hpp-corbaserver
4.10.1
Corba server for Humanoid Path Planner applications
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11 #ifndef HPP_CONSTRAINTS_IDL_CONSTRAINTS_HH
12 # define HPP_CONSTRAINTS_IDL_CONSTRAINTS_HH
14 # include <hpp/constraints/differentiable-function.hh>
15 # include <hpp/constraints/implicit.hh>
27 namespace constraints_idl
29 template <
typename _Base,
typename _Storage>
36 : _ServantBase (server,
s) {}
56 return get()->inputSize();
60 return get()->inputDerivativeSize();
64 return get()->outputSize ();
68 return get()->outputDerivativeSize ();
77 std::ostringstream oss; oss << *
get();
78 std::string res = oss.str();
79 return CORBA::string_dup(res.c_str());
85 template <
typename _Base,
typename _Storage>
92 : _ServantBase (server,
s) {}
99 makeServantDownCast<DifferentiableFunction> (
server_,
get()->functionPtr());
105 get()->rightHandSideFromConfig (
121 return get()->rhsSize();
126 return get()->constantRightHandSide();
140 #endif // HPP_CONSTRAINTS_IDL_CONSTRAINTS_HH
Definition: common-idl.hh:570
char * c_str(const std::string &in)
Definition: conversions.hh:68
floatSeqSeq * jacobian(const floatSeq &arg)
Definition: constraints.hh:47
size_type inputDerivativeSize()
Definition: constraints.hh:58
Implementation of Hpp module Corba server.
Definition: server.hh:54
DifferentiableFunctionServant< POA_hpp::constraints_idl::DifferentiableFunction, constraints::DifferentiableFunctionPtr_t > DifferentiableFunction
Definition: constraints.hh:83
void setRightHandSide(const floatSeq &rhs)
Definition: constraints.hh:109
Definition: constraints.hh:30
virtual ~ImplicitServant()
Definition: constraints.hh:94
hpp::size_type rhsSize()
Definition: constraints.hh:119
Definition: constraints.idl:19
_objref_DifferentiableFunction * DifferentiableFunction_ptr
Definition: constraints-idl.hh:71
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
Storage s
Definition: servant-base.hh:171
Definition: common-idl.hh:684
pinocchio::value_type value_type
Definition: fwd.hh:86
Server * server_
Definition: servant-base.hh:97
size_type outputSize()
Definition: constraints.hh:62
floatSeq * getRightHandSide()
Definition: constraints.hh:114
Definition: constraints.idl:40
void setRightHandSideFromConfig(const floatSeq &config)
Definition: constraints.hh:103
virtual ~DifferentiableFunctionServant()
Definition: constraints.hh:38
floatSeq * value(const floatSeq &arg)
Definition: constraints.hh:40
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:27
floatSeq * rightHandSideAt(value_type s)
Definition: constraints.hh:129
long long size_type
Definition: common.idl:19
size_type inputSize()
Definition: constraints.hh:54
floatSeqSeq * matrixToFloatSeqSeq(core::matrixIn_t input)
Returns a sequence of the rows of the input matrix.
char * name()
Definition: constraints.hh:70
Definition: constraints.hh:86
size_type outputDerivativeSize()
Definition: constraints.hh:66
ImplicitServant(Server *server, const Storage &s)
Definition: constraints.hh:91
pinocchio::matrix_t matrix_t
Definition: fwd.hh:87
DifferentiableFunctionServant(Server *server, const Storage &s)
Definition: constraints.hh:35
pinocchio::size_type size_type
Definition: fwd.hh:92
ImplicitServant< POA_hpp::constraints_idl::Implicit, constraints::ImplicitPtr_t > Implicit
Definition: constraints.hh:135
virtual TShPtr_t get() const
Definition: servant-base.hh:111
_Storage Storage
Definition: servant-base.hh:103
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
CORBA::Boolean constantRightHandSide()
Definition: constraints.hh:124
Definition: servant-base.hh:100
char * str()
Definition: constraints.hh:75
_CORBA_ObjRef_Var< _objref_DifferentiableFunction, DifferentiableFunction_Helper > DifferentiableFunction_var
Definition: constraints-idl.hh:88