hpp-corbaserver
4.14.0
Corba server for Humanoid Path Planner applications
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2 #ifndef pp_pinocchio_idl__robots_hh__
3 #define pp_pinocchio_idl__robots_hh__
5 #ifndef __CORBA_H_EXTERNAL_GUARD__
6 #include <omniORB4/CORBA.h>
9 #ifndef USE_stub_in_nt_dll
10 # define USE_stub_in_nt_dll_NOT_DEFINED_robots
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_robots
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots
21 #ifndef pp_pinocchio_idl__common_hh_EXTERNAL_GUARD__
22 #define pp_pinocchio_idl__common_hh_EXTERNAL_GUARD__
28 #ifdef USE_stub_in_nt_dll
29 # ifndef USE_core_stub_in_nt_dll
30 # define USE_core_stub_in_nt_dll
32 # ifndef USE_dyn_stub_in_nt_dll
33 # define USE_dyn_stub_in_nt_dll
38 # error "A local CPP macro _core_attr has already been defined."
40 # ifdef USE_core_stub_in_nt_dll
41 # define _core_attr _OMNIORB_NTDLL_IMPORT
48 # error "A local CPP macro _dyn_attr has already been defined."
50 # ifdef USE_dyn_stub_in_nt_dll
51 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
63 _CORBA_MODULE pinocchio_idl
67 #ifndef __hpp_mpinocchio__idl_mCenterOfMassComputation__
68 #define __hpp_mpinocchio__idl_mCenterOfMassComputation__
109 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
130 public virtual ::CORBA::Object,
131 public virtual omniObjRef
150 virtual void* _ptrToObjRef(
const char*);
164 virtual omniObjRef*
newObjRef(omniIOR*,omniIdentity*);
165 virtual _CORBA_Boolean
is_a(
const char*)
const;
169 public virtual omniServant
181 virtual _CORBA_Boolean
_dispatch(omniCallHandle&);
184 virtual void* _ptrToInterface(
const char*);
185 virtual const char* _mostDerivedRepoId();
190 #ifndef __hpp_mpinocchio__idl_mDevice__
191 #define __hpp_mpinocchio__idl_mDevice__
211 typedef _CORBA_ObjRef_Var<_objref_Device, Device_Helper>
Device_var;
212 typedef _CORBA_ObjRef_OUT_arg<_objref_Device,Device_Helper >
Device_out;
232 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
253 public virtual ::CORBA::Object,
254 public virtual omniObjRef
285 virtual void* _ptrToObjRef(
const char*);
299 virtual omniObjRef*
newObjRef(omniIOR*,omniIdentity*);
300 virtual _CORBA_Boolean
is_a(
const char*)
const;
304 public virtual omniServant
310 virtual char*
name() = 0;
328 virtual _CORBA_Boolean
_dispatch(omniCallHandle&);
331 virtual void* _ptrToInterface(
const char*);
332 virtual const char* _mostDerivedRepoId();
337 #ifndef __hpp_mpinocchio__idl_mCollisionObject__
338 #define __hpp_mpinocchio__idl_mCollisionObject__
379 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
400 public virtual ::CORBA::Object,
401 public virtual omniObjRef
416 virtual void* _ptrToObjRef(
const char*);
430 virtual omniObjRef*
newObjRef(omniIOR*,omniIdentity*);
431 virtual _CORBA_Boolean
is_a(
const char*)
const;
435 public virtual omniServant
443 virtual _CORBA_Boolean
_dispatch(omniCallHandle&);
446 virtual void* _ptrToInterface(
const char*);
447 virtual const char* _mostDerivedRepoId();
458 _CORBA_MODULE POA_hpp
461 _CORBA_MODULE pinocchio_idl
465 public virtual hpp::pinocchio_idl::_impl_CenterOfMassComputation,
466 public virtual ::PortableServer::ServantBase
477 public virtual hpp::pinocchio_idl::_impl_Device,
478 public virtual ::PortableServer::ServantBase
489 public virtual hpp::pinocchio_idl::_impl_CollisionObject,
490 public virtual ::PortableServer::ServantBase
506 _CORBA_MODULE OBV_hpp
509 _CORBA_MODULE pinocchio_idl
527 omniObjRef::_marshal(obj->_PR_getobj(),s);
532 omniObjRef::_marshal(obj->_PR_getobj(),s);
537 omniObjRef::_marshal(obj->_PR_getobj(),s);
542 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_robots
543 # undef USE_stub_in_nt_dll
544 # undef USE_stub_in_nt_dll_NOT_DEFINED_robots
546 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_robots
547 # undef USE_core_stub_in_nt_dll
548 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_robots
550 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots
551 # undef USE_dyn_stub_in_nt_dll
552 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots
555 #endif // __robots_hh__
static _ptr_type _duplicate(_ptr_type)
virtual floatSeq * neutralConfiguration()=0
