hpp-corbaserver  5.0.0
Corba server for Humanoid Path Planner applications
path_planners-fwd.hh
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1 #ifndef hpp_core_idl__path__planners_hpp__
2 #define hpp_core_idl__path__planners_hpp__
3 
4 //
5 // Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-5.0.0/idl/hpp/core_idl/path_planners.idl
6 //
7 
10 
11 #include <iterator>
12 #include <hpp/pinocchio/serialization.hh>
13 #include <hpp/core/connected-component.hh>
14 #include <hpp/core/path-planner.hh>
15 #include <hpp/core/path-optimizer.hh>
16 #include <hpp/core/roadmap.hh>
17 #include <hpp/core/edge.hh>
18 #include <hpp/core/node.hh>
19 #include <hpp/core_idl/paths.hh>
20 
21 
22 
23 
24 
25 //
26 // Class implementing IDL interface hpp::core_idl::ConnectedComponent
27 //
28 namespace hpp {
29 
30 namespace core_impl {
31 template <typename _Base, typename _Storage>
33 public hpp::corbaServer::ServantBase<hpp::core::ConnectedComponent, _Storage>, public virtual _Base
34 {
35 public:
37 
39 
40 public:
41  // standard constructor
42  ConnectedComponentServant(::hpp::corbaServer::Server* server, const _Storage& s);
44 
45  // methods corresponding to defined IDL attributes and operations
46 
47  void deleteThis ();
48 
49 
50  ::CORBA::Boolean deleteIfExpired ();
51 
52 
53  void persistantStorage (::CORBA::Boolean persistant);
54 
55 
57 
58 
59 };
60 
62 } // namespace core_impl
63 
64 } // namespace hpp
65 
66 namespace hpp {
67 namespace corbaServer {
69 } // namespace corbaServer
70 } // namespace corbaServer
71 
72 
73 //
74 // Class implementing IDL interface hpp::core_idl::Roadmap
75 //
76 namespace hpp {
77 
78 namespace core_impl {
79 template <typename _Base, typename _Storage>
81 public hpp::corbaServer::ServantBase<hpp::core::Roadmap, _Storage>, public virtual _Base
82 {
83 public:
85 
87 
88 public:
89  // standard constructor
90  RoadmapServant(::hpp::corbaServer::Server* server, const _Storage& s);
91  virtual ~RoadmapServant();
92 
93  // methods corresponding to defined IDL attributes and operations
94 
95  void deleteThis ();
96 
97 
98  ::CORBA::Boolean deleteIfExpired ();
99 
100 
101  void persistantStorage (::CORBA::Boolean persistant);
102 
103 
104  void clear ();
105 
106 
107  void addNode (const hpp::floatSeq& config);
108 
109 
110  void addNodeAndEdge (const hpp::floatSeq& cfgfrom, const hpp::floatSeq& cfgto, hpp::core_idl::Path_ptr path_);
111 
112 
113  void addNodeAndEdges (const hpp::floatSeq& cfgfrom, const hpp::floatSeq& cfgto, hpp::core_idl::Path_ptr path_);
114 
115 
116  hpp::floatSeq* nearestNode (const hpp::floatSeq& config, hpp::value_type& distance, ::CORBA::Boolean reverse);
117 
118 
120 
121 
123 
124 
126 
127 
129 
130 
132 
133 
135 
136 
137 };
138 
140 } // namespace core_impl
141 
142 } // namespace hpp
143 
144 namespace hpp {
145 namespace corbaServer {
146 template<> struct hpp_traits<hpp::core::Roadmap>{ typedef hpp::core::Roadmap Base; };
147 } // namespace corbaServer
148 } // namespace corbaServer
149 
150 
151 //
152 // Class implementing IDL interface hpp::core_idl::PathPlanner
153 //
154 namespace hpp {
155 
156 namespace core_impl {
157 template <typename _Base, typename _Storage>
159 public hpp::corbaServer::ServantBase<hpp::core::PathPlanner, _Storage>, public virtual _Base
160 {
161 public:
163 
165 
166 public:
167  // standard constructor
168  PathPlannerServant(::hpp::corbaServer::Server* server, const _Storage& s);
169  virtual ~PathPlannerServant();
170 
171  // methods corresponding to defined IDL attributes and operations
172 
173  void deleteThis ();
174 
175 
