hpp-corbaserver  4.11.0
Corba server for Humanoid Path Planner applications
path_planners-fwd.hh
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1 #ifndef hpp_core_idl__path__planners_hpp__
2 #define hpp_core_idl__path__planners_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/path_planners.idl
6 //
7 
10 
11 #include <iterator>
12 #include <hpp/pinocchio/serialization.hh>
13 #include <hpp/core/path-planner.hh>
14 #include <hpp/core/path-optimizer.hh>
15 #include <hpp/core/roadmap.hh>
16 #include <hpp/core/edge.hh>
17 #include <hpp/core/node.hh>
18 #include <hpp/core_idl/paths.hh>
19 
20 
21 
22 
23 
24 //
25 // Class implementing IDL interface hpp::core_idl::Roadmap
26 //
27 namespace hpp {
28 
29 namespace core_impl {
30 template <typename _Base, typename _Storage>
31 class RoadmapServant: public hpp::corbaServer::ServantBase<hpp::core::Roadmap, _Storage>, public virtual _Base
32 {
33 public:
35 
37 
38 public:
39  // standard constructor
40  RoadmapServant(::hpp::corbaServer::Server* server, const _Storage& s);
41  virtual ~RoadmapServant();
42 
43  // methods corresponding to defined IDL attributes and operations
44 
45  void deleteThis ();
46 
47 
48  void clear ();
49 
50 
51  void addNode (const hpp::floatSeq& config);
52 
53 
54  void addNodeAndEdge (const hpp::floatSeq& cfgfrom, const hpp::floatSeq& cfgto, hpp::core_idl::Path_ptr path_);
55 
56 
57  void addNodeAndEdges (const hpp::floatSeq& cfgfrom, const hpp::floatSeq& cfgto, hpp::core_idl::Path_ptr path_);
58 
59 
60  hpp::floatSeq* nearestNode (const hpp::floatSeq& config, hpp::value_type& distance, ::CORBA::Boolean reverse);
61 
62 
64 
65 
67 
68 
70 
71 
73 
74 
76 
77 
78 };
79 
81 } // namespace core_impl
82 
83 } // namespace hpp
84 
85 namespace hpp {
86 namespace corbaServer {
87 template<> struct hpp_traits<hpp::core::Roadmap>{ typedef hpp::core::Roadmap Base; };
88 } // namespace corbaServer
89 } // namespace corbaServer
90 
91 
92 //
93 // Class implementing IDL interface hpp::core_idl::PathPlanner
94 //
95 namespace hpp {
96 
97 namespace core_impl {
98 template <typename _Base, typename _Storage>
99 class PathPlannerServant: public hpp::corbaServer::ServantBase<hpp::core::PathPlanner, _Storage>, public virtual _Base
100 {
101 public:
103 
105 
106 public:
107  // standard constructor
108  PathPlannerServant(::hpp::corbaServer::Server* server, const _Storage& s);
109  virtual ~PathPlannerServant();
110 
111  // methods corresponding to defined IDL attributes and operations
112 
113  void deleteThis ();
114 
115 
117 
118 
119  void startSolve ();
120 
121 
122  void tryConnectInitAndGoals ();
123 
124 
125  void oneStep ();
126 
127 
129 
130 
132 
133 
134  void interrupt ();
135 
136 
137  void maxIterations (hpp::size_type n);
138 
139 
140  void timeOut (hpp::value_type seconds);
141 
142 
144 
145 
146  void stopWhenProblemIsSolved (::CORBA::Boolean enable);
147 
148 
149 };
150 
152 } // namespace core_impl
153 
154 } // namespace hpp
155 
156 namespace hpp {
157 namespace corbaServer {
159 } // namespace corbaServer
160 } // namespace corbaServer
161 
162 
163 //
164 // Class implementing IDL interface hpp::core_idl::PathOptimizer
165 //
166 namespace hpp {
167 
168 namespace core_impl {
169 template <typename _Base, typename _Storage>
170 class PathOptimizerServant: public hpp::corbaServer::ServantBase<hpp::core::PathOptimizer, _Storage>, public virtual _Base
171 {
172 public:
174 
176 
177 public:
178  // standard constructor
179  PathOptimizerServant(::hpp::corbaServer::Server* server, const _Storage& s);
180  virtual ~PathOptimizerServant();
181 
182  // methods corresponding to defined IDL attributes and operations
