hpp-corbaserver 5.2.0
Corba server for Humanoid Path Planner applications
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fwd.hh
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1// Copyright (C) 2010 by Thomas Moulard and Joseph Mirabel, CNRS.
2//
3
4// Redistribution and use in source and binary forms, with or without
5// modification, are permitted provided that the following conditions are
6// met:
7//
8// 1. Redistributions of source code must retain the above copyright
9// notice, this list of conditions and the following disclaimer.
10//
11// 2. Redistributions in binary form must reproduce the above copyright
12// notice, this list of conditions and the following disclaimer in the
13// documentation and/or other materials provided with the distribution.
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15// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
16// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
17// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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19// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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32// See the COPYING file for more information.
33
34#ifndef HPP_CORBASERVER_FWD_HH
35#define HPP_CORBASERVER_FWD_HH
36
37// FIXME: should be replaced by CORBA base types forward declarations.
38#include <omniORB4/CORBA.h>
39
40#include <hpp/core/fwd.hh>
41
42#ifdef COAL_VERSION
43namespace coal {
44template <typename T>
45class BVHModel;
46class CollisionGeometry;
47class OBBRSS;
48class ShapeBase;
49class Triangle;
50} // namespace coal
51#else
52namespace hpp {
53namespace fcl {
54template <typename T>
56class CollisionGeometry;
57class OBBRSS;
58class ShapeBase;
59class Triangle;
60} // namespace fcl
61} // namespace hpp
62#endif
63
64namespace hpp {
65namespace corbaServer {
66class Server;
67class ServerPlugin;
68class Tools;
69class Client;
70class ProblemSolverMap;
72
73typedef pinocchio::BodyPtr_t BodyPtr_t;
74using fcl::CollisionGeometry;
75using pinocchio::CollisionGeometryPtr_t;
76typedef pinocchio::CollisionObject CollisionObject_t;
77typedef pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t;
78typedef pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t;
79typedef pinocchio::Configuration_t Configuration_t;
80typedef core::ConfigIterator_t ConfigIterator_t;
81typedef core::ConfigConstIterator_t ConfigConstIterator_t;
82typedef core::ConnectedComponent ConnectedComponent;
83typedef core::ConnectedComponents_t ConnectedComponents_t;
84typedef core::ConnectedComponentPtr_t ConnectedComponentPtr_t;
85typedef pinocchio::Device Device;
86typedef pinocchio::DevicePtr_t DevicePtr_t;
87typedef pinocchio::DistanceResults_t DistanceResults_t;
88typedef core::CollisionPairs_t CollisionPairs_t;
89typedef core::DistanceBetweenObjects DistanceBetweenObjects;
90typedef core::DistanceBetweenObjectsPtr_t DistanceBetweenObjectsPtr_t;
91typedef core::Edges_t Edges_t;
92typedef pinocchio::Joint Joint;
93typedef pinocchio::Frame Frame;
94typedef pinocchio::JointPtr_t JointPtr_t;
95typedef pinocchio::JointVector_t JointVector_t;
98typedef constraints::Shape_t Shape_t;
99typedef constraints::JointAndShape_t JointAndShape_t;
100typedef constraints::JointAndShapes_t JointAndShapes_t;
101
102typedef core::LockedJoint LockedJoint;
103typedef core::LockedJointPtr_t LockedJointPtr_t;
104typedef core::Nodes_t Nodes_t;
105typedef core::NodeVector_t NodeVector_t;
106typedef core::ObjectVector_t ObjectVector_t;
107typedef core::ObjectStdVector_t ObjectStdVector_t;
108// typedef pinocchio::ObjectIterator ObjectIterator;
109typedef core::PathPtr_t PathPtr_t;
110typedef core::PathValidationReportPtr_t PathValidationReportPtr_t;
111typedef core::PathVector PathVector_t;
112typedef core::PathVectorPtr_t PathVectorPtr_t;
113typedef core::SteeringMethod SteeringMethod_t;
114typedef core::SteeringMethodPtr_t SteeringMethodPtr_t;
115typedef pinocchio::Transform3f Transform3f;
117
118typedef pinocchio::value_type value_type;
119typedef pinocchio::matrix_t matrix_t;
120typedef pinocchio::matrix3_t matrix3_t;
121typedef pinocchio::vector_t vector_t;
122typedef pinocchio::vector3_t vector3_t;
123typedef pinocchio::ComJacobian_t ComJacobian_t;
124typedef pinocchio::size_type size_type;
125typedef pinocchio::LiegroupElement LiegroupElement;
126typedef pinocchio::LiegroupSpace LiegroupSpace;
127typedef pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t;
128
129namespace impl {
130using CORBA::Boolean;
131using CORBA::Double;
132using CORBA::Short;
133using CORBA::SystemException;
134using CORBA::ULong;
135using CORBA::UShort;
136
137class Problem;
138class Obstacle;
139class Robot;
140class Server;
141} // namespace impl
142} // end of namespace corbaServer.
