hpp-corbaserver  4.9.0
Corba server for Humanoid Path Planner applications
robot-idl.hh
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1 // This file is generated by omniidl (C++ backend)- omniORB_4_2. Do not edit.
2 #ifndef __robot_hh__
3 #define __robot_hh__
4 
5 #ifndef __CORBA_H_EXTERNAL_GUARD__
6 #include <omniORB4/CORBA.h>
7 #endif
8 
9 #ifndef USE_stub_in_nt_dll
10 # define USE_stub_in_nt_dll_NOT_DEFINED_robot
11 #endif
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_robot
14 #endif
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot
17 #endif
18 
19 
20 
21 #ifndef __common_hh_EXTERNAL_GUARD__
22 #define __common_hh_EXTERNAL_GUARD__
23 #include <hpp/common-idl.hh>
24 #endif
25 #ifndef __robots_hh_EXTERNAL_GUARD__
26 #define __robots_hh_EXTERNAL_GUARD__
28 #endif
29 
30 
31 
32 #ifdef USE_stub_in_nt_dll
33 # ifndef USE_core_stub_in_nt_dll
34 # define USE_core_stub_in_nt_dll
35 # endif
36 # ifndef USE_dyn_stub_in_nt_dll
37 # define USE_dyn_stub_in_nt_dll
38 # endif
39 #endif
40 
41 #ifdef _core_attr
42 # error "A local CPP macro _core_attr has already been defined."
43 #else
44 # ifdef USE_core_stub_in_nt_dll
45 # define _core_attr _OMNIORB_NTDLL_IMPORT
46 # else
47 # define _core_attr
48 # endif
49 #endif
50 
51 #ifdef _dyn_attr
52 # error "A local CPP macro _dyn_attr has already been defined."
53 #else
54 # ifdef USE_dyn_stub_in_nt_dll
55 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
56 # else
57 # define _dyn_attr
58 # endif
59 #endif
60 
61 
62 
63 _CORBA_MODULE hpp
64 
65 _CORBA_MODULE_BEG
66 
67  _CORBA_MODULE corbaserver
68 
69  _CORBA_MODULE_BEG
70 
71 #ifndef __hpp_mcorbaserver_mRobot__
72 #define __hpp_mcorbaserver_mRobot__
73  class Robot;
74  class _objref_Robot;
75  class _impl_Robot;
76 
77  typedef _objref_Robot* Robot_ptr;
79 
80  class Robot_Helper {
81  public:
83 
84  static _ptr_type _nil();
85  static _CORBA_Boolean is_nil(_ptr_type);
86  static void release(_ptr_type);
87  static void duplicate(_ptr_type);
88  static void marshalObjRef(_ptr_type, cdrStream&);
89  static _ptr_type unmarshalObjRef(cdrStream&);
90  };
91 
92  typedef _CORBA_ObjRef_Var<_objref_Robot, Robot_Helper> Robot_var;
93  typedef _CORBA_ObjRef_OUT_arg<_objref_Robot,Robot_Helper > Robot_out;
94 
95 #endif
96 
97  // interface Robot
98  class Robot {
99  public:
100  // Declarations for this interface type.
103 
104  static _ptr_type _duplicate(_ptr_type);
105  static _ptr_type _narrow(::CORBA::Object_ptr);
106  static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
107 
108  static _ptr_type _nil();
109 
110  static inline void _marshalObjRef(_ptr_type, cdrStream&);
111 
112  static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
113  omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
114  if (o)
115  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
116  else
117  return _nil();
118  }
119 
120  static inline _ptr_type _fromObjRef(omniObjRef* o) {
121  if (o)
122  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
123  else
124  return _nil();
125  }
126 
127  static _core_attr const char* _PD_repoId;
128 
129  // Other IDL defined within this scope.
