hpp-corbaserver  4.15.1
Corba server for Humanoid Path Planner applications
_constraints.hh
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1 #ifndef hpp_core_idl____constraints_hxx__
2 #define hpp_core_idl____constraints_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/_constraints.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::Constraint
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::Constraint, _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.
45  ::CORBA::Boolean __return__ (getT()->apply (_config));
46  hpp::corbaServer::vectorToFloatSeq (_config, config);
47  return __return__;
48  } catch (const std::exception& e) {
49  throw ::hpp::Error (e.what());
50  }
51 }
52 
53 template <typename _Base, typename _Storage>
55 {
56  try {
57  // automatically generated code.
58 
59  char* __return__ = ::hpp::corbaServer::c_str (getT()->name ());
60 
61  return __return__;
62  } catch (const std::exception& e) {
63  throw ::hpp::Error (e.what());
64  }
65 }
66 
67 template <typename _Base, typename _Storage>
69 {
70  try {
71  // automatically generated code.
72  std::ostringstream oss; oss << *get();
73  std::string res = oss.str();
74  return CORBA::string_dup(res.c_str());
75  } catch (const std::exception& e) {
76  throw ::hpp::Error (e.what());
77  }
78 }
79 
80 template <typename _Base, typename _Storage>
82 {
83  try {
84  // automatically generated code.
86  ::CORBA::Boolean __return__ (getT()->isSatisfied (_config));
87 
88  return __return__;
89  } catch (const std::exception& e) {
90  throw ::hpp::Error (e.what());
91  }
92 }
93 
94 template <typename _Base, typename _Storage>
96 {
97  try {
98  // automatically generated code.
99 
100  hpp::core::ConstraintPtr_t __return__ (getT()->copy ());
101 
102  return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(server_, __return__)._retn();
103  } catch (const std::exception& e) {
104  throw ::hpp::Error (e.what());
105  }
106 }
107 
108 // End of implementational code
109 } // namespace core_impl
110 
111 } // namespace hpp
112 
113 //
114 // Implementational code for IDL interface hpp::core_idl::ConfigProjector
115 //
116 namespace hpp {
117 
118 namespace core_impl {
119 template <typename _Base, typename _Storage>
121  const _Storage& s)
122  : hpp::core_impl::ConstraintServant<_Base, _Storage> (server, s)
123 {
124  // add extra constructor code here
125 }
126 template <typename _Base, typename _Storage>
128 {
129  // add extra destructor code here
130 }
131 
132 // Methods corresponding to IDL attributes and operations
133 
134 template <typename _Base, typename _Storage>
136 {
137  try {
138  // automatically generated code.
140  (getT()->rightHandSideFromConfig (_config));
141 
142 
143  } catch (const std::exception& e) {
144  throw ::hpp::Error (e.what());
145  }
146 }
147 
148 template <typename _Base, typename _Storage>
150 {
151  try {
152  // automatically generated code.
153  hpp::constraints::ImplicitPtr_t _nm = ::hpp::corbaServer::reference_to_object<hpp::constraints::Implicit>(server_, nm);
155  (getT()->rightHandSideFromConfig (_nm, _config));
156 
157 
158  } catch (const std::exception& e) {
159  throw ::hpp::Error (e.what());
160  }
161 }
162 
163 template <typename _Base, typename _Storage>
165 {
166  try {
167  // automatically generated code.
169  (getT()->rightHandSide (_param));
170 
171 
172  } catch (const std::exception& e) {
173  throw ::hpp::Error (e.what());
174  }
175 }
176 
177 template <typename _Base, typename _Storage>
179 {
180  try {
181  // automatically generated code.
182  hpp::constraints::ImplicitPtr_t _nm = ::hpp::corbaServer::reference_to_object<hpp::constraints::Implicit>(server_, nm);
184  (getT()->rightHandSide (_nm, _rhs));
185 
186 
187  } catch (const std::exception& e) {
188  throw ::hpp::Error (e.what());
189  }
190 }
191 
192 template <typename _Base, typename _Storage>
194 {
195  try {
196  // automatically generated code.
197 
198  hpp::floatSeq* __return__ = hpp::corbaServer::vectorToFloatSeq (getT()->rightHandSide ());
199 
200  return __return__;
201  } catch (const std::exception& e) {
202  throw ::hpp::Error (e.what());
203  }
204 }
205 
206 template <typename _Base, typename _Storage>
208 {
209  try {
210  // automatically generated code.
211 
212  (getT()->rightHandSideAt (s));
213 
214 
215  } catch (const std::exception& e) {
216  throw ::hpp::Error (e.what());
217  }
218 }
219 
220 template <typename _Base, typename _Storage>
221 ::CORBA::Boolean ConfigProjectorServant<_Base, _Storage>::isConstraintSatisfied (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& arg, hpp::floatSeq_out err, ::CORBA::Boolean& constraintFound)
222 {
223  try {
224  // generated from /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.15.1/idl/hpp/core_idl/_constraints.idl:38
226  hpp::constraints::ImplicitPtr_t _nm = hpp::corbaServer::reference_to_servant_base<hpp::constraints::Implicit>(server_, nm)->get();
227  hpp::core::vector_t errorOut (_nm->function ().outputSpace ()->nv ());
228  bool res = getT ()->solver ().isConstraintSatisfied
229  (_nm, _arg,errorOut, constraintFound);
230  err = hpp::corbaServer::vectorToFloatSeq (errorOut);
231  return res;
232 
233  } catch (const std::exception& e) {
234  throw ::hpp::Error (e.what());
235  }
236 }
237 
238 template <typename _Base, typename _Storage>
240 {
241  try {
242  // automatically generated code.
