2 #ifndef pp_core_idl__path__planners_hh__
3 #define pp_core_idl__path__planners_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_path__planners
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_path__planners
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_path__planners
21 #ifndef pp_core_idl__common_hh_EXTERNAL_GUARD__
22 #define pp_core_idl__common_hh_EXTERNAL_GUARD__
25 #ifndef pp_core_idl__paths_hh_EXTERNAL_GUARD__
26 #define pp_core_idl__paths_hh_EXTERNAL_GUARD__
29 #ifndef pp_core_idl__constraints_hh_EXTERNAL_GUARD__
30 #define pp_core_idl__constraints_hh_EXTERNAL_GUARD__
33 #ifndef pp_core_idl____constraints_hh_EXTERNAL_GUARD__
34 #define pp_core_idl____constraints_hh_EXTERNAL_GUARD__
40 #ifdef USE_stub_in_nt_dll
41 # ifndef USE_core_stub_in_nt_dll
42 # define USE_core_stub_in_nt_dll
44 # ifndef USE_dyn_stub_in_nt_dll
45 # define USE_dyn_stub_in_nt_dll
50 # error "A local CPP macro _core_attr has already been defined."
52 # ifdef USE_core_stub_in_nt_dll
53 # define _core_attr _OMNIORB_NTDLL_IMPORT
60 # error "A local CPP macro _dyn_attr has already been defined."
62 # ifdef USE_dyn_stub_in_nt_dll
63 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
75 _CORBA_MODULE core_idl
79 #ifndef __hpp_mcore__idl_mPath__
80 #define __hpp_mcore__idl_mPath__
100 typedef _CORBA_ObjRef_Var<_objref_Path, Path_Helper>
Path_var;
101 typedef _CORBA_ObjRef_OUT_arg<_objref_Path,Path_Helper >
Path_out;
105 #ifndef __hpp_mcore__idl_mRoadmap__
106 #define __hpp_mcore__idl_mRoadmap__
126 typedef _CORBA_ObjRef_Var<_objref_Roadmap, Roadmap_Helper>
Roadmap_var;
127 typedef _CORBA_ObjRef_OUT_arg<_objref_Roadmap,Roadmap_Helper >
Roadmap_out;
147 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
168 public virtual ::CORBA::Object,
169 public virtual omniObjRef
194 virtual void* _ptrToObjRef(
const char*);
209 virtual _CORBA_Boolean
is_a(
const char*)
const;
213 public virtual omniServant
234 virtual void* _ptrToInterface(
const char*);
235 virtual const char* _mostDerivedRepoId();
240 #ifndef __hpp_mcore__idl_mPathPlanner__
241 #define __hpp_mcore__idl_mPathPlanner__
262 typedef _CORBA_ObjRef_OUT_arg<_objref_PathPlanner,PathPlanner_Helper >
PathPlanner_out;
282 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
303 public virtual ::CORBA::Object,
304 public virtual omniObjRef
330 virtual void* _ptrToObjRef(
const char*);
345 virtual _CORBA_Boolean
is_a(
const char*)
const;
349 public virtual omniServant
371 virtual void* _ptrToInterface(
const char*);
372 virtual const char* _mostDerivedRepoId();
377 #ifndef __hpp_mcore__idl_mPathOptimizer__
378 #define __hpp_mcore__idl_mPathOptimizer__
419 omniObjRef* o = omniObjRef::_unMarshal(
_PD_repoId,s);
440 public virtual ::CORBA::Object,
441 public virtual omniObjRef
460 virtual void* _ptrToObjRef(
const char*);
475 virtual _CORBA_Boolean
is_a(
const char*)
const;
479 public virtual omniServant
494 virtual void* _ptrToInterface(
const char*);
495 virtual const char* _mostDerivedRepoId();
506 _CORBA_MODULE POA_hpp
509 _CORBA_MODULE core_idl
513 public virtual hpp::core_idl::_impl_Roadmap,
514 public virtual ::PortableServer::ServantBase
525 public virtual hpp::core_idl::_impl_PathPlanner,
526 public virtual ::PortableServer::ServantBase
537 public virtual hpp::core_idl::_impl_PathOptimizer,
538 public virtual ::PortableServer::ServantBase
554 _CORBA_MODULE OBV_hpp
557 _CORBA_MODULE core_idl
575 omniObjRef::_marshal(obj->_PR_getobj(),s);
580 omniObjRef::_marshal(obj->_PR_getobj(),s);
585 omniObjRef::_marshal(obj->_PR_getobj(),s);
590 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_path__planners
591 # undef USE_stub_in_nt_dll
592 # undef USE_stub_in_nt_dll_NOT_DEFINED_path__planners
594 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_path__planners
595 # undef USE_core_stub_in_nt_dll
596 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_path__planners
598 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_path__planners
599 # undef USE_dyn_stub_in_nt_dll
600 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_path__planners
Definition: path_planners-idl.hh:386
static void duplicate(_ptr_type)
static _CORBA_Boolean is_nil(_ptr_type)
static void release(_ptr_type)
static _ptr_type unmarshalObjRef(cdrStream &)
static void marshalObjRef(_ptr_type, cdrStream &)
PathOptimizer_ptr _ptr_type
Definition: path_planners-idl.hh:388