130 
131  };
132 
134  public virtual ::CORBA::Object,
135  public virtual omniObjRef
136  {
137  public:
138  // IDL operations
139  void loadRobotModel(const char* robotName, const char* rootJointType, const char* urdfName, const char* srdfName);
140  void loadHumanoidModel(const char* robotName, const char* rootJointType, const char* urdfName, const char* srdfName);
141  void loadRobotModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString);
142  void loadHumanoidModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString);
143  ::CORBA::Long getConfigSize();
144  ::CORBA::Long getNumberDof();
145  Names_t* getJointNames();
146  Names_t* getJointTypes();
147  Names_t* getAllJointNames();
148  char* getParentJointName(const char* jointName);
149  floatSeq* getJointConfig(const char* jointName);
150  void setJointConfig(const char* jointName, const ::hpp::floatSeq& config);
151  char* getJointType(const char* jointName);
152  floatSeq* jointIntegrate(const ::hpp::floatSeq& jointCfg, const char* jointName, const ::hpp::floatSeq& speed, ::CORBA::Boolean saturate);
153  floatSeqSeq* getCurrentTransformation(const char* jointName);
154  Transform__slice* getJointPosition(const char* jointName);
155  TransformSeq* getJointsPosition(const ::hpp::floatSeq& q, const ::hpp::Names_t& jointNames);
156  floatSeq* getJointVelocity(const char* jointName);
157  floatSeq* getJointVelocityInLocalFrame(const char* jointName);
158  Transform__slice* getJointPositionInParentFrame(const char* jointName);
159  Transform__slice* getRootJointPosition();
160  void setRootJointPosition(const ::hpp::Transform_ position);
161  void setJointPositionInParentFrame(const char* jointName, const ::hpp::Transform_ position);
162  ::CORBA::Long getJointNumberDof(const char* jointName);
163  ::CORBA::Long getJointConfigSize(const char* jointName);
164  void setJointBounds(const char* jointName, const ::hpp::floatSeq& inJointBound);
165  floatSeq* getJointBounds(const char* jointName);
166  Transform__slice* getLinkPosition(const char* linkName);
167  TransformSeq* getLinksPosition(const ::hpp::floatSeq& q, const ::hpp::Names_t& linkName);
168  Names_t* getLinkNames(const char* jointName);
169  void setDimensionExtraConfigSpace(::CORBA::ULong dimension);
170  ::CORBA::ULong getDimensionExtraConfigSpace();
171  void setExtraConfigSpaceBounds(const ::hpp::floatSeq& bounds);
172  floatSeq* getCurrentConfig();
173  floatSeq* shootRandomConfig();
174  void setCurrentConfig(const ::hpp::floatSeq& dofArray);
175  floatSeq* getCurrentVelocity();
176  void setCurrentVelocity(const ::hpp::floatSeq& qDot);
177  Names_t* getJointInnerObjects(const char* jointName);
178  Names_t* getJointOuterObjects(const char* jointName);
179  void getObjectPosition(const char* objectName, ::hpp::Transform_ cfg);
180  void isConfigValid(const ::hpp::floatSeq& dofArray, ::CORBA::Boolean& validity, ::CORBA::String_out report);
181  void distancesToCollision(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints);
182  void autocollisionCheck(::hpp::boolSeq_out collide);
183  void autocollisionPairs(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active);
184  void setAutoCollision(const char* innerObject, const char* outerObject, ::CORBA::Boolean active);
185  floatSeq* getRobotAABB();
186  ::CORBA::Double getMass();
187  floatSeq* getCenterOfMass();
188  floatSeq* getCenterOfMassVelocity();
189  floatSeqSeq* getJacobianCenterOfMass();
190  void addPartialCom(const char* comName, const ::hpp::Names_t& jointNames);
191  floatSeq* getPartialCom(const char* comName);
192  floatSeqSeq* getJacobianPartialCom(const char* comName);
193  floatSeq* getVelocityPartialCom(const char* comName);
194  char* getRobotName();
195  pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation(const char* name);
196  void createRobot(const char* robotName);
197  void appendJoint(const char* parentJoint, const char* jointName, const char* jointType, const ::hpp::Transform_ pos);
198  void createPolyhedron(const char* inPolyName);
199  void createBox(const char* name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z);
200  void createSphere(const char* name, ::CORBA::Double radius);
201  void createCylinder(const char* name, ::CORBA::Double radius, ::CORBA::Double length);
202  ::CORBA::ULong addPoint(const char* inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z);
203  ::CORBA::ULong addTriangle(const char* inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3);
204  void addObjectToJoint(const char* jointName, const char* objectName, const ::hpp::Transform_ pos);
205 
206  // Constructors
207  inline _objref_Robot() { _PR_setobj(0); } // nil
208  _objref_Robot(omniIOR*, omniIdentity*);
209 
210  protected:
211  virtual ~_objref_Robot();
212 
213 
214  private:
215  virtual void* _ptrToObjRef(const char*);
216 
218  _objref_Robot& operator = (const _objref_Robot&);
219  // not implemented
220 
221  friend class Robot;
222  };
223 
224  class _pof_Robot : public _OMNI_NS(proxyObjectFactory) {
225  public:
226  inline _pof_Robot() : _OMNI_NS(proxyObjectFactory)(Robot::_PD_repoId) {}
227  virtual ~_pof_Robot();
228 
229  virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
230  virtual _CORBA_Boolean is_a(const char*) const;
231  };
232 
233  class _impl_Robot :
234  public virtual omniServant
235  {
236  public:
237  virtual ~_impl_Robot();
238 
239  virtual void loadRobotModel(const char* robotName, const char* rootJointType, const char* urdfName, const char* srdfName) = 0;
240  virtual void loadHumanoidModel(const char* robotName, const char* rootJointType, const char* urdfName, const char* srdfName) = 0;
241  virtual void loadRobotModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString) = 0;
242  virtual void loadHumanoidModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString) = 0;
243  virtual ::CORBA::Long getConfigSize() = 0;
244  virtual ::CORBA::Long getNumberDof() = 0;
245  virtual Names_t* getJointNames() = 0;
246  virtual Names_t* getJointTypes() = 0;
247  virtual Names_t* getAllJointNames() = 0;
248  virtual char* getParentJointName(const char* jointName) = 0;
249  virtual floatSeq* getJointConfig(const char* jointName) = 0;
250  virtual void setJointConfig(const char* jointName, const ::hpp::floatSeq& config) = 0;
251  virtual char* getJointType(const char* jointName) = 0;
252  virtual floatSeq* jointIntegrate(const ::hpp::floatSeq& jointCfg, const char* jointName, const ::hpp::floatSeq& speed, ::CORBA::Boolean saturate) = 0;
253  virtual floatSeqSeq* getCurrentTransformation(const char* jointName) = 0;
254  virtual Transform__slice* getJointPosition(const char* jointName) = 0;
255  virtual TransformSeq* getJointsPosition(const ::hpp::floatSeq& q, const ::hpp::Names_t& jointNames) = 0;
256  virtual floatSeq* getJointVelocity(const char* jointName) = 0;
257  virtual floatSeq* getJointVelocityInLocalFrame(const char* jointName) = 0;
258  virtual Transform__slice* getJointPositionInParentFrame(const char* jointName) = 0;
259  virtual Transform__slice* getRootJointPosition() = 0;
260  virtual void setRootJointPosition(const ::hpp::Transform_ position) = 0;
261  virtual void setJointPositionInParentFrame(const char* jointName, const ::hpp::Transform_ position) = 0;
262  virtual ::CORBA::Long getJointNumberDof(const char* jointName) = 0;
263  virtual ::CORBA::Long getJointConfigSize(const char* jointName) = 0;
264  virtual void setJointBounds(const char* jointName, const ::hpp::floatSeq& inJointBound) = 0;
265  virtual floatSeq* getJointBounds(const char* jointName) = 0;
266  virtual Transform__slice* getLinkPosition(const char* linkName) = 0;
267  virtual TransformSeq* getLinksPosition(const ::hpp::floatSeq& q, const ::hpp::Names_t& linkName) = 0;
268  virtual Names_t* getLinkNames(const char* jointName) = 0;
269  virtual void setDimensionExtraConfigSpace(::CORBA::ULong dimension) = 0;
270  virtual ::CORBA::ULong getDimensionExtraConfigSpace() = 0;
271  virtual void setExtraConfigSpaceBounds(const ::hpp::floatSeq& bounds) = 0;
272  virtual floatSeq* getCurrentConfig() = 0;
273  virtual floatSeq* shootRandomConfig() = 0;
274  virtual void setCurrentConfig(const ::hpp::floatSeq& dofArray) = 0;
275  virtual floatSeq* getCurrentVelocity() = 0;
276  virtual void setCurrentVelocity(const ::hpp::floatSeq& qDot) = 0;
277  virtual Names_t* getJointInnerObjects(const char* jointName) = 0;
278  virtual Names_t* getJointOuterObjects(const char* jointName) = 0;
279  virtual void getObjectPosition(const char* objectName, ::hpp::Transform_ cfg) = 0;
280  virtual void isConfigValid(const ::hpp::floatSeq& dofArray, ::CORBA::Boolean& validity, ::CORBA::String_out report) = 0;
281  virtual void distancesToCollision(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints) = 0;
282  virtual void autocollisionCheck(::hpp::boolSeq_out collide) = 0;
283  virtual void autocollisionPairs(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active) = 0;
284  virtual void setAutoCollision(const char* innerObject, const char* outerObject, ::CORBA::Boolean active) = 0;
285  virtual floatSeq* getRobotAABB() = 0;
286  virtual ::CORBA::Double getMass() = 0;
287  virtual floatSeq* getCenterOfMass() = 0;
288  virtual floatSeq* getCenterOfMassVelocity() = 0;
289  virtual floatSeqSeq* getJacobianCenterOfMass() = 0;
290  virtual void addPartialCom(const char* comName, const ::hpp::Names_t& jointNames) = 0;
291  virtual floatSeq* getPartialCom(const char* comName) = 0;