183 
184  void deleteThis ();
185 
186 
188 
189 
190  void interrupt ();
191 
192 
193  void maxIterations (hpp::size_type n);
194 
195 
196  void timeOut (hpp::value_type seconds);
197 
198 
199 };
200 
202 } // namespace core_impl
203 
204 } // namespace hpp
205 
206 namespace hpp {
207 namespace corbaServer {
209 } // namespace corbaServer
210 } // namespace corbaServer
211 
212 
213 
214 
215 
216 #endif // hpp_core_idl__path__planners_hpp__
217 
hpp::core_impl::PathPlannerServant::SERVANT_BASE_TYPEDEFS
SERVANT_BASE_TYPEDEFS(hpp::core_idl::PathPlanner, HppBase)
hpp::core_impl::PathOptimizerServant::deleteThis
void deleteThis()
Definition: path_planners.hh:401
paths.hh
hpp::floatSeq
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:33
servant-base.hh
hpp::core_impl::PathOptimizerServant::maxIterations
void maxIterations(hpp::size_type n)
Definition: path_planners.hh:440
path_planners-idl.hh
hpp::core_impl::PathPlannerServant::computePath
hpp::core_idl::PathVector_ptr computePath()
Definition: path_planners.hh:278
hpp::core_impl::RoadmapServant::addNodeAndEdge
void addNodeAndEdge(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:78
hpp::core_impl::PathPlannerServant::maxIterations
void maxIterations(hpp::size_type n)
Definition: path_planners.hh:320
hpp::core_impl::PathOptimizerServant
Definition: path_planners-fwd.hh:170
hpp::core_impl::PathPlannerServant::solve
hpp::core_idl::PathVector_ptr solve()
Definition: path_planners.hh:222
hpp::core_impl::PathOptimizer
PathOptimizerServant< POA_hpp::core_idl::PathOptimizer, hpp::weak_ptr< hpp::core::PathOptimizer > > PathOptimizer
Definition: path_planners-fwd.hh:201
hpp::corbaServer::Server
Implementation of Hpp module Corba server.
Definition: server.hh:54
hpp::core_impl::PathPlannerServant::deleteThis
void deleteThis()
Definition: path_planners.hh:211
hpp::core_impl::RoadmapServant::nearestNodes
hpp::floatSeqSeq * nearestNodes(const hpp::floatSeq &config, hpp::size_type &k)
Definition: path_planners.hh:119
hpp::value_type
double value_type
Definition: common.idl:18
hpp::core_impl::RoadmapServant::addNode
void addNode(const hpp::floatSeq &config)
Definition: path_planners.hh:64
hpp::floatSeqSeq
sequence< floatSeq > floatSeqSeq
Definition: common.idl:34
hpp::core_impl::PathPlannerServant::finishSolve
hpp::core_idl::PathVector_ptr finishSolve(hpp::core_idl::PathVector_ptr path)
Definition: path_planners.hh:292
hpp::core_impl::PathOptimizerServant::PathOptimizerServant
PathOptimizerServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:387
hpp::core_impl::PathOptimizerServant::HppBase
hpp::core::PathOptimizer HppBase
Definition: path_planners-fwd.hh:173
Roadmap_ptr
_objref_Roadmap * Roadmap_ptr
Definition: path_planners-idl.hh:109
hpp::core_impl::PathPlannerServant::HppBase
hpp::core::PathPlanner HppBase
Definition: path_planners-fwd.hh:102
hpp::core_impl::PathOptimizerServant::SERVANT_BASE_TYPEDEFS
SERVANT_BASE_TYPEDEFS(hpp::core_idl::PathOptimizer, HppBase)
hpp::core_impl::PathPlannerServant::PathPlannerServant
PathPlannerServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:197
hpp::core_impl::PathOptimizerServant::timeOut
void timeOut(hpp::value_type seconds)
Definition: path_planners.hh:454
hpp::core_impl::PathPlannerServant::getRoadmap
hpp::core_idl::Roadmap_ptr getRoadmap()
Definition: path_planners.hh:348
hpp::core_impl::RoadmapServant::getEdge
hpp::core_idl::Path_ptr getEdge(hpp::size_type i)
Definition: path_planners.hh:173
hpp::core_impl::PathOptimizerServant::optimize
hpp::core_idl::PathVector_ptr optimize(hpp::core_idl::PathVector_ptr path)
Definition: path_planners.hh:412
