hpp-corbaserver  4.11.0
Corba server for Humanoid Path Planner applications
_constraints-fwd.hh
Go to the documentation of this file.
1 #ifndef hpp_core_idl____constraints_hpp__
2 #define hpp_core_idl____constraints_hpp__
3 
4 //
5 // Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-4.11.0/idl/hpp/core_idl/_constraints.idl
6 //
7 
10 
11 #include <hpp/core/constraint.hh>
12 #include <hpp/core/constraint-set.hh>
13 #include <hpp/core/config-projector.hh>
15 #include <hpp/constraints/solver/by-substitution.hh>
16 
17 
18 
19 
20 
21 //
22 // Class implementing IDL interface hpp::core_idl::Constraint
23 //
24 namespace hpp {
25 
26 namespace core_impl {
27 template <typename _Base, typename _Storage>
28 class ConstraintServant: public hpp::corbaServer::ServantBase<hpp::core::Constraint, _Storage>, public virtual _Base
29 {
30 public:
32 
34 
35 public:
36  // standard constructor
37  ConstraintServant(::hpp::corbaServer::Server* server, const _Storage& s);
38  virtual ~ConstraintServant();
39 
40  // methods corresponding to defined IDL attributes and operations
41 
42  ::CORBA::Boolean apply (hpp::floatSeq& config);
43 
44 
45  char* name ();
46 
47 
48  char* str ();
49 
50 
51  ::CORBA::Boolean isSatisfied (const hpp::floatSeq& config);
52 
53 
55 
56 
57 };
58 
60 } // namespace core_impl
61 
62 } // namespace hpp
63 
64 namespace hpp {
65 namespace corbaServer {
66 template<> struct hpp_traits<hpp::core::Constraint>{ typedef hpp::core::Constraint Base; };
67 } // namespace corbaServer
68 } // namespace corbaServer
69 
70 //
71 // Class implementing IDL interface hpp::core_idl::ConfigProjector
72 //
73 namespace hpp {
74 
75 namespace core_impl {
76 template <typename _Base, typename _Storage>
78 {
79 public:
81 
83 
84 public:
85  // standard constructor
86  ConfigProjectorServant(::hpp::corbaServer::Server* server, const _Storage& s);
87  virtual ~ConfigProjectorServant();
88 
89  // methods corresponding to defined IDL attributes and operations
90 
91  void setRightHandSideFromConfig (const hpp::floatSeq& config);
92 
93 
94  void setRightHandSideOfConstraintFromConfig (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& config);
95 
96 
97  void setRightHandSide (const hpp::floatSeq& param);
98 
99 
100  void setRightHandSideOfConstraint (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& rhs);
101 
102 
103  hpp::floatSeq* getRightHandSide ();
104 
105 
106  void setRightHandSideAt (hpp::value_type s);
107 
108 
109  ::CORBA::Boolean isConstraintSatisfied (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& arg, hpp::floatSeq_out err, ::CORBA::Boolean& constraintFound);
110 
111 
112  hpp::constraints_idl::Implicits* numericalConstraints ();
113 
114 
115  ::CORBA::Boolean add (hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority);
116 
117 
118  void setLastIsOptional (::CORBA::Boolean optional);
119 
120 
121  ::CORBA::Boolean getLastIsOptional ();
122 
123 
124  void setErrorThreshold (hpp::value_type threshold);
125 
126 
127  hpp::value_type getErrorThreshold ();
128 
129 
130 };
131 
133 } // namespace core_impl
134 
135 } // namespace hpp
136 
137 namespace hpp {
138 namespace corbaServer {
140 } // namespace corbaServer
141 } // namespace corbaServer
142 
143 //
144 // Class implementing IDL interface hpp::core_idl::ConstraintSet
145 //
146 namespace hpp {
147 
148 namespace core_impl {
149 template <typename _Base, typename _Storage>
151 {
152 public:
154 
156 
157 public:
158  // standard constructor
159  ConstraintSetServant(::hpp::corbaServer::Server* server, const _Storage& s);
160  virtual ~ConstraintSetServant();
161 
162  // methods corresponding to defined IDL attributes and operations
163 
164  hpp::core_idl::Constraint_ptr getConfigProjector ();
165 
166 
167 };
168 
170 } // namespace core_impl
171 
172 } // namespace hpp
173 
174 namespace hpp {
175 namespace corbaServer {
177 } // namespace corbaServer
178 } // namespace corbaServer
179 
180 
181 
182 
183 
184 #endif // hpp_core_idl____constraints_hpp__
185 
Definition: servant-base.hh:100
hpp::core::Constraint Base
Definition: _constraints-fwd.hh:139
hpp::core::Constraint HppBase
Definition: _constraints-fwd.hh:31
sequence< Implicit > Implicits
Definition: _constraints.idl:20
Definition: _constraints.idl:78
Implement CORBA interface ``Obstacle&#39;&#39;.
Definition: basic-server.hh:27
double value_type
Definition: common.idl:18
hpp::core_impl::ConstraintServant< _Base, _Storage >::HppBase HppBase
Definition: _constraints-fwd.hh:80
Definition: _constraints-fwd.hh:77
hpp::core::Constraint Base
Definition: _constraints-fwd.hh:66
Definition: _constraints-fwd.hh:150
virtual ~ConstraintServant()
Definition: _constraints.hh:31
Definition: _constraints-fwd.hh:28
Definition: _constraints.idl:37
Definition: _constraints.idl:26
hpp::core_impl::ConstraintServant< _Base, _Storage >::HppBase HppBase
Definition: _constraints-fwd.hh:153
char * str()
Definition: _constraints.hh:67
ConfigProjectorServant< POA_hpp::core_idl::ConfigProjector, hpp::weak_ptr< hpp::core::ConfigProjector > > ConfigProjector
Definition: _constraints-fwd.hh:132
hpp::core_idl::Constraint_ptr copy()
Definition: _constraints.hh:94
ConstraintServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: _constraints.hh:25
ConstraintSetServant< POA_hpp::core_idl::ConstraintSet, hpp::weak_ptr< hpp::core::ConstraintSet > > ConstraintSet
Definition: _constraints-fwd.hh:169
SERVANT_BASE_TYPEDEFS(hpp::core_idl::Constraint, HppBase)
hpp::core::Constraint Base
Definition: _constraints-fwd.hh:176
Implementation of Hpp module Corba server.
Definition: server.hh:54
ConstraintServant< POA_hpp::core_idl::Constraint, hpp::weak_ptr< hpp::core::Constraint > > Constraint
Definition: _constraints-fwd.hh:59
::CORBA::Boolean apply(hpp::floatSeq &config)
Definition: _constraints.hh:39
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
_objref_Implicit * Implicit_ptr
Definition: constraints-idl.hh:200
Definition: servant-base.hh:66
char * name()
Definition: _constraints.hh:53
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:33
::CORBA::Boolean isSatisfied(const hpp::floatSeq &config)
Definition: _constraints.hh:80