292  virtual floatSeqSeq* getJacobianPartialCom(const char* comName) = 0;
293  virtual floatSeq* getVelocityPartialCom(const char* comName) = 0;
294  virtual char* getRobotName() = 0;
295  virtual pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation(const char* name) = 0;
296  virtual void createRobot(const char* robotName) = 0;
297  virtual void appendJoint(const char* parentJoint, const char* jointName, const char* jointType, const ::hpp::Transform_ pos) = 0;
298  virtual void createPolyhedron(const char* inPolyName) = 0;
299  virtual void createBox(const char* name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0;
300  virtual void createSphere(const char* name, ::CORBA::Double radius) = 0;
301  virtual void createCylinder(const char* name, ::CORBA::Double radius, ::CORBA::Double length) = 0;
302  virtual ::CORBA::ULong addPoint(const char* inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0;
303  virtual ::CORBA::ULong addTriangle(const char* inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3) = 0;
304  virtual void addObjectToJoint(const char* jointName, const char* objectName, const ::hpp::Transform_ pos) = 0;
305 
306  public: // Really protected, workaround for xlC
307  virtual _CORBA_Boolean _dispatch(omniCallHandle&);
308 
309  private:
310  virtual void* _ptrToInterface(const char*);
311  virtual const char* _mostDerivedRepoId();
312 
313  };
314 
315 
316  _CORBA_MODULE_END
317 
318 _CORBA_MODULE_END
319 
320 
321 
322 _CORBA_MODULE POA_hpp
323 _CORBA_MODULE_BEG
324 
325  _CORBA_MODULE corbaserver
326  _CORBA_MODULE_BEG
327 
328  class Robot :
329  public virtual hpp::corbaserver::_impl_Robot,
330  public virtual ::PortableServer::ServantBase
331  {
332  public:
333  virtual ~Robot();
334 
336  return (::hpp::corbaserver::Robot_ptr) _do_this(::hpp::corbaserver::Robot::_PD_repoId);
337  }
338  };
339 
340  _CORBA_MODULE_END
341 
342 _CORBA_MODULE_END
343 
344 
345 
346 _CORBA_MODULE OBV_hpp
347 _CORBA_MODULE_BEG
348 
349  _CORBA_MODULE corbaserver
350  _CORBA_MODULE_BEG
351 
352  _CORBA_MODULE_END
353 
354 _CORBA_MODULE_END
355 
356 
357 
358 
359 
360 #undef _core_attr
361 #undef _dyn_attr
362 
363 
364 
365 inline void
366 hpp::corbaserver::Robot::_marshalObjRef(::hpp::corbaserver::Robot_ptr obj, cdrStream& s) {
367  omniObjRef::_marshal(obj->_PR_getobj(),s);
368 }
369 
370 
371 
372 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_robot
373 # undef USE_stub_in_nt_dll
374 # undef USE_stub_in_nt_dll_NOT_DEFINED_robot
375 #endif
376 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_robot
377 # undef USE_core_stub_in_nt_dll
378 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_robot
379 #endif
380 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot
381 # undef USE_dyn_stub_in_nt_dll
382 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot
383 #endif
384 
385 #endif // __robot_hh__
386 
static _ptr_type _nil()
Definition: common-idl.hh:846
#define _core_attr
Definition: robot-idl.hh:47
Definition: robot-idl.hh:80
Definition: robot-idl.hh:98
static void release(_ptr_type)
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
static _CORBA_Boolean is_nil(_ptr_type)
Robot_ptr _ptr_type
Definition: robot-idl.hh:101
_objref_Robot * Robot_ptr
Definition: robot-idl.hh:75
_CORBA_ObjRef_OUT_arg< _objref_Robot, Robot_Helper > Robot_out
Definition: robot-idl.hh:93
Robot_var _var_type
Definition: robot-idl.hh:102
sequence< string > Names_t
Sequence of names.
Definition: common.idl:22
Definition: robot-idl.hh:133
::CORBA::Double Transform_[7]
Definition: common-idl.hh:796
Definition: common-idl.hh:73
Definition: common-idl.hh:684
Robot_ptr _ptr_type
Definition: robot-idl.hh:82
_pof_Robot()
Definition: robot-idl.hh:226
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: robot-idl.hh:120
static _ptr_type unmarshalObjRef(cdrStream &)
_CORBA_ObjRef_Var< _objref_Robot, Robot_Helper > Robot_var
Definition: robot-idl.hh:92
_objref_CenterOfMassComputation * CenterOfMassComputation_ptr
Definition: robots-idl.hh:71
Robot_ptr RobotRef
Definition: robot-idl.hh:78
double Transform_[7]
Element of SE(3) represented by a vector and a unit quaternion.
Definition: common.idl:36
inline ::hpp::corbaserver::Robot_ptr _this()
Definition: robot-idl.hh:335
_objref_Robot()
Definition: robot-idl.hh:207
static void duplicate(_ptr_type)
Definition: robot-idl.hh:233
Definition: common-idl.hh:570
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: robot-idl.hh:112
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
static void marshalObjRef(_ptr_type, cdrStream &)
Definition: robot-idl.hh:224
static _core_attr const char * _PD_repoId
Definition: robot-idl.hh:127
::CORBA::Double Transform__slice
Definition: common-idl.hh:797