frame_index getFrameByName(const char *name)
virtual ~_objref_CollisionObject()
virtual ~CenterOfMassComputation()
Device_ptr _ptr_type
Definition: robots-idl.hh:220
_objref_Device()
Definition: robots-idl.hh:277
Definition: common-idl.hh:689
Transform__slice * getFramePosition(::hpp::frame_index frame_id)
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: robots-idl.hh:239
Definition: robots-idl.hh:399
static _ptr_type _narrow(::CORBA::Object_ptr)
static void marshalObjRef(_ptr_type, cdrStream &)
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
void saturate(const ::hpp::floatSeq &qin, ::hpp::floatSeq_out qout, ::hpp::boolSeq_out saturation)
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
virtual void deleteThis()=0
static const _core_attr char * _PD_repoId
Definition: robots-idl.hh:123
virtual void replaceGeometryByConvexHull(const ::hpp::Names_t &geometryNames)=0
virtual void difference(const ::hpp::floatSeq &q1, const ::hpp::floatSeq &q2, ::hpp::floatSeq_out result)=0
virtual void removeJoints(const ::hpp::Names_t &joints, const ::hpp::floatSeq &refConfig)=0
CenterOfMassComputation_ptr _ptr_type
Definition: robots-idl.hh:78
virtual void deleteThis()=0
virtual ~_impl_CollisionObject()
Definition: robots-idl.hh:76
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
void computeFramesForwardKinematics()
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: robots-idl.hh:231
Definition: robots-idl.hh:294
virtual floatSeqSeq * jacobian()=0
static const _core_attr char * _PD_repoId
Definition: robots-idl.hh:393
::CORBA::Double value_type
Definition: common-idl.hh:61
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: robots-idl.hh:116
virtual _CORBA_Boolean is_a(const char *) const
floatSeq * neutralConfiguration()
virtual void saturate(const ::hpp::floatSeq &qin, ::hpp::floatSeq_out qout, ::hpp::boolSeq_out saturation)=0
Definition: common-idl.hh:803
Definition: robots-idl.hh:252
inline ::hpp::pinocchio_idl::CenterOfMassComputation_ptr _this()
Definition: robots-idl.hh:471
virtual void interpolate(const ::hpp::floatSeq &q1, const ::hpp::floatSeq &q2, ::CORBA::Float u, ::hpp::floatSeq_out result)=0
static _ptr_type unmarshalObjRef(cdrStream &)
CenterOfMassComputation_ptr _ptr_type
Definition: robots-idl.hh:97
Definition: robots-idl.hh:217
virtual void integrate(const ::hpp::floatSeq &config_in, const ::hpp::floatSeq &velocity, ::hpp::floatSeq_out result)=0
inline ::hpp::pinocchio_idl::CollisionObject_ptr _this()
Definition: robots-idl.hh:495
_CORBA_ObjRef_Var< _objref_CenterOfMassComputation, CenterOfMassComputation_Helper > CenterOfMassComputation_var
Definition: robots-idl.hh:88
static void marshalObjRef(_ptr_type, cdrStream &)
Definition: robots-idl.hh:159
_CORBA_ObjRef_OUT_arg< _objref_Device, Device_Helper > Device_out
Definition: robots-idl.hh:212
_pof_CenterOfMassComputation()
Definition: robots-idl.hh:161
_pof_CollisionObject()
Definition: robots-idl.hh:427
CollisionObject_var _var_type
Definition: robots-idl.hh:368
_objref_CollisionObject()
Definition: robots-idl.hh:408
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: robots-idl.hh:386
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: robots-idl.hh:536
static _ptr_type unmarshalObjRef(cdrStream &)
virtual floatSeq * com()=0
static _ptr_type _duplicate(_ptr_type)
static _ptr_type unmarshalObjRef(cdrStream &)
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
_objref_CenterOfMassComputation * CenterOfMassComputation_ptr
Definition: robots-idl.hh:71
Definition: robots-idl.hh:168
floatSeq * getCurrentConfiguration()
virtual void computeFramesForwardKinematics()=0
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
virtual value_type mass()=0
_objref_CollisionObject * CollisionObject_ptr
Definition: robots-idl.hh:341
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: robots-idl.hh:526
void removeJoints(const ::hpp::Names_t &joints, const ::hpp::floatSeq &refConfig)
virtual Transform__slice * getFramePosition(::hpp::frame_index frame_id)=0
_CORBA_ObjRef_Var< _objref_Device, Device_Helper > Device_var
Definition: robots-idl.hh:211
virtual void deleteThis()=0
