hpp-corbaserver  4.15.1
Corba server for Humanoid Path Planner applications
steering_methods.hh
Go to the documentation of this file.
1 #ifndef hpp_core_idl__steering__methods_hxx__
2 #define hpp_core_idl__steering__methods_hxx__
3 
4 //
5 // Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.15.1/idl/hpp/core_idl/steering_methods.idl
6 //
7 
9 
10 #include <sstream>
11 
12 #include <hpp/corbaserver/fwd.hh>
15 
16 
17 
18 //
19 // Implementational code for IDL interface hpp::core_idl::SteeringMethod
20 //
21 namespace hpp {
22 
23 namespace core_impl {
24 template <typename _Base, typename _Storage>
26  const _Storage& s)
27  : hpp::corbaServer::ServantBase<hpp::core::SteeringMethod, _Storage> (server, s)
28 {
29  // add extra constructor code here
30 }
31 template <typename _Base, typename _Storage>
33 {
34  // add extra destructor code here
35 }
36 
37 // Methods corresponding to IDL attributes and operations
38 
39 template <typename _Base, typename _Storage>
41 {
42  try {
43  // automatically generated code.
46  hpp::core::PathPtr_t __return__ (getT()->operator() (_q1, _q2));
47 
48  return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
49  } catch (const std::exception& e) {
50  throw ::hpp::Error (e.what());
51  }
52 }
53 
54 template <typename _Base, typename _Storage>
56 {
57  try {
58  // automatically generated code.
59  hpp::core::ConstraintSetPtr_t _constraints = ::hpp::corbaServer::reference_to_object<hpp::core::ConstraintSet>(server_, constraints);
60  (getT()->constraints (_constraints));
61 
62 
63  } catch (const std::exception& e) {
64  throw ::hpp::Error (e.what());
65  }
66 }
67 
68 template <typename _Base, typename _Storage>
70 {
71  try {
72  // automatically generated code.
73 
74  hpp::core::ConstraintPtr_t __return__ (getT()->constraints ());
75 
76  return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(server_, __return__)._retn();
77  } catch (const std::exception& e) {
78  throw ::hpp::Error (e.what());
79  }
80 }
81 
82 // End of implementational code
83 } // namespace core_impl
84 
85 } // namespace hpp
86 
87 //
88 // Implementational code for IDL interface hpp::core_idl::steeringMethod_idl::SplineBernstein3
89 //
90 namespace hpp {
91 
92 namespace core_impl {
93 
94 namespace steeringMethod_impl {
95 template <typename _Base, typename _Storage>
97  const _Storage& s)
98  : hpp::core_impl::SteeringMethodServant<_Base, _Storage> (server, s)
99 {
100  // add extra constructor code here
101 }
102 template <typename _Base, typename _Storage>
104 {
105  // add extra destructor code here
106 }
107 
108 // Methods corresponding to IDL attributes and operations
109 
110 template <typename _Base, typename _Storage>
111 hpp::core_idl::Path_ptr SplineBernstein3Servant<_Base, _Storage>::steer (const hpp::floatSeq& q1, const hpp::intSeq& order1, const hpp::floatSeqSeq& derivatives1, const hpp::floatSeq& q2, const hpp::intSeq& order2, const hpp::floatSeqSeq& derivatives2, ::CORBA::Float length)
112 {
113  try {
114  // automatically generated code.
