1 #ifndef hpp_core_idl__steering__methods_hxx__ 2 #define hpp_core_idl__steering__methods_hxx__ 18 namespace corbaServer {
24 template <
typename _Base,
typename _Storage>
30 template <
typename _Base,
typename _Storage>
38 template <
typename _Base,
typename _Storage>
47 return makeServantDownCast<hpp::corbaServer::core_impl::Path,hpp::corbaServer::core_impl::Path>(
server_, __return__)._retn();
48 }
catch (
const std::exception& e) {
49 throw ::hpp::Error (e.what());
53 template <
typename _Base,
typename _Storage>
58 hpp::core::ConstraintSetPtr_t _constraints = reference_to_servant_base<hpp::core::ConstraintSet>(
server_, constraints)->
get();
59 (
getT()->constraints (_constraints));
62 }
catch (
const std::exception& e) {
63 throw ::hpp::Error (e.what());
67 template <
typename _Base,
typename _Storage>
73 hpp::core::ConstraintPtr_t __return__ (
getT()->constraints ());
75 return makeServantDownCast<hpp::corbaServer::core_impl::Constraint,hpp::corbaServer::core_impl::Constraint>(
server_, __return__)._retn();
76 }
catch (
const std::exception& e) {
77 throw ::hpp::Error (e.what());
90 #endif // hpp_core_idl__steering__methods_hxx__ Definition: servant-base.hh:100
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
void setConstraints(hpp::core_idl::ConstraintSet_ptr constraints)
Definition: steering_methods.hh:54
Definition: steering_methods-fwd.hh:26
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
Server * server_
Definition: servant-base.hh:97
_objref_Path * Path_ptr
Definition: paths-idl.hh:100
pinocchio::vector_t vector_t
Definition: fwd.hh:83
Implementation of Hpp module Corba server.
Definition: server.hh:54
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
hpp::core_idl::Constraint_ptr getConstraints()
Definition: steering_methods.hh:68
_objref_ConstraintSet * ConstraintSet_ptr
Definition: _constraints-idl.hh:474
SteeringMethodServant(Server *server, const _Storage &s)
Definition: steering_methods.hh:25
virtual ~SteeringMethodServant()
Definition: steering_methods.hh:31
StorageElementShPtr_t getT() const
Definition: servant-base.hh:121
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
core::PathPtr_t PathPtr_t
Definition: fwd.hh:68
hpp::core_idl::Path_ptr call(const hpp::floatSeq &q1, const hpp::floatSeq &q2)
Definition: steering_methods.hh:39