hpp-corbaserver
4.10.1
Corba server for Humanoid Path Planner applications
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17 #ifndef HPP_CORBASERVER_OBJECT_MAP_HH
18 # define HPP_CORBASERVER_OBJECT_MAP_HH
20 # include <pinocchio/fwd.hpp>
21 # include <hpp/fcl/BVH/BVH_model.h>
22 # include <hpp/fcl/shape/geometric_shapes.h>
28 namespace corbaServer {
44 std::vector <fcl::Vec3f>
pts;
45 std::vector <fcl::Triangle>
tris;
48 typedef std::map <std::string, BasicShapePtr_t>
ShapeMap_t;
62 template <GeomType geomType, ThrowType throwType>
63 bool nameExists (
const std::string& name)
const;
73 #endif // HPP_CORBASERVER_OBJECT_MAP_HH
GeomType
Definition: object-map.hh:50
void createPolyhedron(const std::string polyhedronName)
void createCylinder(const std::string name, value_type radius, value_type length)
@ BothGeomType
Definition: object-map.hh:53
_CORBA_MODULE hpp _CORBA_MODULE_BEG _CORBA_MODULE core_idl _CORBA_MODULE_BEG typedef ::CORBA::ULongLong size_t
Definition: paths-idl.hh:75
pinocchio::value_type value_type
Definition: fwd.hh:86
@ ThrowIfItExists
Definition: object-map.hh:58
PolyhedronMap_t polyhedronMap_
Map of polyhedra in construction.
Definition: object-map.hh:68
ShapeMap_t shapeMap_
Map of basic shapes.
Definition: object-map.hh:66
ThrowType
Definition: object-map.hh:56
std::vector< fcl::Vec3f > pts
Definition: object-map.hh:44
std::size_t addTriangle(const std::string polyhedronName, std::size_t pt1, std::size_t pt2, std::size_t pt3)
void createBox(const std::string boxName, value_type x, value_type y, value_type z)
CollisionGeometryPtr_t geometry(const std::string name)
void createSphere(const std::string name, value_type radius)
bool nameExists(const std::string &name) const
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:27
Definition: object-map.hh:29
@ ThrowIfItDoesNotExist
Definition: object-map.hh:59
Definition: object-map.hh:43
@ Shape
Definition: object-map.hh:51
std::vector< fcl::Triangle > tris
Definition: object-map.hh:45
std::map< std::string, BasicShapePtr_t > ShapeMap_t
Definition: object-map.hh:48
std::map< std::string, PolyhedronData > PolyhedronMap_t
Definition: object-map.hh:47
@ NoThrow
Definition: object-map.hh:57
@ Polyhedron
Definition: object-map.hh:52
boost::shared_ptr< CollisionGeometry_t > CollisionGeometryPtr_t
Definition: fwd.hh:39
std::size_t addPoint(const std::string polyhedronName, value_type x, value_type y, value_type z)