243 
245 
246  return __return__;
247  } catch (const std::exception& e) {
248  throw ::hpp::Error (e.what());
249  }
250 }
251 
252 template <typename _Base, typename _Storage>
253 ::CORBA::Boolean ConfigProjectorServant<_Base, _Storage>::add (hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority)
254 {
255  try {
256  // automatically generated code.
257  hpp::constraints::ImplicitPtr_t _numconstraint = ::hpp::corbaServer::reference_to_object<hpp::constraints::Implicit>(server_, numconstraint);
258  ::CORBA::Boolean __return__ (getT()->add (_numconstraint, priority));
259 
260  return __return__;
261  } catch (const std::exception& e) {
262  throw ::hpp::Error (e.what());
263  }
264 }
265 
266 template <typename _Base, typename _Storage>
268 {
269  try {
270  // automatically generated code.
271 
272  (getT()->lastIsOptional (optional));
273 
274 
275  } catch (const std::exception& e) {
276  throw ::hpp::Error (e.what());
277  }
278 }
279 
280 template <typename _Base, typename _Storage>
282 {
283  try {
284  // automatically generated code.
285 
286  ::CORBA::Boolean __return__ (getT()->lastIsOptional ());
287 
288  return __return__;
289  } catch (const std::exception& e) {
290  throw ::hpp::Error (e.what());
291  }
292 }
293 
294 template <typename _Base, typename _Storage>
296 {
297  try {
298  // automatically generated code.
299 
300  (getT()->errorThreshold (threshold));
301 
302 
303  } catch (const std::exception& e) {
304  throw ::hpp::Error (e.what());
305  }
306 }
307 
308 template <typename _Base, typename _Storage>
310 {
311  try {
312  // automatically generated code.
313 
314  hpp::value_type __return__ (getT()->errorThreshold ());
315 
316  return __return__;
317  } catch (const std::exception& e) {
318  throw ::hpp::Error (e.what());
319  }
320 }
321 
322 // End of implementational code
323 } // namespace core_impl
324 
325 } // namespace hpp
326 
327 //
328 // Implementational code for IDL interface hpp::core_idl::ConstraintSet
329 //
330 namespace hpp {
331 
332 namespace core_impl {
333 template <typename _Base, typename _Storage>
335  const _Storage& s)
336  : hpp::core_impl::ConstraintServant<_Base, _Storage> (server, s)
337 {
338  // add extra constructor code here
339 }
340 template <typename _Base, typename _Storage>
342 {
343  // add extra destructor code here
344 }
345 
346 // Methods corresponding to IDL attributes and operations
347 
348 template <typename _Base, typename _Storage>
350 {
351  try {
352  // automatically generated code.
353 
354  hpp::core::ConstraintPtr_t __return__ (getT()->configProjector ());
355 
356  return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(server_, __return__)._retn();
357  } catch (const std::exception& e) {
358  throw ::hpp::Error (e.what());
359  }
360 }
361 
362 // End of implementational code
363 } // namespace core_impl
364 
365 } // namespace hpp
366 
367 
368 
369 
370 
371 #endif // hpp_core_idl____constraints_hxx__
372 
ConfigProjectorServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:120
void setLastIsOptional(::CORBA::Boolean optional)
Definition: _constraints.hh:267
virtual ~ConstraintSetServant()
Definition: _constraints.hh:341
sequence< Implicit > Implicits
Definition: _constraints.idl:20
::CORBA::Boolean add(hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority)
Definition: _constraints.hh:253
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: client.hh:46
double value_type
Definition: common.idl:18
hpp::core_idl::Constraint_ptr getConfigProjector()
Definition: _constraints.hh:349
void setRightHandSide(const hpp::floatSeq &param)
Definition: _constraints.hh:164
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
void setRightHandSideFromConfig(const hpp::floatSeq &config)
Definition: _constraints.hh:135
char * c_str(const std::string &in)
Definition: conversions.hh:96
void setRightHandSideOfConstraintFromConfig(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &config)
Definition: _constraints.hh:149
hpp::constraints_idl::Implicits * numericalConstraints()
Definition: _constraints.hh:239
pinocchio::vector_t vector_t
Definition: fwd.hh:109
virtual ~ConstraintServant()
Definition: _constraints.hh:32
Definition: _constraints-fwd.hh:28
char * str()
Definition: _constraints.hh:68
Definition: servant-base.hh:436
void setErrorThreshold(hpp::value_type threshold)
Definition: _constraints.hh:295
hpp::core_idl::Constraint_ptr copy()
Definition: _constraints.hh:95
ConstraintServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:25
virtual ~ConfigProjectorServant()
Definition: _constraints.hh:127
::CORBA::Boolean getLastIsOptional()
Definition: _constraints.hh:281
Implementation of Hpp module Corba server.
Definition: server.hh:77
::CORBA::Boolean apply(hpp::floatSeq &config)
Definition: _constraints.hh:40
void setRightHandSideOfConstraint(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &rhs)
Definition: _constraints.hh:178
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
hpp::value_type getErrorThreshold()
Definition: _constraints.hh:309
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
StorageElementShPtr_t getT() const
Definition: servant-base.hh:139
char * name()
Definition: _constraints.hh:54
ConstraintSetServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:334
hpp::floatSeq * getRightHandSide()
Definition: _constraints.hh:193
void setRightHandSideAt(hpp::value_type s)
Definition: _constraints.hh:207
::CORBA::Boolean isConstraintSatisfied(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &arg, hpp::floatSeq_out err, ::CORBA::Boolean &constraintFound)
Definition: _constraints.hh:221
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
::CORBA::Boolean isSatisfied(const hpp::floatSeq &config)
Definition: _constraints.hh:81