116  std::vector<int> _order1 = hpp::corbaServer::intSeqToVector (order1);
117  hpp::core::matrix_t _derivatives1 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives1);
119  std::vector<int> _order2 = hpp::corbaServer::intSeqToVector (order2);
120  hpp::core::matrix_t _derivatives2 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives2);
121  hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length));
122 
123  return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
124  } catch (const std::exception& e) {
125  throw ::hpp::Error (e.what());
126  }
127 }
128 
129 // End of implementational code
130 } // namespace steeringMethod_impl
131 
132 } // namespace core_impl
133 
134 } // namespace hpp
135 
136 //
137 // Implementational code for IDL interface hpp::core_idl::steeringMethod_idl::SplineBernstein5
138 //
139 namespace hpp {
140 
141 namespace core_impl {
142 
143 namespace steeringMethod_impl {
144 template <typename _Base, typename _Storage>
146  const _Storage& s)
147  : hpp::core_impl::SteeringMethodServant<_Base, _Storage> (server, s)
148 {
149  // add extra constructor code here
150 }
151 template <typename _Base, typename _Storage>
153 {
154  // add extra destructor code here
155 }
156 
157 // Methods corresponding to IDL attributes and operations
158 
159 template <typename _Base, typename _Storage>
160 hpp::core_idl::Path_ptr SplineBernstein5Servant<_Base, _Storage>::steer (const hpp::floatSeq& q1, const hpp::intSeq& order1, const hpp::floatSeqSeq& derivatives1, const hpp::floatSeq& q2, const hpp::intSeq& order2, const hpp::floatSeqSeq& derivatives2, ::CORBA::Float length)
161 {
162  try {
163  // automatically generated code.
165  std::vector<int> _order1 = hpp::corbaServer::intSeqToVector (order1);
166  hpp::core::matrix_t _derivatives1 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives1);
168  std::vector<int> _order2 = hpp::corbaServer::intSeqToVector (order2);
169  hpp::core::matrix_t _derivatives2 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives2);
170  hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length));
171 
172  return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
173  } catch (const std::exception& e) {
174  throw ::hpp::Error (e.what());
175  }
176 }
177 
178 // End of implementational code
179 } // namespace steeringMethod_impl
180 
181 } // namespace core_impl
182 
183 } // namespace hpp
184 
185 
186 
187 
188 
189 #endif // hpp_core_idl__steering__methods_hxx__
190 
virtual ~SplineBernstein5Servant()
Definition: steering_methods.hh:152
SteeringMethodServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:25
core::matrix_t floatSeqSeqToMatrix(const floatSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
hpp::core_idl::Constraint_ptr getConstraints()
Definition: steering_methods.hh:69
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: client.hh:46
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
hpp::core_idl::Path_ptr call(const hpp::floatSeq &q1, const hpp::floatSeq &q2)
Definition: steering_methods.hh:40
std::vector< int > intSeqToVector(const intSeq &dofArray)
hpp::core_idl::Path_ptr steer(const hpp::floatSeq &q1, const hpp::intSeq &order1, const hpp::floatSeqSeq &derivatives1, const hpp::floatSeq &q2, const hpp::intSeq &order2, const hpp::floatSeqSeq &derivatives2, ::CORBA::Float length)
Definition: steering_methods.hh:160
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
sequence< long > intSeq
Definition: common.idl:31
hpp::core_idl::Path_ptr steer(const hpp::floatSeq &q1, const hpp::intSeq &order1, const hpp::floatSeqSeq &derivatives1, const hpp::floatSeq &q2, const hpp::intSeq &order2, const hpp::floatSeqSeq &derivatives2, ::CORBA::Float length)
Definition: steering_methods.hh:111
pinocchio::vector_t vector_t
Definition: fwd.hh:109
virtual ~SplineBernstein3Servant()
Definition: steering_methods.hh:103
virtual ~SteeringMethodServant()
Definition: steering_methods.hh:32
Implementation of Hpp module Corba server.
Definition: server.hh:77
pinocchio::matrix_t matrix_t
Definition: fwd.hh:107
void setConstraints(hpp::core_idl::ConstraintSet_ptr constraints)
Definition: steering_methods.hh:55
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
_objref_ConstraintSet * ConstraintSet_ptr
Definition: _constraints-idl.hh:480
SplineBernstein5Servant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:145
StorageElementShPtr_t getT() const
Definition: servant-base.hh:139
Definition: steering_methods-fwd.hh:27
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
core::PathPtr_t PathPtr_t
Definition: fwd.hh:97