17 #ifndef HPP_CORBASERVER_CONVERSIONS_HH
18 #define HPP_CORBASERVER_CONVERSIONS_HH
20 # include <hpp/util/exception-factory.hh>
23 # include <hpp/core/parameter.hh>
27 namespace corbaServer {
28 typedef Eigen::Matrix<CORBA::Long, Eigen::Dynamic, Eigen::Dynamic>
IntMatrix_t;
46 if (!input)
return NULL;
69 unsigned int length = 3);
71 inline char*
c_str (
const std::string& in)
73 char* out =
new char[in.length()+1];
74 strcpy (out, in.c_str());
81 char** nameList = Names_t::allocbuf((CORBA::ULong) len);
82 Names_t *ret =
new Names_t ((CORBA::ULong) len, (CORBA::ULong) len, nameList,
true);
85 while (begin != end) {
86 nameList[i] =
c_str (*begin);
95 return toNames_t(iterable.begin(), iterable.end());
98 template <
typename InputIt>
inline intSeq*
toIntSeq (InputIt begin, InputIt end)
102 indexes->length ((CORBA::ULong) len);
105 while (begin != end) {
106 (*indexes)[i] = *begin;
117 indexes->length ((CORBA::ULong) len);
120 while (begin != end) {
121 (*indexes)[(CORBA::ULong)i] = *begin;
131 for (CORBA::ULong i = 0; i < names.length(); ++i)
132 ret.push_back (std::string(names[i]));
148 CORBA::Any* ap =
new CORBA::Any;
Definition: common-idl.hh:78
Definition: common-idl.hh:233
Definition: common-idl.hh:689
Definition: common-idl.hh:575
Definition: common-idl.hh:461
Definition: common-idl.hh:347
::CORBA::Double Transform__slice
Definition: common-idl.hh:802
void toHppTransform(const Transform3f &in, Transform_ out)
Configuration_t floatSeqToConfig(const DevicePtr_t &robot, const floatSeq &dofArray, bool throwIfNotNormalized)
pinocchio::Transform3f Transform3f
Definition: fwd.hh:80
IntMatrix_t intSeqSeqToMatrix(const intSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
core::matrix_t floatSeqSeqToMatrix(const floatSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
Names_t * toNames_t(InputIt begin, InputIt end)
Definition: conversions.hh:78
pinocchio::vector_t vector_t
Definition: fwd.hh:89
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:43
boolSeq * toBoolSeq(InputIt begin, InputIt end)
Definition: conversions.hh:113
intSeqSeq * matrixToIntSeqSeq(Eigen::Ref< const IntMatrix_t > input)
vector3_t floatSeqToVector3(const floatSeq &dofArray)
ConfigurationPtr_t floatSeqToConfigPtr(const DevicePtr_t &robot, const floatSeq &dofArray, bool throwIfNotNormalized)
pinocchio::size_type size_type
Definition: fwd.hh:92
core::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:44
OutputType toStrings(const Names_t &names)
Definition: conversions.hh:128
pinocchio::vector3_t vector3_t
Definition: fwd.hh:90
std::vector< bool > boolSeqToVector(const hpp::boolSeq &mask, unsigned int length=3)
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
CORBA::Any toCorbaAny(const core::Parameter ¶meter)
void toTransform3f(const Transform_ in, Transform3f &out)
constraints::ComparisonTypes_t convertComparison(hpp::ComparisonTypes_t comp)
Convert CORBA comparison types to C++ comparison type.
char * c_str(const std::string &in)
Definition: conversions.hh:71
floatSeq * vectorToFloatSeq(core::vectorIn_t input)
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:51
Eigen::Matrix< CORBA::Long, Eigen::Dynamic, Eigen::Dynamic > IntMatrix_t
Definition: conversions.hh:28
intSeq * toIntSeq(InputIt begin, InputIt end)
Definition: conversions.hh:98
pinocchio::matrix_t matrix_t
Definition: fwd.hh:87
floatSeqSeq * matrixToFloatSeqSeq(core::matrixIn_t input)
Returns a sequence of the rows of the input matrix.
CORBA::Any * toCorbaAnyPtr(const core::Parameter ¶meter)
Definition: conversions.hh:146
core::Parameter toParameter(const CORBA::Any &any)
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:27
sequence< boolean > boolSeq
Definition: common.idl:29
double Transform_[7]
Element of SE(3) represented by a vector and a unit quaternion.
Definition: common.idl:37
sequence< string > Names_t
Sequence of names.
Definition: common.idl:23
sequence< ComparisonType > ComparisonTypes_t
Definition: common.idl:49
sequence< long > intSeq
Definition: common.idl:30
_CORBA_MODULE hpp _CORBA_MODULE_BEG _CORBA_MODULE core_idl _CORBA_MODULE_BEG typedef ::CORBA::ULongLong size_t
Definition: paths-idl.hh:75