hpp-corbaserver  5.0.0
Corba server for Humanoid Path Planner applications
obstacle-idl.hh
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1 // This file is generated by omniidl (C++ backend)- omniORB_4_2. Do not edit.
2 #ifndef __obstacle_hh__
3 #define __obstacle_hh__
4 
5 #ifndef __CORBA_H_EXTERNAL_GUARD__
6 #include <omniORB4/CORBA.h>
7 #endif
8 
9 #ifndef USE_stub_in_nt_dll
10 # define USE_stub_in_nt_dll_NOT_DEFINED_obstacle
11 #endif
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_obstacle
14 #endif
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_obstacle
17 #endif
18 
19 
20 
21 #ifndef __common_hh_EXTERNAL_GUARD__
22 #define __common_hh_EXTERNAL_GUARD__
23 #include <hpp/common-idl.hh>
24 #endif
25 
26 
27 
28 #ifdef USE_stub_in_nt_dll
29 # ifndef USE_core_stub_in_nt_dll
30 # define USE_core_stub_in_nt_dll
31 # endif
32 # ifndef USE_dyn_stub_in_nt_dll
33 # define USE_dyn_stub_in_nt_dll
34 # endif
35 #endif
36 
37 #ifdef _core_attr
38 # error "A local CPP macro _core_attr has already been defined."
39 #else
40 # ifdef USE_core_stub_in_nt_dll
41 # define _core_attr _OMNIORB_NTDLL_IMPORT
42 # else
43 # define _core_attr
44 # endif
45 #endif
46 
47 #ifdef _dyn_attr
48 # error "A local CPP macro _dyn_attr has already been defined."
49 #else
50 # ifdef USE_dyn_stub_in_nt_dll
51 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
52 # else
53 # define _dyn_attr
54 # endif
55 #endif
56 
57 
58 
59 _CORBA_MODULE hpp
60 
61 _CORBA_MODULE_BEG
62 
63  _CORBA_MODULE corbaserver
64 
65  _CORBA_MODULE_BEG
66 
67 #ifndef __hpp_mcorbaserver_mObstacle__
68 #define __hpp_mcorbaserver_mObstacle__
69  class Obstacle;
70  class _objref_Obstacle;
71  class _impl_Obstacle;
72 
75 
77  public:
79 
80  static _ptr_type _nil();
81  static _CORBA_Boolean is_nil(_ptr_type);
82  static void release(_ptr_type);
83  static void duplicate(_ptr_type);
84  static void marshalObjRef(_ptr_type, cdrStream&);
85  static _ptr_type unmarshalObjRef(cdrStream&);
86  };
87 
88  typedef _CORBA_ObjRef_Var<_objref_Obstacle, Obstacle_Helper> Obstacle_var;
89  typedef _CORBA_ObjRef_OUT_arg<_objref_Obstacle,Obstacle_Helper > Obstacle_out;
90 
91 #endif
92 
93  // interface Obstacle
94  class Obstacle {
95  public:
96  // Declarations for this interface type.
99 
101  static _ptr_type _narrow(::CORBA::Object_ptr);
102  static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
103 
104  static _ptr_type _nil();
105 
106  static inline void _marshalObjRef(_ptr_type, cdrStream&);
107 
108  static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
109  omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
110  if (o)
111  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
112  else
113  return _nil();
114  }
115 
116  static inline _ptr_type _fromObjRef(omniObjRef* o) {
117  if (o)
118  return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
119  else
120  return _nil();
121  }
122 
123  static _core_attr const char* _PD_repoId;
124 
125  // Other IDL defined within this scope.