176  ::CORBA::Boolean deleteIfExpired ();
177 
178 
179  void persistantStorage (::CORBA::Boolean persistant);
180 
181 
183 
184 
185  void startSolve ();
186 
187 
188  void tryConnectInitAndGoals ();
189 
190 
191  void oneStep ();
192 
193 
195 
196 
198 
199 
200  void interrupt ();
201 
202 
203  void maxIterations (hpp::size_type n);
204 
205 
206  void timeOut (hpp::value_type seconds);
207 
208 
210 
211 
212  void stopWhenProblemIsSolved (::CORBA::Boolean enable);
213 
214 
215 };
216 
218 } // namespace core_impl
219 
220 } // namespace hpp
221 
222 namespace hpp {
223 namespace corbaServer {
225 } // namespace corbaServer
226 } // namespace corbaServer
227 
228 
229 //
230 // Class implementing IDL interface hpp::core_idl::PathOptimizer
231 //
232 namespace hpp {
233 
234 namespace core_impl {
235 template <typename _Base, typename _Storage>
237 public hpp::corbaServer::ServantBase<hpp::core::PathOptimizer, _Storage>, public virtual _Base
238 {
239 public:
241 
243 
244 public:
245  // standard constructor
246  PathOptimizerServant(::hpp::corbaServer::Server* server, const _Storage& s);
247  virtual ~PathOptimizerServant();
248 
249  // methods corresponding to defined IDL attributes and operations
250 
251  void deleteThis ();
252 
253 
254  ::CORBA::Boolean deleteIfExpired ();
255 
256 
257  void persistantStorage (::CORBA::Boolean persistant);
258 
259 
261 
262 
263  void interrupt ();
264 
265 
266  void maxIterations (hpp::size_type n);
267 
268 
269  void timeOut (hpp::value_type seconds);
270 
271 
272 };
273 
275 } // namespace core_impl
276 
277 } // namespace hpp
278 
279 namespace hpp {
280 namespace corbaServer {
282 } // namespace corbaServer
283 } // namespace corbaServer
284 
285 
286 
287 
288 
289 #endif // hpp_core_idl__path__planners_hpp__
290 
Definition: servant-base.hh:122
bool persistantStorage() const
See persistantStorage(bool)
Definition: servant-base.hh:166
Implementation of Hpp module Corba server.
Definition: server.hh:78
Definition: path_planners-fwd.hh:34
void deleteThis()
Definition: path_planners.hh:40
hpp::core::ConnectedComponent HppBase
Definition: path_planners-fwd.hh:36
hpp::floatSeqSeq * nodes()
Definition: path_planners.hh:73
ConnectedComponentServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:25
SERVANT_BASE_TYPEDEFS(hpp::core_idl::ConnectedComponent, HppBase)
virtual ~ConnectedComponentServant()
Definition: path_planners.hh:32
::CORBA::Boolean deleteIfExpired()
Definition: path_planners.hh:51
Definition: path_planners-fwd.hh:238
::CORBA::Boolean deleteIfExpired()
Definition: path_planners.hh:551
SERVANT_BASE_TYPEDEFS(hpp::core_idl::PathOptimizer, HppBase)
PathOptimizerServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:525
hpp::core::PathOptimizer HppBase
Definition: path_planners-fwd.hh:240
hpp::core_idl::PathVector_ptr optimize(hpp::core_idl::PathVector_ptr path)
Definition: path_planners.hh:573
void timeOut(hpp::value_type seconds)
Definition: path_planners.hh:615
void deleteThis()
Definition: path_planners.hh:540
virtual ~PathOptimizerServant()
Definition: path_planners.hh:532
void interrupt()
Definition: path_planners.hh:587
void maxIterations(hpp::size_type n)
Definition: path_planners.hh:601
Definition: path_planners-fwd.hh:160
hpp::core_idl::PathVector_ptr computePath()
Definition: path_planners.hh:416
void tryConnectInitAndGoals()
Definition: path_planners.hh:388
void maxIterations(hpp::size_type n)
Definition: path_planners.hh:458
SERVANT_BASE_TYPEDEFS(hpp::core_idl::PathPlanner, HppBase)
void oneStep()
Definition: path_planners.hh:402
void stopWhenProblemIsSolved(::CORBA::Boolean enable)