virtual floatSeqSeq * getFrameJacobian(::hpp::frame_index frame_id)=0
static _CORBA_Boolean is_nil(_ptr_type)
Definition: robots-idl.hh:425
Definition: _problem-idl.hh:112
CollisionObject_ptr _ptr_type
Definition: robots-idl.hh:367
Definition: robots-idl.hh:434
_pof_Device()
Definition: robots-idl.hh:296
static void release(_ptr_type)
static void release(_ptr_type)
virtual ~_pof_CollisionObject()
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:35
static void duplicate(_ptr_type)
CollisionObject_ptr CollisionObjectRef
Definition: robots-idl.hh:344
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: robots-idl.hh:108
virtual _CORBA_Boolean is_a(const char *) const
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: robots-idl.hh:531
static void marshalObjRef(_ptr_type, cdrStream &)
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
static void duplicate(_ptr_type)
_CORBA_ObjRef_Var< _objref_CollisionObject, CollisionObject_Helper > CollisionObject_var
Definition: robots-idl.hh:358
::CORBA::Boolean setCurrentConfiguration(const ::hpp::floatSeq &configuration)
_objref_Device * Device_ptr
Definition: robots-idl.hh:194
static _ptr_type _narrow(::CORBA::Object_ptr)
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
virtual _CORBA_Boolean is_a(const char *) const
static _ptr_type _narrow(::CORBA::Object_ptr)
Device_ptr _ptr_type
Definition: robots-idl.hh:201
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
virtual ~_objref_Device()
void computeForwardKinematics()
_CORBA_ObjRef_Var< _objref_Device, Device_Helper > Device_var
Definition: _problem-idl.hh:124
::CORBA::Double Transform__slice
Definition: common-idl.hh:916
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
#define _core_attr
Definition: robots-idl.hh:43
static _CORBA_Boolean is_nil(_ptr_type)
Definition: robots-idl.hh:364
virtual void computeForwardKinematics()=0
virtual frame_index getFrameByName(const char *name)=0
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
CenterOfMassComputation_var _var_type
Definition: robots-idl.hh:98
virtual void updateGeometryPlacements()=0
static void duplicate(_ptr_type)
CollisionObject_ptr _ptr_type
Definition: robots-idl.hh:348
virtual ~_impl_CenterOfMassComputation()
void replaceGeometryByConvexHull(const ::hpp::Names_t &geometryNames)
Definition: robots-idl.hh:94
virtual floatSeq * getCurrentConfiguration()=0
void updateGeometryPlacements()
_CORBA_ObjRef_OUT_arg< _objref_CenterOfMassComputation, CenterOfMassComputation_Helper > CenterOfMassComputation_out
Definition: robots-idl.hh:89
inline ::hpp::pinocchio_idl::Device_ptr _this()
Definition: robots-idl.hh:483
static _ptr_type _duplicate(_ptr_type)
static _CORBA_Boolean is_nil(_ptr_type)
CenterOfMassComputation_ptr CenterOfMassComputationRef
Definition: robots-idl.hh:74
void integrate(const ::hpp::floatSeq &config_in, const ::hpp::floatSeq &velocity, ::hpp::floatSeq_out result)
floatSeqSeq * getFrameJacobian(::hpp::frame_index frame_id)
Definition: _problem-idl.hh:138
Device_var _var_type
Definition: robots-idl.hh:221
Definition: robots-idl.hh:303
_objref_CenterOfMassComputation()
Definition: robots-idl.hh:142
_CORBA_ObjRef_OUT_arg< _objref_CollisionObject, CollisionObject_Helper > CollisionObject_out
Definition: robots-idl.hh:359
virtual ~_objref_CenterOfMassComputation()
::CORBA::ULong frame_index
Definition: common-idl.hh:71
void difference(const ::hpp::floatSeq &q1, const ::hpp::floatSeq &q2, ::hpp::floatSeq_out result)
static void release(_ptr_type)
Definition: robots-idl.hh:129
static const _core_attr char * _PD_repoId
Definition: robots-idl.hh:246
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: robots-idl.hh:378
unsigned long frame_index
Definition: common.idl:20
Device_ptr DeviceRef
Definition: robots-idl.hh:197
virtual ::CORBA::Boolean setCurrentConfiguration(const ::hpp::floatSeq &configuration)=0
_CORBA_ObjRef_Var< _objref_CollisionObject, CollisionObject_Helper > CollisionObject_var
Definition: _problem-idl.hh:150
void interpolate(const ::hpp::floatSeq &q1, const ::hpp::floatSeq &q2, ::CORBA::Float u, ::hpp::floatSeq_out result)
virtual ~_pof_CenterOfMassComputation()
virtual ~CollisionObject()