hpp-corbaserver
4.9.0
Corba server for Humanoid Path Planner applications
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Go to the documentation of this file. 1 #ifndef hpp_constraints_idl__constraints_hxx__
2 #define hpp_constraints_idl__constraints_hxx__
18 namespace corbaServer {
23 namespace constraints_impl {
24 template <
typename _Base,
typename _Storage>
30 template <
typename _Base,
typename _Storage>
38 template <
typename _Base,
typename _Storage>
47 }
catch (
const std::exception& e) {
48 throw ::hpp::Error (e.what());
52 template <
typename _Base,
typename _Storage>
57 matrix_t J (get()->outputDerivativeSize(), get()->inputDerivativeSize());
61 }
catch (
const std::exception& e) {
62 throw ::hpp::Error (e.what());
66 template <
typename _Base,
typename _Storage>
75 }
catch (
const std::exception& e) {
76 throw ::hpp::Error (e.what());
80 template <
typename _Base,
typename _Storage>
89 }
catch (
const std::exception& e) {
90 throw ::hpp::Error (e.what());
94 template <
typename _Base,
typename _Storage>
103 }
catch (
const std::exception& e) {
104 throw ::hpp::Error (e.what());
108 template <
typename _Base,
typename _Storage>
117 }
catch (
const std::exception& e) {
118 throw ::hpp::Error (e.what());
122 template <
typename _Base,
typename _Storage>
131 }
catch (
const std::exception& e) {
132 throw ::hpp::Error (e.what());
136 template <
typename _Base,
typename _Storage>
141 std::ostringstream oss; oss << *get();
142 std::string res = oss.str();
143 return CORBA::string_dup(res.c_str());
144 }
catch (
const std::exception& e) {
145 throw ::hpp::Error (e.what());
155 namespace constraints_impl {
156 template <
typename _Base,
typename _Storage>
162 template <
typename _Base,
typename _Storage>
170 template <
typename _Base,
typename _Storage>
176 hpp::constraints::DifferentiableFunctionPtr_t __return__ (getT()->functionPtr ());
178 return makeServantDownCast<hpp::corbaServer::constraints_impl::DifferentiableFunction,hpp::corbaServer::constraints_impl::DifferentiableFunction>(server_, __return__)._retn();
179 }
catch (
const std::exception& e) {
180 throw ::hpp::Error (e.what());
184 template <
typename _Base,
typename _Storage>
190 (getT()->rightHandSideFromConfig (_config));
193 }
catch (
const std::exception& e) {
194 throw ::hpp::Error (e.what());
198 template <
typename _Base,
typename _Storage>
204 (getT()->rightHandSide (_rhs));
207 }
catch (
const std::exception& e) {
208 throw ::hpp::Error (e.what());
212 template <
typename _Base,
typename _Storage>
221 }
catch (
const std::exception& e) {
222 throw ::hpp::Error (e.what());
226 template <
typename _Base,
typename _Storage>
235 }
catch (
const std::exception& e) {
236 throw ::hpp::Error (e.what());
240 template <
typename _Base,
typename _Storage>
249 }
catch (
const std::exception& e) {
250 throw ::hpp::Error (e.what());
254 template <
typename _Base,
typename _Storage>
263 }
catch (
const std::exception& e) {
264 throw ::hpp::Error (e.what());
274 namespace constraints_impl {
275 template <
typename _Base,
typename _Storage>
281 template <
typename _Base,
typename _Storage>
289 template <
typename _Base,
typename _Storage>
298 }
catch (
const std::exception& e) {
299 throw ::hpp::Error (e.what());
312 #endif // hpp_constraints_idl__constraints_hxx__
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:32
char * c_str(const std::string &in)
Definition: conversions.hh:68
hpp::size_type inputDerivativeSize()
Definition: constraints.hh:81
Definition: constraints-fwd.hh:26
virtual ~DifferentiableFunctionServant()
Definition: constraints.hh:31
Implementation of Hpp module Corba server.
Definition: server.hh:54
hpp::floatSeq * rightHandSideAt(hpp::value_type s)
Definition: constraints.hh:255
hpp::constraints_idl::DifferentiableFunction_ptr function()
Definition: constraints.hh:171
double value_type
Definition: common.idl:18
_objref_DifferentiableFunction * DifferentiableFunction_ptr
Definition: constraints-idl.hh:71
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
sequence< floatSeq > floatSeqSeq
Definition: common.idl:33
char * str()
Definition: constraints.hh:137
ImplicitServant(Server *server, const _Storage &s)
Definition: constraints.hh:157
hpp::floatSeqSeq * jacobian(const hpp::floatSeq &arg)
Definition: constraints.hh:53
LockedJointServant(Server *server, const _Storage &s)
Definition: constraints.hh:276
void setRightHandSide(const hpp::floatSeq &rhs)
Definition: constraints.hh:199
hpp::size_type outputDerivativeSize()
Definition: constraints.hh:109
pinocchio::vector_t vector_t
Definition: fwd.hh:83
hpp::floatSeq * getRightHandSide()
Definition: constraints.hh:213
hpp::size_type inputSize()
Definition: constraints.hh:67
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:27
long long size_type
Definition: common.idl:19
Definition: constraints-fwd.hh:75
void setRightHandSideFromConfig(const hpp::floatSeq &config)
Definition: constraints.hh:185
hpp::size_type outputSize()
Definition: constraints.hh:95
hpp::size_type parameterSize()
Definition: constraints.hh:241
floatSeqSeq * matrixToFloatSeqSeq(core::matrixIn_t input)
Returns a sequence of the rows of the input matrix.
virtual ~ImplicitServant()
Definition: constraints.hh:163
char * name()
Definition: constraints.hh:123
char * jointName()
Definition: constraints.hh:290
pinocchio::matrix_t matrix_t
Definition: fwd.hh:81
hpp::size_type rightHandSideSize()
Definition: constraints.hh:227
hpp::floatSeq * value(const hpp::floatSeq &arg)
Definition: constraints.hh:39
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
DifferentiableFunctionServant(Server *server, const _Storage &s)
Definition: constraints.hh:25
virtual ~LockedJointServant()
Definition: constraints.hh:282
Definition: servant-base.hh:100