hpp-corbaserver: src/hpp/core_idl/steering_methods.hh Source File

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

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steering_methods.hh
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1#ifndef hpp_core_idl__steering__methods_hxx__
2#define hpp_core_idl__steering__methods_hxx__
3
4//
5// Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/core_idl/steering_methods.idl
6//
7
8#include <hpp/core_idl/steering_methods-fwd.hh>
9
10#include <sstream>
11
12#include <hpp/corbaserver/fwd.hh>
13#include <hpp/corbaserver/conversions.hh>
14#include "hpp/corbaserver/servant-base.hh"
15
16
17
18//
19// Implementational code for IDL interface hpp::core_idl::SteeringMethod
20//
21 namespace hpp {
22
23 namespace core_impl {
24 template <typename _Base, typename _Storage>
25 SteeringMethodServant<_Base, _Storage>::SteeringMethodServant(::hpp::corbaServer::Server* server,
26 const _Storage& s)
27 : hpp::corbaServer::ServantBase<hpp::core::SteeringMethod, _Storage> (server, s)
28{
29 // add extra constructor code here
30}
31 template <typename _Base, typename _Storage>
32 SteeringMethodServant<_Base, _Storage>::~SteeringMethodServant()
33{
34 // add extra destructor code here
35}
36
37// Methods corresponding to IDL attributes and operations
38
39 template <typename _Base, typename _Storage>
40 void SteeringMethodServant<_Base, _Storage>::deleteThis ()
41{
42 try {
43 // automatically generated code.
44 _ServantBase::deleteThis();
45 } catch (const std::exception& e) {
46 throw ::hpp::Error (e.what());
47 }
48}
49
50 template <typename _Base, typename _Storage>
51::CORBA::Boolean SteeringMethodServant<_Base, _Storage>::deleteIfExpired ()
52{
53 try {
54 // automatically generated code.
55 return _ServantBase::deleteIfExpired();
56 } catch (const std::exception& e) {
57 throw ::hpp::Error (e.what());
58 }
59}
60
61 template <typename _Base, typename _Storage>
62 void SteeringMethodServant<_Base, _Storage>::persistantStorage (::CORBA::Boolean persistant)
63{
64 try {
65 // automatically generated code.
66 _ServantBase::persistantStorage(persistant);
67 } catch (const std::exception& e) {
68 throw ::hpp::Error (e.what());
69 }
70}
71
72 template <typename _Base, typename _Storage>
73hpp::core_idl::Path_ptr SteeringMethodServant<_Base, _Storage>::call (const hpp::floatSeq& q1, const hpp::floatSeq& q2)
74{
75 try {
76 // automatically generated code.
77 hpp::core::vector_t _q1 = hpp::corbaServer::floatSeqToVector (q1);
78 hpp::core::vector_t _q2 = hpp::corbaServer::floatSeqToVector (q2);
79 hpp::core::PathPtr_t __return__ (getT()->operator() (_q1, _q2));
80
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());
84 }
85}
86
87 template <typename _Base, typename _Storage>
88 void SteeringMethodServant<_Base, _Storage>::setConstraints (hpp::core_idl::ConstraintSet_ptr constraints)
89{
90 try {
91 // automatically generated code.
92 hpp::core::ConstraintSetPtr_t _constraints = ::hpp::corbaServer::reference_to_object<hpp::core::ConstraintSet>(server_, constraints);
93 (getT()->constraints (_constraints));
94
95
96 } catch (const std::exception& e) {
97 throw ::hpp::Error (e.what());
98 }
99}
100
101 template <typename _Base, typename _Storage>
102hpp::core_idl::Constraint_ptr SteeringMethodServant<_Base, _Storage>::getConstraints ()
103{
104 try {
105 // automatically generated code.
106
107 hpp::core::ConstraintPtr_t __return__ (getT()->constraints ());
108
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());
112 }
113}
114
115// End of implementational code
116} // namespace core_impl
117
118} // namespace hpp
119
120//
121// Implementational code for IDL interface hpp::core_idl::steeringMethod_idl::SplineBernstein3
122//
123 namespace hpp {
124
125 namespace core_impl {
126
127 namespace steeringMethod_impl {
128 template <typename _Base, typename _Storage>
129 SplineBernstein3Servant<_Base, _Storage>::SplineBernstein3Servant(::hpp::corbaServer::Server* server,
130 const _Storage& s)
131 : hpp::core_impl::SteeringMethodServant<_Base, _Storage> (server, s)
132{
133 // add extra constructor code here
134}
135 template <typename _Base, typename _Storage>
136 SplineBernstein3Servant<_Base, _Storage>::~SplineBernstein3Servant()
137{
138 // add extra destructor code here
139}
140
141// Methods corresponding to IDL attributes and operations
142
143 template <typename _Base, typename _Storage>
144hpp::core_idl::Path_ptr SplineBernstein3Servant<_Base, _Storage>::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)
145{
146 try {
147 // automatically generated code.