Definition: path_planners-idl.hh:404
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
PathOptimizer_ptr _ptr_type
Definition: path_planners-idl.hh:407
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: path_planners-idl.hh:426
inline ::hpp::core_idl::PathOptimizer_ptr _this()
Definition: path_planners-idl.hh:543
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: path_planners-idl.hh:418
static _ptr_type _duplicate(_ptr_type)
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: path_planners-idl.hh:584
static _core_attr const char * _PD_repoId
Definition: path_planners-idl.hh:433
PathOptimizer_var _var_type
Definition: path_planners-idl.hh:408
static _ptr_type _narrow(::CORBA::Object_ptr)
Definition: path_planners-idl.hh:249
static void duplicate(_ptr_type)
PathPlanner_ptr _ptr_type
Definition: path_planners-idl.hh:251
static _ptr_type unmarshalObjRef(cdrStream &)
static _CORBA_Boolean is_nil(_ptr_type)
static void marshalObjRef(_ptr_type, cdrStream &)
static void release(_ptr_type)
Definition: path_planners-idl.hh:267
inline ::hpp::core_idl::PathPlanner_ptr _this()
Definition: path_planners-idl.hh:531
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
static _ptr_type _narrow(::CORBA::Object_ptr)
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: path_planners-idl.hh:289
static _ptr_type _duplicate(_ptr_type)
PathPlanner_var _var_type
Definition: path_planners-idl.hh:271
PathPlanner_ptr _ptr_type
Definition: path_planners-idl.hh:270
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: path_planners-idl.hh:281
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: path_planners-idl.hh:579
static _core_attr const char * _PD_repoId
Definition: path_planners-idl.hh:296
Definition: path_planners-idl.hh:88
static _ptr_type unmarshalObjRef(cdrStream &)
static void duplicate(_ptr_type)
static void marshalObjRef(_ptr_type, cdrStream &)
static void release(_ptr_type)
Path_ptr _ptr_type
Definition: path_planners-idl.hh:90
static _CORBA_Boolean is_nil(_ptr_type)
Definition: paths-idl.hh:157
Definition: path_planners-idl.hh:114
static void duplicate(_ptr_type)
static void marshalObjRef(_ptr_type, cdrStream &)
static _ptr_type unmarshalObjRef(cdrStream &)
Roadmap_ptr _ptr_type
Definition: path_planners-idl.hh:116
static _CORBA_Boolean is_nil(_ptr_type)
static void release(_ptr_type)
Definition: path_planners-idl.hh:132
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: path_planners-idl.hh:146
static _ptr_type _duplicate(_ptr_type)
static _core_attr const char * _PD_repoId
Definition: path_planners-idl.hh:161
Roadmap_ptr _ptr_type
Definition: path_planners-idl.hh:135
Roadmap_var _var_type
Definition: path_planners-idl.hh:136
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: path_planners-idl.hh:574
inline ::hpp::core_idl::Roadmap_ptr _this()
Definition: path_planners-idl.hh:519
static _ptr_type _narrow(::CORBA::Object_ptr)
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: path_planners-idl.hh:154
Definition: path_planners-idl.hh:480
virtual PathVector_ptr optimize(::hpp::core_idl::PathVector_ptr path)=0
virtual ~_impl_PathOptimizer()
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
virtual void interrupt()=0
virtual void maxIterations(::hpp::size_type n)=0
virtual void deleteThis()=0
virtual void timeOut(::hpp::value_type seconds)=0
Definition: path_planners-idl.hh:350
virtual void tryConnectInitAndGoals()=0
virtual void stopWhenProblemIsSolved(::CORBA::Boolean enable)=0
virtual void maxIterations(::hpp::size_type n)=0
virtual void timeOut(::hpp::value_type seconds)=0
virtual ~_impl_PathPlanner()
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
virtual PathVector_ptr solve()=0
virtual PathVector_ptr finishSolve(::hpp::core_idl::PathVector_ptr path)=0
virtual void deleteThis()=0
virtual PathVector_ptr computePath()=0
virtual Roadmap_ptr getRoadmap()=0
virtual void startSolve()=0
virtual void interrupt()=0
Definition: paths-idl.hh:242
Definition: path_planners-idl.hh:214
virtual void addNode(const ::hpp::floatSeq &config)=0
virtual size_type getNbNodes()=0
virtual floatSeq * nearestNode(const ::hpp::floatSeq &config, ::hpp::value_type &distance, ::CORBA::Boolean reverse)=0
virtual void deleteThis()=0
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
virtual floatSeqSeq * nearestNodes(const ::hpp::floatSeq &config, ::hpp::size_type &k)=0
