1 #ifndef hpp_core_idl__steering__methods_hxx__
2 #define hpp_core_idl__steering__methods_hxx__
24 template <
typename _Base,
typename _Storage>
31 template <
typename _Base,
typename _Storage>
39 template <
typename _Base,
typename _Storage>
44 _ServantBase::deleteThis();
45 }
catch (
const std::exception& e) {
46 throw ::hpp::Error (e.what());
50 template <
typename _Base,
typename _Storage>
55 return _ServantBase::deleteIfExpired();
56 }
catch (
const std::exception& e) {
57 throw ::hpp::Error (e.what());
61 template <
typename _Base,
typename _Storage>
66 _ServantBase::persistantStorage(persistant);
67 }
catch (
const std::exception& e) {
68 throw ::hpp::Error (e.what());
72 template <
typename _Base,
typename _Storage>
81 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
82 }
catch (
const std::exception& e) {
83 throw ::hpp::Error (e.what());
87 template <
typename _Base,
typename _Storage>
92 hpp::core::ConstraintSetPtr_t _constraints = ::hpp::corbaServer::reference_to_object<hpp::core::ConstraintSet>(server_, constraints);
93 (getT()->constraints (_constraints));
96 }
catch (
const std::exception& e) {
97 throw ::hpp::Error (e.what());
101 template <
typename _Base,
typename _Storage>
107 hpp::core::ConstraintPtr_t __return__ (getT()->constraints ());
109 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(server_, __return__)._retn();
110 }
catch (
const std::exception& e) {
111 throw ::hpp::Error (e.what());
125 namespace core_impl {
127 namespace steeringMethod_impl {
128 template <
typename _Base,
typename _Storage>
135 template <
typename _Base,
typename _Storage>
143 template <
typename _Base,
typename _Storage>
154 hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length));
156 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
157 }
catch (
const std::exception& e) {
158 throw ::hpp::Error (e.what());
174 namespace core_impl {
176 namespace steeringMethod_impl {
177 template <
typename _Base,
typename _Storage>
184 template <
typename _Base,
typename _Storage>
192 template <
typename _Base,
typename _Storage>
203 hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length));
205 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
206 }
catch (
const std::exception& e) {
207 throw ::hpp::Error (e.what());
_objref_ConstraintSet * ConstraintSet_ptr
Definition: _constraints-idl.hh:486
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
bool persistantStorage() const
See persistantStorage(bool)
Definition: servant-base.hh:166
Implementation of Hpp module Corba server.
Definition: server.hh:78
Definition: steering_methods-fwd.hh:29
hpp::core_idl::Path_ptr call(const hpp::floatSeq &q1, const hpp::floatSeq &q2)
Definition: steering_methods.hh:73
void setConstraints(hpp::core_idl::ConstraintSet_ptr constraints)
Definition: steering_methods.hh:88
virtual ~SteeringMethodServant()
Definition: steering_methods.hh:32
SteeringMethodServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:25
::CORBA::Boolean deleteIfExpired()
Definition: steering_methods.hh:51
void deleteThis()
Definition: steering_methods.hh:40
hpp::core_idl::Constraint_ptr getConstraints()
Definition: steering_methods.hh:102
SplineBernstein3Servant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:129
hpp::core_idl::Path_ptr steer(const hpp::floatSeq &q1, const hpp::intSeq &order1, const hpp::floatSeqSeq &derivatives1, const hpp::floatSeq &q2, const hpp::intSeq &order2, const hpp::floatSeqSeq &derivatives2, ::CORBA::Float length)
Definition: steering_methods.hh:144
virtual ~SplineBernstein3Servant()
Definition: steering_methods.hh:136
virtual ~SplineBernstein5Servant()
Definition: steering_methods.hh:185
SplineBernstein5Servant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:178
hpp::core_idl::Path_ptr steer(const hpp::floatSeq &q1, const hpp::intSeq &order1, const hpp::floatSeqSeq &derivatives1, const hpp::floatSeq &q2, const hpp::intSeq &order2, const hpp::floatSeqSeq &derivatives2, ::CORBA::Float length)
Definition: steering_methods.hh:193
core::matrix_t floatSeqSeqToMatrix(const floatSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
std::vector< int > intSeqToVector(const intSeq &dofArray)
pinocchio::vector_t vector_t
Definition: fwd.hh:108
core::PathPtr_t PathPtr_t
Definition: fwd.hh:96
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
pinocchio::matrix_t matrix_t
Definition: fwd.hh:106
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
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
sequence< long > intSeq
Definition: common.idl:31
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83