.hh:217
Definition: _problem-idl.hh:196
Definition: path_validations-idl.hh:188
Definition: robots-idl.hh:252
_CORBA_ObjRef_Var< _objref_PathProjector, PathProjector_Helper > PathProjector_var
Definition: _problem-idl.hh:260
Definition: _constraints-idl.hh:503
Definition: _problem-idl.hh:222
_CORBA_ObjRef_Var< _objref_CollisionObject, CollisionObject_Helper > CollisionObject_var
Definition: _problem-idl.hh:150
ConfigurationShooter_ptr _ptr_type
Definition: _problem-idl.hh:302
_CORBA_ObjRef_Var< _objref_Constraint, Constraint_Helper > Constraint_var
Definition: _problem-idl.hh:338
Definition: distances-idl.hh:129
Definition: steering_methods-idl.hh:178
ConstraintSet_ptr _ptr_type
Definition: _problem-idl.hh:354
Definition: _constraints-idl.hh:224
_objref_ConfigurationShooter * ConfigurationShooter_ptr
Definition: _problem-idl.hh:295
Definition: distances-idl.hh:94
_CORBA_ObjRef_OUT_arg< _objref_Device, Device_Helper > Device_out
Definition: _problem-idl.hh:125
PathValidation_ptr _ptr_type
Definition: _problem-idl.hh:276
Definition: _problem-idl.hh:170
Definition: path_validations-idl.hh:153
_objref_Problem * Problem_ptr
Definition: _problem-idl.hh:373
_objref_Constraint * Constraint_ptr
Definition: _problem-idl.hh:321
_CORBA_ObjRef_Var< _objref_ConfigurationShooter, ConfigurationShooter_Helper > ConfigurationShooter_var
Definition: _problem-idl.hh:312
Definition: problem-idl.hh:120
Definition: problem-idl.hh:173
Constraint_ptr ConstraintRef
Definition: _problem-idl.hh:324
_pof_Problem()
Definition: _problem-idl.hh:484
_CORBA_ObjRef_OUT_arg< _objref_Distance, Distance_Helper > Distance_out
Definition: _problem-idl.hh:183
Definition: _constraints-idl.hh:316
CollisionObject_ptr CollisionObjectRef
Definition: _problem-idl.hh:136
_CORBA_ObjRef_Var< _objref_ConstraintSet, ConstraintSet_Helper > ConstraintSet_var
Definition: _problem-idl.hh:364
Definition: steering_methods-idl.hh:141
_CORBA_ObjRef_Var< _objref_Distance, Distance_Helper > Distance_var
Definition: _problem-idl.hh:182
_CORBA_ObjRef_OUT_arg< _objref_ConstraintSet, ConstraintSet_Helper > ConstraintSet_out
Definition: _problem-idl.hh:365
Problem_var _var_type
Definition: _problem-idl.hh:400
static _CORBA_Boolean is_nil(_ptr_type)
Problem_ptr _ptr_type
Definition: _problem-idl.hh:380
_CORBA_ObjRef_Var< _objref_Problem, Problem_Helper > Problem_var
Definition: problem-idl.hh:132
Definition: path_validations-idl.hh:546
Definition: robots-idl.hh:364
Definition: _problem-idl.hh:300
static void marshalObjRef(_ptr_type, cdrStream &)
static void duplicate(_ptr_type)
Definition: path_projectors-idl.hh:177
ConstraintSet_ptr ConstraintSetRef
Definition: _problem-idl.hh:350
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: _problem-idl.hh:418
_CORBA_ObjRef_Var< _objref_SteeringMethod, SteeringMethod_Helper > SteeringMethod_var
Definition: _problem-idl.hh:208
ConfigValidation_ptr _ptr_type
Definition: _problem-idl.hh:224
_CORBA_ObjRef_Var< _objref_ConfigValidation, ConfigValidation_Helper > ConfigValidation_var
Definition: _problem-idl.hh:234
Definition: common-idl.hh:689
Problem_ptr ProblemRef
Definition: _problem-idl.hh:376
Definition: _problem-idl.hh:274
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
_objref_Device * Device_ptr
Definition: _problem-idl.hh:107
static _ptr_type unmarshalObjRef(cdrStream &)
ConfigValidation_ptr ConfigValidationRef
Definition: _problem-idl.hh:220
Definition: path_validations-idl.hh:510
#define _core_attr
Definition: _problem-idl.hh:79
_CORBA_ObjRef_OUT_arg< _objref_PathProjector, PathProjector_Helper > PathProjector_out
Definition: _problem-idl.hh:261
Definition: path_validations-idl.hh:475
Definition: _constraints-idl.hh:277
Definition: problem-idl.hh:330
_CORBA_ObjRef_OUT_arg< _objref_SteeringMethod, SteeringMethod_Helper > SteeringMethod_out
Definition: _problem-idl.hh:209
Definition: _problem-idl.hh:112
CollisionObject_ptr _ptr_type
Definition: _problem-idl.hh:140
Definition: distances-idl.hh:164
_objref_Distance * Distance_ptr
Definition: _problem-idl.hh:165
Definition: configuration_shooters-idl.hh:164
PathValidation_ptr PathValidationRef
Definition: _problem-idl.hh:272
_CORBA_ObjRef_OUT_arg< _objref_Problem, Problem_Helper > Problem_out
Definition: _problem-idl.hh:391