Definition: path_planners.hh:500
void deleteThis()
Definition: path_planners.hh:327
virtual ~PathPlannerServant()
Definition: path_planners.hh:319
hpp::core_idl::Roadmap_ptr getRoadmap()
Definition: path_planners.hh:486
void startSolve()
Definition: path_planners.hh:374
void timeOut(hpp::value_type seconds)
Definition: path_planners.hh:472
PathPlannerServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:312
void interrupt()
Definition: path_planners.hh:444
hpp::core_idl::PathVector_ptr finishSolve(hpp::core_idl::PathVector_ptr path)
Definition: path_planners.hh:430
hpp::core_idl::PathVector_ptr solve()
Definition: path_planners.hh:360
hpp::core::PathPlanner HppBase
Definition: path_planners-fwd.hh:162
::CORBA::Boolean deleteIfExpired()
Definition: path_planners.hh:338
Definition: path_planners-fwd.hh:82
virtual ~RoadmapServant()
Definition: path_planners.hh:110
hpp::floatSeq * nearestNode(const hpp::floatSeq &config, hpp::value_type &distance, ::CORBA::Boolean reverse)
Definition: path_planners.hh:207
hpp::size_type getNbEdges()
Definition: path_planners.hh:262
hpp::core_idl::ConnectedComponentSeq * getConnectedComponents()
Definition: path_planners.hh:287
hpp::core_idl::Path_ptr getEdge(hpp::size_type i)
Definition: path_planners.hh:274
void clear()
Definition: path_planners.hh:151
hpp::core::Roadmap HppBase
Definition: path_planners-fwd.hh:84
void deleteThis()
Definition: path_planners.hh:118
void addNodeAndEdge(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:179
hpp::floatSeqSeq * nearestNodes(const hpp::floatSeq &config, hpp::size_type &k)
Definition: path_planners.hh:220
SERVANT_BASE_TYPEDEFS(hpp::core_idl::Roadmap, HppBase)
hpp::size_type getNbNodes()
Definition: path_planners.hh:238
RoadmapServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:103
::CORBA::Boolean deleteIfExpired()
Definition: path_planners.hh:129
void addNode(const hpp::floatSeq &config)
Definition: path_planners.hh:165
hpp::floatSeq * getNode(hpp::size_type i)
Definition: path_planners.hh:250
void addNodeAndEdges(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:193
Definition: path_planners.idl:22
Definition: path_planners.idl:115
Definition: path_planners.idl:87
Definition: path_planners.idl:37
sequence< ConnectedComponent > ConnectedComponentSeq
Definition: path_planners.idl:33
ConnectedComponentServant< POA_hpp::core_idl::ConnectedComponent, hpp::weak_ptr< hpp::core::ConnectedComponent > > ConnectedComponent
Definition: path_planners-fwd.hh:61
RoadmapServant< POA_hpp::core_idl::Roadmap, hpp::weak_ptr< hpp::core::Roadmap > > Roadmap
Definition: path_planners-fwd.hh:139
PathPlannerServant< POA_hpp::core_idl::PathPlanner, hpp::weak_ptr< hpp::core::PathPlanner > > PathPlanner
Definition: path_planners-fwd.hh:217
PathOptimizerServant< POA_hpp::core_idl::PathOptimizer, hpp::weak_ptr< hpp::core::PathOptimizer > > PathOptimizer
Definition: path_planners-fwd.hh:274
Implement CORBA interface `‘Obstacle’'.
Definition: client.hh:46
long long size_type
Definition: common.idl:19
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
double value_type
Definition: common.idl:18
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
_objref_Roadmap * Roadmap_ptr
Definition: path_planners-idl.hh:342
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82
hpp::core::ConnectedComponent Base
Definition: path_planners-fwd.hh:68
hpp::core::PathOptimizer Base
Definition: path_planners-fwd.hh:281
hpp::core::PathPlanner Base
Definition: path_planners-fwd.hh:224
hpp::core::Roadmap Base
Definition: path_planners-fwd.hh:146
Definition: servant-base.hh:89