126 
127  };
128 
130  public virtual ::CORBA::Object,
131  public virtual omniObjRef
132  {
133  public:
134  // IDL operations
135  void loadObstacleModel(const char* filename, const char* prefix);
136  void loadPolyhedron(const char* obstacleName, const char* filename);
137  void loadObstacleModelFromString(const char* urdfString, const char* prefix);
138  void removeObstacle(const char* objectName);
139  void removeObstacleFromJoint(const char* objectName, const char* jointName, ::CORBA::Boolean collision, ::CORBA::Boolean distance);
140  void cutObstacle(const char* objectName, const ::hpp::floatSeq& aabb);
141  void addObstacle(const char* objectName, ::CORBA::Boolean collision, ::CORBA::Boolean distance);
142  void moveObstacle(const char* objectName, const ::hpp::Transform_ cfg);
143  void getObstaclePosition(const char* objectName, ::hpp::Transform_ cfg);
144  Names_t* getObstacleNames(::CORBA::Boolean collision, ::CORBA::Boolean distance);
145  void createPolyhedron(const char* polyName);
146  void createBox(const char* inBoxName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z);
147  void createSphere(const char* name, ::CORBA::Double radius);
148  void createCylinder(const char* name, ::CORBA::Double radius, ::CORBA::Double length);
149  ::CORBA::ULong addPoint(const char* polyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z);
150  ::CORBA::ULong addTriangle(const char* polyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3);
151 
152  // Constructors
153  inline _objref_Obstacle() { _PR_setobj(0); } // nil
154  _objref_Obstacle(omniIOR*, omniIdentity*);
155 
156  protected:
157  virtual ~_objref_Obstacle();
158 
159 
160  private:
161  virtual void* _ptrToObjRef(const char*);
162 
164  _objref_Obstacle& operator = (const _objref_Obstacle&);
165  // not implemented
166 
167  friend class Obstacle;
168  };
169 
170  class _pof_Obstacle : public _OMNI_NS(proxyObjectFactory) {
171  public:
172  inline _pof_Obstacle() : _OMNI_NS(proxyObjectFactory)(Obstacle::_PD_repoId) {}
173  virtual ~_pof_Obstacle();
174 
175  virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
176  virtual _CORBA_Boolean is_a(const char*) const;
177  };
178 
180  public virtual omniServant
181  {
182  public:
183  virtual ~_impl_Obstacle();
184 
185  virtual void loadObstacleModel(const char* filename, const char* prefix) = 0;
186  virtual void loadPolyhedron(const char* obstacleName, const char* filename) = 0;
187  virtual void loadObstacleModelFromString(const char* urdfString, const char* prefix) = 0;
188  virtual void removeObstacle(const char* objectName) = 0;
189  virtual void removeObstacleFromJoint(const char* objectName, const char* jointName, ::CORBA::Boolean collision, ::CORBA::Boolean distance) = 0;
190  virtual void cutObstacle(const char* objectName, const ::hpp::floatSeq& aabb) = 0;
191  virtual void addObstacle(const char* objectName, ::CORBA::Boolean collision, ::CORBA::Boolean distance) = 0;
192  virtual void moveObstacle(const char* objectName, const ::hpp::Transform_ cfg) = 0;
193  virtual void getObstaclePosition(const char* objectName, ::hpp::Transform_ cfg) = 0;
194  virtual Names_t* getObstacleNames(::CORBA::Boolean collision, ::CORBA::Boolean distance) = 0;
195  virtual void createPolyhedron(const char* polyName) = 0;
196  virtual void createBox(const char* inBoxName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0;
197  virtual void createSphere(const char* name, ::CORBA::Double radius) = 0;
198  virtual void createCylinder(const char* name, ::CORBA::Double radius, ::CORBA::Double length) = 0;
199  virtual ::CORBA::ULong addPoint(const char* polyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0;
200  virtual ::CORBA::ULong addTriangle(const char* polyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3) = 0;
201 
202  public: // Really protected, workaround for xlC
203  virtual _CORBA_Boolean _dispatch(omniCallHandle&);
204 
205  private:
206  virtual void* _ptrToInterface(const char*);
207  virtual const char* _mostDerivedRepoId();
208 
209  };
210 
211 
212  _CORBA_MODULE_END
213 
214 _CORBA_MODULE_END
215 
216 
217 
218 _CORBA_MODULE POA_hpp
219 _CORBA_MODULE_BEG
220 
221  _CORBA_MODULE corbaserver
222  _CORBA_MODULE_BEG
223 
224  class Obstacle :
225  public virtual hpp::corbaserver::_impl_Obstacle,
226  public virtual ::PortableServer::ServantBase
227  {
228  public:
229  virtual ~Obstacle();
230 
232  return (::hpp::corbaserver::Obstacle_ptr) _do_this(::hpp::corbaserver::Obstacle::_PD_repoId);
233  }
234  };
235 
236  _CORBA_MODULE_END
237 
238 _CORBA_MODULE_END
239 
240 
241 
242 _CORBA_MODULE OBV_hpp
243 _CORBA_MODULE_BEG
244 
245  _CORBA_MODULE corbaserver
246  _CORBA_MODULE_BEG
247 
248  _CORBA_MODULE_END
249 
250 _CORBA_MODULE_END
251 
252 
253 
254 
255 
256 #undef _core_attr
257 #undef _dyn_attr
258 
259 
260 
261 inline void
262 hpp::corbaserver::Obstacle::_marshalObjRef(::hpp::corbaserver::Obstacle_ptr obj, cdrStream& s) {
263  omniObjRef::_marshal(obj->_PR_getobj(),s);
264 }
265 
266 
267 
268 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_obstacle
269 # undef USE_stub_in_nt_dll
270 # undef USE_stub_in_nt_dll_NOT_DEFINED_obstacle
271 #endif
