hpp-corbaserver: idl/hpp/core_idl/paths.idl Source File

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

paths.idl
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1 // Copyright (C) 2019 by Joseph Mirabel, LAAS-CNRS.
2 //
3 // This file is part of the hpp-corbaserver.
4 //
5 // This software is provided "as is" without warranty of any kind,
6 // either expressed or implied, including but not limited to the
7 // implied warranties of fitness for a particular purpose.
8 //
9 // See the COPYING file for more information.
10
11 #ifndef HPP_CORE_PATHS_IDL
12 #define HPP_CORE_PATHS_IDL
13 #include <hpp/common.idl>
14
15 module hpp
16 {
17 module core_idl {
18 typedef unsigned long long size_t;
19 interface PathVector;
20 interface ConstraintSet;
21
22 interface Path
23 {
24 HPP_EXPOSE_MEMORY_DEALLOCATION(Error)
25
26 size_type outputSize () raises (Error);
27
28 size_type outputDerivativeSize () raises (Error);
29
30 value_type length () raises (Error);
31
32 floatSeq initial () raises (Error);
33
34 floatSeq end () raises (Error);
35
36 ConstraintSet constraints () raises (Error);
37
38 string str () raises (Error);
39
40 floatSeq call (in value_type t, out boolean success) raises (Error);
41 //-> eval
42
43 floatSeq at (in value_type t, out boolean success) raises (Error);
44 //* hpp::core::vector_t res (get()->outputSize());
45 //* success = get()->at (t, res);
46 //* return hpp::corbaServer::vectorToFloatSeq (res);
47
48 floatSeq derivative (in value_type t, in short order) raises (Error);
49 //* hpp::core::vector_t res (get()->outputDerivativeSize());
50 //* get()->derivative (res, t, order);
51 //* return hpp::corbaServer::vectorToFloatSeq (res);
52
53 Path extract (in value_type tmin, in value_type tmax) raises (Error);
54
55 PathVector asVector () raises (Error);
56 //* hpp::core::PathPtr_t p = get();
57 //* hpp::core::PathVectorPtr_t pv =
58 //* hpp::core::PathVector::create (p->outputSize(), p->outputDerivativeSize());
59 //* pv->appendPath (p);
60 //*
61 //* return hpp::corbaServer::makeServant<hpp::core_idl::PathVector_ptr>
62 //* (server_, new PathVector (server_, pv));
63
64 Path reverse () raises (Error);
65 }; // interface Path
66
67 interface PathVector : Path {
68 size_t numberPaths () raises (Error);
69
70 size_t rankAtParam (in value_type param, out value_type localParam) raises (Error);
71
72 Path pathAtRank (in size_t rank) raises (Error);
73
74 void appendPath (in Path p) raises (Error);
75
76 void concatenate (in PathVector p) raises (Error);
77
78 PathVector flatten () raises (Error);
79 //* hpp::core::PathPtr_t p = get();
80 //* hpp::core::PathVectorPtr_t pv =
81 //* HPP_DYNAMIC_PTR_CAST(hpp::core::PathVector, p);
82 //* hpp::core::PathVectorPtr_t out =
83 //* hpp::core::PathVector::create (p->outputSize(), p->outputDerivativeSize());
84 //* pv->flatten (out);
85 //*
86 //* return hpp::corbaServer::makeServant<hpp::core_idl::PathVector_ptr>
87 //* (server_, new PathVector (server_, out));
88 }; // interface PathVector
89
90 module path_idl {
91 interface Hermite : Path {
92 };
93 }; // module path
94
95 }; // module core
96 }; // module hpp
97 //* #include <hpp/core/path.hh>
98 //* #include <hpp/core/path-vector.hh>
99 //* #include <hpp/core/path/hermite.hh>
100 //* #include <hpp/core_idl/_constraints.hh>
101
102 #include <hpp/core_idl/_constraints.idl>
103
104 #endif // HPP_CORE_PATHS_IDL
_constraints.idl
floatSeq
Definition: common-idl.hh:689
common.idl
HPP_EXPOSE_MEMORY_DEALLOCATION
#define HPP_EXPOSE_MEMORY_DEALLOCATION(ErrorType)
Definition: common.idl:14
hpp::Error
Corba exception travelling through the Corba channel.
Definition: common.idl:27
hpp::core_idl::ConstraintSet
Definition: _constraints.idl:81
hpp::core_idl::PathVector
Definition: paths.idl:67
hpp::core_idl::PathVector::numberPaths
size_t numberPaths()
hpp::core_idl::Path
Definition: paths.idl:23
hpp::core_idl::path_idl::Hermite
Definition: paths.idl:91
hpp
Implement CORBA interface `‘Obstacle’'.
hpp::size_type
long long size_type
Definition: common.idl:19
hpp::value_type
double value_type
Definition: common.idl:18
size_t
_CORBA_MODULE hpp _CORBA_MODULE_BEG _CORBA_MODULE core_idl _CORBA_MODULE_BEG typedef ::CORBA::ULongLong size_t
Definition: paths-idl.hh:75