hpp::core_impl::RoadmapServant::getNode
hpp::floatSeq * getNode(hpp::size_type i)
Definition: path_planners.hh:149
hpp::core_impl::PathPlannerServant::stopWhenProblemIsSolved
void stopWhenProblemIsSolved(::CORBA::Boolean enable)
Definition: path_planners.hh:362
hpp::core_impl::RoadmapServant::getNbNodes
hpp::size_type getNbNodes()
Definition: path_planners.hh:137
hpp::corbaServer::hpp_traits< hpp::core::PathOptimizer >::Base
hpp::core::PathOptimizer Base
Definition: path_planners-fwd.hh:208
hpp::core_impl::RoadmapServant::HppBase
hpp::core::Roadmap HppBase
Definition: path_planners-fwd.hh:34
hpp
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:27
hpp::core_impl::RoadmapServant::nearestNode
hpp::floatSeq * nearestNode(const hpp::floatSeq &config, hpp::value_type &distance, ::CORBA::Boolean reverse)
Definition: path_planners.hh:106
hpp::core_impl::RoadmapServant::getNbEdges
hpp::size_type getNbEdges()
Definition: path_planners.hh:161
hpp::size_type
long long size_type
Definition: common.idl:19
hpp::core_impl::PathOptimizerServant::~PathOptimizerServant
virtual ~PathOptimizerServant()
Definition: path_planners.hh:393
hpp::core_impl::RoadmapServant::clear
void clear()
Definition: path_planners.hh:50
hpp::core_impl::PathPlanner
PathPlannerServant< POA_hpp::core_idl::PathPlanner, hpp::weak_ptr< hpp::core::PathPlanner > > PathPlanner
Definition: path_planners-fwd.hh:151
hpp::core_impl::RoadmapServant::RoadmapServant
RoadmapServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:25
hpp::core_impl::RoadmapServant
Definition: path_planners-fwd.hh:31
hpp::core_impl::PathPlannerServant::startSolve
void startSolve()
Definition: path_planners.hh:236
hpp::core_impl::RoadmapServant::deleteThis
void deleteThis()
Definition: path_planners.hh:39
hpp::core_impl::PathPlannerServant::oneStep
void oneStep()
Definition: path_planners.hh:264
hpp::corbaServer::hpp_traits< hpp::core::PathPlanner >::Base
hpp::core::PathPlanner Base
Definition: path_planners-fwd.hh:158
hpp::core_impl::PathOptimizerServant::interrupt
void interrupt()
Definition: path_planners.hh:426
hpp::corbaServer::hpp_traits
Definition: servant-base.hh:66
hpp::core_idl::PathOptimizer
Definition: path_planners.idl:97
hpp::core_idl::PathPlanner
Definition: path_planners.idl:69
hpp::core_idl::Roadmap
Definition: path_planners.idl:22
hpp::core_impl::RoadmapServant::~RoadmapServant
virtual ~RoadmapServant()
Definition: path_planners.hh:31
PathVector_ptr
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82
hpp::corbaServer::hpp_traits< hpp::core::Roadmap >::Base
hpp::core::Roadmap Base
Definition: path_planners-fwd.hh:87
hpp::core_impl::PathPlannerServant::timeOut
void timeOut(hpp::value_type seconds)
Definition: path_planners.hh:334
hpp::core_impl::RoadmapServant::addNodeAndEdges
void addNodeAndEdges(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:92
hpp::core_impl::PathPlannerServant::tryConnectInitAndGoals
void tryConnectInitAndGoals()
Definition: path_planners.hh:250
hpp::core_impl::PathPlannerServant
Definition: path_planners-fwd.hh:99
hpp::core_impl::RoadmapServant::SERVANT_BASE_TYPEDEFS
SERVANT_BASE_TYPEDEFS(hpp::core_idl::Roadmap, HppBase)
hpp::core_impl::Roadmap
RoadmapServant< POA_hpp::core_idl::Roadmap, hpp::weak_ptr< hpp::core::Roadmap > > Roadmap
Definition: path_planners-fwd.hh:80
hpp::core_impl::PathPlannerServant::~PathPlannerServant
virtual ~PathPlannerServant()
Definition: path_planners.hh:203
hpp::corbaServer::ServantBase
Definition: servant-base.hh:100
Path_ptr
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
hpp::core_impl::PathPlannerServant::interrupt
void interrupt()
Definition: path_planners.hh:306