1 #ifndef hpp_core_idl____constraints_hxx__ 2 #define hpp_core_idl____constraints_hxx__ 18 namespace corbaServer {
24 template <
typename _Base,
typename _Storage>
30 template <
typename _Base,
typename _Storage>
38 template <
typename _Base,
typename _Storage>
44 ::CORBA::Boolean __return__ (
getT()->
apply (_config));
47 }
catch (
const std::exception& e) {
48 throw ::hpp::Error (e.what());
52 template <
typename _Base,
typename _Storage>
61 }
catch (
const std::exception& e) {
62 throw ::hpp::Error (e.what());
66 template <
typename _Base,
typename _Storage>
71 std::ostringstream oss; oss << *
get();
72 std::string res = oss.str();
73 return CORBA::string_dup(res.c_str());
74 }
catch (
const std::exception& e) {
75 throw ::hpp::Error (e.what());
79 template <
typename _Base,
typename _Storage>
88 }
catch (
const std::exception& e) {
89 throw ::hpp::Error (e.what());
100 template <
typename _Base,
typename _Storage>
106 template <
typename _Base,
typename _Storage>
114 template <
typename _Base,
typename _Storage>
120 (
getT()->rightHandSideFromConfig (_config));
123 }
catch (
const std::exception& e) {
124 throw ::hpp::Error (e.what());
128 template <
typename _Base,
typename _Storage>
133 hpp::constraints::ImplicitPtr_t _nm = reference_to_servant_base<hpp::constraints::Implicit>(
server_, nm)->
get();
135 (
getT()->rightHandSideFromConfig (_nm, _config));
138 }
catch (
const std::exception& e) {
139 throw ::hpp::Error (e.what());
143 template <
typename _Base,
typename _Storage>
149 (
getT()->rightHandSide (_param));
152 }
catch (
const std::exception& e) {
153 throw ::hpp::Error (e.what());
157 template <
typename _Base,
typename _Storage>
162 hpp::constraints::ImplicitPtr_t _nm = reference_to_servant_base<hpp::constraints::Implicit>(
server_, nm)->
get();
164 (
getT()->rightHandSide (_nm, _rhs));
167 }
catch (
const std::exception& e) {
168 throw ::hpp::Error (e.what());
172 template <
typename _Base,
typename _Storage>
181 }
catch (
const std::exception& e) {
182 throw ::hpp::Error (e.what());
186 template <
typename _Base,
typename _Storage>
192 (
getT()->rightHandSideAt (s));
195 }
catch (
const std::exception& e) {
196 throw ::hpp::Error (e.what());
200 template <
typename _Base,
typename _Storage>
206 hpp::constraints::ImplicitPtr_t _nm = reference_to_servant_base<hpp::constraints::Implicit>(
server_, nm)->
get();
207 vector_t errorOut (_nm->function ().outputSpace ()->nv ());
208 bool res =
getT ()->solver ().isConstraintSatisfied
209 (_nm, _arg,errorOut, constraintFound);
213 }
catch (
const std::exception& e) {
214 throw ::hpp::Error (e.what());
218 template <
typename _Base,
typename _Storage>
227 }
catch (
const std::exception& e) {
228 throw ::hpp::Error (e.what());
232 template <
typename _Base,
typename _Storage>
237 hpp::constraints::ImplicitPtr_t _numconstraint = reference_to_servant_base<hpp::constraints::Implicit>(
server_, numconstraint)->
get();
238 ::CORBA::Boolean __return__ (
getT()->
add (_numconstraint, priority));
241 }
catch (
const std::exception& e) {
242 throw ::hpp::Error (e.what());
246 template <
typename _Base,
typename _Storage>
252 (
getT()->lastIsOptional (optional));
255 }
catch (
const std::exception& e) {
256 throw ::hpp::Error (e.what());
260 template <
typename _Base,
typename _Storage>
266 ::CORBA::Boolean __return__ (
getT()->lastIsOptional ());
269 }
catch (
const std::exception& e) {
270 throw ::hpp::Error (e.what());
280 namespace core_impl {
281 template <
typename _Base,
typename _Storage>
287 template <
typename _Base,
typename _Storage>
295 template <
typename _Base,
typename _Storage>
301 hpp::core::ConstraintPtr_t __return__ (
getT()->configProjector ());
303 return makeServantDownCast<hpp::corbaServer::core_impl::Constraint,hpp::corbaServer::core_impl::Constraint>(
server_, __return__)._retn();
304 }
catch (
const std::exception& e) {
305 throw ::hpp::Error (e.what());
318 #endif // hpp_core_idl____constraints_hxx__ Definition: servant-base.hh:100
char * name()
Definition: _constraints.hh:53
sequence< Implicit > Implicits
Definition: _constraints.idl:20
Implement CORBA interface ``Obstacle''.
Definition: basic-server.hh:27
double value_type
Definition: common.idl:18
void setRightHandSide(const hpp::floatSeq ¶m)
Definition: _constraints.hh:144
::CORBA::Boolean apply(hpp::floatSeq &config)
Definition: _constraints.hh:39
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
Server * server_
Definition: servant-base.hh:97
char * c_str(const std::string &in)
Definition: conversions.hh:68
hpp::core_idl::Constraint_ptr getConfigProjector()
Definition: _constraints.hh:296
virtual ~ConfigProjectorServant()
Definition: _constraints.hh:107
void setRightHandSideOfConstraint(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &rhs)
Definition: _constraints.hh:158
hpp::constraints_idl::Implicits * numericalConstraints()
Definition: _constraints.hh:219
pinocchio::vector_t vector_t
Definition: fwd.hh:83
char * str()
Definition: _constraints.hh:67
virtual ~ConstraintServant()
Definition: _constraints.hh:31
Storage s
Definition: servant-base.hh:171
void setLastIsOptional(::CORBA::Boolean optional)
Definition: _constraints.hh:247
void setRightHandSideOfConstraintFromConfig(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &config)
Definition: _constraints.hh:129
::CORBA::Boolean getLastIsOptional()
Definition: _constraints.hh:261
::CORBA::Boolean add(hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority)
Definition: _constraints.hh:233
Definition: servant-base.hh:411
void setRightHandSideAt(hpp::value_type s)
Definition: _constraints.hh:187
ConstraintSetServant(Server *server, const _Storage &s)
Definition: _constraints.hh:282
::CORBA::Boolean isSatisfied(const hpp::floatSeq &config)
Definition: _constraints.hh:80
Implementation of Hpp module Corba server.
Definition: server.hh:54
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
ConfigProjectorServant(Server *server, const _Storage &s)
Definition: _constraints.hh:101
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
StorageElementShPtr_t getT() const
Definition: servant-base.hh:121
::CORBA::Boolean isConstraintSatisfied(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &arg, hpp::floatSeq_out err, ::CORBA::Boolean &constraintFound)
Definition: _constraints.hh:201
hpp::floatSeq * getRightHandSide()
Definition: _constraints.hh:173
void setRightHandSideFromConfig(const hpp::floatSeq &config)
Definition: _constraints.hh:115
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
ConstraintServant(Server *server, const _Storage &s)
Definition: _constraints.hh:25
Definition: _constraints-fwd.hh:28
virtual ~ConstraintSetServant()
Definition: _constraints.hh:288