272 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_obstacle
273 # undef USE_core_stub_in_nt_dll
274 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_obstacle
275 #endif
276 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_obstacle
277 # undef USE_dyn_stub_in_nt_dll
278 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_obstacle
279 #endif
280 
281 #endif // __obstacle_hh__
282 
Definition: common-idl.hh:78
Definition: obstacle-idl.hh:76
static _ptr_type _nil()
Obstacle_ptr _ptr_type
Definition: obstacle-idl.hh:78
static void release(_ptr_type)
static void duplicate(_ptr_type)
static _CORBA_Boolean is_nil(_ptr_type)
static void marshalObjRef(_ptr_type, cdrStream &)
static _ptr_type unmarshalObjRef(cdrStream &)
Definition: obstacle-idl.hh:94
static _ptr_type _duplicate(_ptr_type)
static void _marshalObjRef(_ptr_type, cdrStream &)
Definition: obstacle-idl.hh:262
static _core_attr const char * _PD_repoId
Definition: obstacle-idl.hh:123
inline ::hpp::corbaserver::Obstacle_ptr _this()
Definition: obstacle-idl.hh:231
static _ptr_type _fromObjRef(omniObjRef *o)
Definition: obstacle-idl.hh:116
virtual ~Obstacle()
static _ptr_type _unmarshalObjRef(cdrStream &s)
Definition: obstacle-idl.hh:108
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr)
static _ptr_type _narrow(::CORBA::Object_ptr)
Obstacle_var _var_type
Definition: obstacle-idl.hh:98
Obstacle_ptr _ptr_type
Definition: obstacle-idl.hh:97
static _ptr_type _nil()
Definition: obstacle-idl.hh:181
virtual void loadObstacleModelFromString(const char *urdfString, const char *prefix)=0
virtual _CORBA_Boolean _dispatch(omniCallHandle &)
virtual void getObstaclePosition(const char *objectName, ::hpp::Transform_ cfg)=0
virtual void removeObstacleFromJoint(const char *objectName, const char *jointName, ::CORBA::Boolean collision, ::CORBA::Boolean distance)=0
virtual void loadPolyhedron(const char *obstacleName, const char *filename)=0
virtual ~_impl_Obstacle()
virtual void createPolyhedron(const char *polyName)=0
virtual void createBox(const char *inBoxName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)=0
virtual void addObstacle(const char *objectName, ::CORBA::Boolean collision, ::CORBA::Boolean distance)=0
virtual void removeObstacle(const char *objectName)=0
virtual void cutObstacle(const char *objectName, const ::hpp::floatSeq &aabb)=0
virtual void loadObstacleModel(const char *filename, const char *prefix)=0
virtual void moveObstacle(const char *objectName, const ::hpp::Transform_ cfg)=0
virtual void createSphere(const char *name, ::CORBA::Double radius)=0
virtual ::CORBA::ULong addTriangle(const char *polyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3)=0
virtual Names_t * getObstacleNames(::CORBA::Boolean collision, ::CORBA::Boolean distance)=0
virtual ::CORBA::ULong addPoint(const char *polyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)=0
virtual void createCylinder(const char *name, ::CORBA::Double radius, ::CORBA::Double length)=0
Definition: obstacle-idl.hh:132
void removeObstacle(const char *objectName)
void createBox(const char *inBoxName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)
void loadPolyhedron(const char *obstacleName, const char *filename)
void loadObstacleModel(const char *filename, const char *prefix)
void createCylinder(const char *name, ::CORBA::Double radius, ::CORBA::Double length)
virtual ~_objref_Obstacle()
::CORBA::ULong addTriangle(const char *polyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3)
void cutObstacle(const char *objectName, const ::hpp::floatSeq &aabb)
void addObstacle(const char *objectName, ::CORBA::Boolean collision, ::CORBA::Boolean distance)
void removeObstacleFromJoint(const char *objectName, const char *jointName, ::CORBA::Boolean collision, ::CORBA::Boolean distance)
void loadObstacleModelFromString(const char *urdfString, const char *prefix)
void createSphere(const char *name, ::CORBA::Double radius)
void moveObstacle(const char *objectName, const ::hpp::Transform_ cfg)
void getObstaclePosition(const char *objectName, ::hpp::Transform_ cfg)
_objref_Obstacle(omniIOR *, omniIdentity *)
Names_t * getObstacleNames(::CORBA::Boolean collision, ::CORBA::Boolean distance)
void createPolyhedron(const char *polyName)
::CORBA::ULong addPoint(const char *polyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z)
_objref_Obstacle()
Definition: obstacle-idl.hh:153
Definition: obstacle-idl.hh:170
virtual ~_pof_Obstacle()
virtual omniObjRef * newObjRef(omniIOR *, omniIdentity *)
_pof_Obstacle()
Definition: obstacle-idl.hh:172
virtual _CORBA_Boolean is_a(const char *) const
::CORBA::Double Transform_[7]
Definition: common-idl.hh:915
Implement CORBA interface `‘Obstacle’'.
Definition: client.hh:46
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
double Transform_[7]
Element of SE(3) represented by a vector and a unit quaternion.
Definition: common.idl:38
_CORBA_ObjRef_OUT_arg< _objref_Obstacle, Obstacle_Helper > Obstacle_out
Definition: obstacle-idl.hh:89
_CORBA_ObjRef_Var< _objref_Obstacle, Obstacle_Helper > Obstacle_var
Definition: obstacle-idl.hh:88
#define _core_attr
Definition: obstacle-idl.hh:43
Obstacle_ptr ObstacleRef
Definition: obstacle-idl.hh:74
_objref_Obstacle * Obstacle_ptr
Definition: obstacle-idl.hh:71