143} // end of namespace hpp.
144
145#endif
Implementation of Hpp module Corba server.
Definition server.hh:78
Definition obstacle.impl.hh:49
Implement CORBA interface `‘Problem’'.
Definition problem.impl.hh:57
Implementation of corba interface hpp::Robot.
Definition robot.impl.hh:71
Definition fwd.hh:55
ReturnType::Object_var makeServantDownCast(Server *server, const typename ServantBaseType::Storage &t)
Definition servant-base.hh:407
Utilities to create new contexts and load new interfaces at runtime.
Definition tools.idl:18
core::PathVectorPtr_t PathVectorPtr_t
Definition fwd.hh:112
pinocchio::Transform3f Transform3f
Definition fwd.hh:115
constraints::JointAndShape_t JointAndShape_t
Definition fwd.hh:99
core::DistanceBetweenObjects DistanceBetweenObjects
Definition fwd.hh:89
core::LockedJointPtr_t LockedJointPtr_t
Definition fwd.hh:103
core::ConfigIterator_t ConfigIterator_t
Definition fwd.hh:80
pinocchio::Frame Frame
Definition fwd.hh:93
pinocchio::vector_t vector_t
Definition fwd.hh:121
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition fwd.hh:77
core::Edges_t Edges_t
Definition fwd.hh:91
core::SteeringMethod SteeringMethod_t
Definition fwd.hh:113
core::PathValidationReportPtr_t PathValidationReportPtr_t
Definition fwd.hh:110
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:79
core::ObjectStdVector_t ObjectStdVector_t
Definition fwd.hh:107
core::PathVector PathVector_t
Definition fwd.hh:111
core::DistanceBetweenObjectsPtr_t DistanceBetweenObjectsPtr_t
Definition fwd.hh:90
core::NodeVector_t NodeVector_t
Definition fwd.hh:105
pinocchio::DistanceResults_t DistanceResults_t
Definition fwd.hh:87
pinocchio::Joint Joint
Definition fwd.hh:92
pinocchio::size_type size_type
Definition fwd.hh:124
pinocchio::LiegroupElement LiegroupElement
Definition fwd.hh:125
pinocchio::BodyPtr_t BodyPtr_t
Definition fwd.hh:73
fcl::BVHModel< fcl::OBBRSS > Polyhedron_t
Definition fwd.hh:116
pinocchio::LiegroupSpace LiegroupSpace
Definition fwd.hh:126
pinocchio::CollisionObject CollisionObject_t
Definition fwd.hh:76
constraints::JointAndShapes_t JointAndShapes_t
Definition fwd.hh:100
pinocchio::JointPtr_t JointPtr_t
Definition fwd.hh:94
core::LockedJoint LockedJoint
Definition fwd.hh:102
core::SteeringMethodPtr_t SteeringMethodPtr_t
Definition fwd.hh:114
pinocchio::vector3_t vector3_t
Definition fwd.hh:122
core::PathPtr_t PathPtr_t
Definition fwd.hh:109
pinocchio::ComJacobian_t ComJacobian_t
Definition fwd.hh:123
pinocchio::Device Device
Definition fwd.hh:85
pinocchio::matrix3_t matrix3_t
Definition fwd.hh:120
core::ConnectedComponent ConnectedComponent
Definition fwd.hh:82
core::ObjectVector_t ObjectVector_t
Definition fwd.hh:106
core::ConnectedComponents_t ConnectedComponents_t
Definition fwd.hh:83
core::Nodes_t Nodes_t
Definition fwd.hh:104
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition fwd.hh:78
core::ConfigConstIterator_t ConfigConstIterator_t
Definition fwd.hh:81
pinocchio::value_type value_type
Definition fwd.hh:118
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:86
core::CollisionPairs_t CollisionPairs_t
Definition fwd.hh:88
pinocchio::JointVector_t JointVector_t
Definition fwd.hh:95
pinocchio::matrix_t matrix_t
Definition fwd.hh:119
core::ConnectedComponentPtr_t ConnectedComponentPtr_t
Definition fwd.hh:84
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition fwd.hh:127
shared_ptr< ProblemSolverMap > ProblemSolverMapPtr_t
Definition fwd.hh:71
constraints::Shape_t Shape_t
Definition fwd.hh:98
Implement CORBA interface `‘Obstacle’'.
Definition client.hh:46