virtual floatSeq * getNode(::hpp::size_type i)=0
virtual size_type getNbEdges()=0
virtual Path_ptr getEdge(::hpp::size_type i)=0
virtual void addNodeAndEdge(const ::hpp::floatSeq &cfgfrom, const ::hpp::floatSeq &cfgto, ::hpp::core_idl::Path_ptr path_)=0
virtual void addNodeAndEdges(const ::hpp::floatSeq &cfgfrom, const ::hpp::floatSeq &cfgto, ::hpp::core_idl::Path_ptr path_)=0
Definition: path_planners-idl.hh:442
_objref_PathOptimizer(omniIOR *, omniIdentity *)
_objref_PathOptimizer()
Definition: path_planners-idl.hh:452
virtual ~_objref_PathOptimizer()
void maxIterations(::hpp::size_type n)
PathVector_ptr optimize(::hpp::core_idl::PathVector_ptr path)
void timeOut(::hpp::value_type seconds)
Definition: path_planners-idl.hh:305
virtual ~_objref_PathPlanner()
_objref_PathPlanner(omniIOR *, omniIdentity *)
PathVector_ptr computePath()
_objref_PathPlanner()
Definition: path_planners-idl.hh:322
void tryConnectInitAndGoals()
void maxIterations(::hpp::size_type n)
PathVector_ptr finishSolve(::hpp::core_idl::PathVector_ptr path)
void stopWhenProblemIsSolved(::CORBA::Boolean enable)
void timeOut(::hpp::value_type seconds)
Definition: paths-idl.hh:335
Definition: paths-idl.hh:195
Definition: path_planners-idl.hh:170
floatSeq * getNode(::hpp::size_type i)
floatSeqSeq * nearestNodes(const ::hpp::floatSeq &config, ::hpp::size_type &k)
_objref_Roadmap(omniIOR *, omniIdentity *)
floatSeq * nearestNode(const ::hpp::floatSeq &config, ::hpp::value_type &distance, ::CORBA::Boolean reverse)
virtual ~_objref_Roadmap()
void addNodeAndEdges(const ::hpp::floatSeq &cfgfrom, const ::hpp::floatSeq &cfgto, ::hpp::core_idl::Path_ptr path_)
void addNode(const ::hpp::floatSeq &config)
void addNodeAndEdge(const ::hpp::floatSeq &cfgfrom, const ::hpp::floatSeq &cfgto, ::hpp::core_idl::Path_ptr path_)
_objref_Roadmap()
Definition: path_planners-idl.hh:186
Path_ptr getEdge(::hpp::size_type i)
Definition: path_planners-idl.hh:469
virtual _CORBA_Boolean is_a(const char *) const
_pof_PathOptimizer()
Definition: path_planners-idl.hh:471
virtual ~_pof_PathOptimizer()
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
Definition: path_planners-idl.hh:339
virtual _CORBA_Boolean is_a(const char *) const
virtual ~_pof_PathPlanner()
_pof_PathPlanner()
Definition: path_planners-idl.hh:341
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
Definition: path_planners-idl.hh:203
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
virtual _CORBA_Boolean is_a(const char *) const
_pof_Roadmap()
Definition: path_planners-idl.hh:205
Definition: common-idl.hh:689
Definition: common-idl.hh:575
::CORBA::LongLong size_type
Definition: common-idl.hh:66
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:27
long long size_type
Definition: common.idl:19
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:33
double value_type
Definition: common.idl:18
Roadmap_ptr RoadmapRef
Definition: path_planners-idl.hh:112
Path_ptr PathRef
Definition: path_planners-idl.hh:86
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
_CORBA_ObjRef_OUT_arg< _objref_Roadmap, Roadmap_Helper > Roadmap_out
Definition: path_planners-idl.hh:127
_CORBA_ObjRef_Var< _objref_PathPlanner, PathPlanner_Helper > PathPlanner_var
Definition: path_planners-idl.hh:261
_objref_PathPlanner * PathPlanner_ptr
Definition: path_planners-idl.hh:244
_CORBA_ObjRef_Var< _objref_Path, Path_Helper > Path_var
Definition: path_planners-idl.hh:100
#define _core_attr
Definition: path_planners-idl.hh:55
_CORBA_ObjRef_OUT_arg< _objref_PathPlanner, PathPlanner_Helper > PathPlanner_out
Definition: path_planners-idl.hh:262
_CORBA_ObjRef_Var< _objref_Roadmap, Roadmap_Helper > Roadmap_var
Definition: path_planners-idl.hh:126
_CORBA_ObjRef_Var< _objref_PathOptimizer, PathOptimizer_Helper > PathOptimizer_var
Definition: path_planners-idl.hh:398
_CORBA_ObjRef_OUT_arg< _objref_Path, Path_Helper > Path_out
Definition: path_planners-idl.hh:101
_objref_PathOptimizer * PathOptimizer_ptr
Definition: path_planners-idl.hh:381
PathOptimizer_ptr PathOptimizerRef
Definition: path_planners-idl.hh:384
_CORBA_ObjRef_OUT_arg< _objref_PathOptimizer, PathOptimizer_Helper > PathOptimizer_out
Definition: path_planners-idl.hh:399
PathPlanner_ptr PathPlannerRef
Definition: path_planners-idl.hh:247
_objref_Roadmap * Roadmap_ptr
Definition: path_planners-idl.hh:109
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82