148 hpp::core::vector_t _q1 = hpp::corbaServer::floatSeqToVector (q1);
149 std::vector<int> _order1 = hpp::corbaServer::intSeqToVector (order1);
150 hpp::core::matrix_t _derivatives1 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives1);
151 hpp::core::vector_t _q2 = hpp::corbaServer::floatSeqToVector (q2);
152 std::vector<int> _order2 = hpp::corbaServer::intSeqToVector (order2);
153 hpp::core::matrix_t _derivatives2 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives2);
154 hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length));
155
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());
159 }
160}
161
162 template <typename _Base, typename _Storage>
163hpp::core_idl::Path_ptr SplineBernstein3Servant<_Base, _Storage>::steerSE3 (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)
164{
165 try {
166 // generated from /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/core_idl/steering_methods.idl:40
167 hpp::core::vector_t _q1 = hpp::corbaServer::floatSeqToVector (q1);
168 std::vector<int> _order1 = hpp::corbaServer::intSeqToVector (order1);
169 hpp::core::matrix_t _derivatives1 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives1);
170 hpp::core::vector_t _q2 = hpp::corbaServer::floatSeqToVector (q2);
171 std::vector<int> _order2 = hpp::corbaServer::intSeqToVector (order2);
172 hpp::core::matrix_t _derivatives2 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives2);
173 hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length, true));
174
175 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
176
177 } catch (const std::exception& e) {
178 throw ::hpp::Error (e.what());
179 }
180}
181
182// End of implementational code
183} // namespace steeringMethod_impl
184
185} // namespace core_impl
186
187} // namespace hpp
188
189//
190// Implementational code for IDL interface hpp::core_idl::steeringMethod_idl::SplineBernstein5
191//
192 namespace hpp {
193
194 namespace core_impl {
195
196 namespace steeringMethod_impl {
197 template <typename _Base, typename _Storage>
198 SplineBernstein5Servant<_Base, _Storage>::SplineBernstein5Servant(::hpp::corbaServer::Server* server,
199 const _Storage& s)
200 : hpp::core_impl::SteeringMethodServant<_Base, _Storage> (server, s)
201{
202 // add extra constructor code here
203}
204 template <typename _Base, typename _Storage>
205 SplineBernstein5Servant<_Base, _Storage>::~SplineBernstein5Servant()
206{
207 // add extra destructor code here
208}
209
210// Methods corresponding to IDL attributes and operations
211
212 template <typename _Base, typename _Storage>
213hpp::core_idl::Path_ptr SplineBernstein5Servant<_Base, _Storage>::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)
214{
215 try {
216 // automatically generated code.
217 hpp::core::vector_t _q1 = hpp::corbaServer::floatSeqToVector (q1);
218 std::vector<int> _order1 = hpp::corbaServer::intSeqToVector (order1);
219 hpp::core::matrix_t _derivatives1 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives1);
220 hpp::core::vector_t _q2 = hpp::corbaServer::floatSeqToVector (q2);
221 std::vector<int> _order2 = hpp::corbaServer::intSeqToVector (order2);
222 hpp::core::matrix_t _derivatives2 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives2);
223 hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length));
224
225 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
226 } catch (const std::exception& e) {
227 throw ::hpp::Error (e.what());
228 }
229}
230
231 template <typename _Base, typename _Storage>
232hpp::core_idl::Path_ptr SplineBernstein5Servant<_Base, _Storage>::steerSE3 (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)
233{
234 try {
235 // generated from /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/core_idl/steering_methods.idl:62
236 hpp::core::vector_t _q1 = hpp::corbaServer::floatSeqToVector (q1);
237 std::vector<int> _order1 = hpp::corbaServer::intSeqToVector (order1);
238 hpp::core::matrix_t _derivatives1 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives1);
239 hpp::core::vector_t _q2 = hpp::corbaServer::floatSeqToVector (q2);
240 std::vector<int> _order2 = hpp::corbaServer::intSeqToVector (order2);
241 hpp::core::matrix_t _derivatives2 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives2);
242 hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length, true));
243
244 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
245
246 } catch (const std::exception& e) {
247 throw ::hpp::Error (e.what());
248 }
249}
250
251// End of implementational code
252} // namespace steeringMethod_impl
253
254} // namespace core_impl
255
256} // namespace hpp
257
258
259
260
261
262#endif // hpp_core_idl__steering__methods_hxx__
263
hpp::corbaServer::ServantBase< hpp::core::SteeringMethod, _Storage >::persistantStorage
bool persistantStorage() const
See persistantStorage(bool)
Definition servant-base.hh:166
hpp::corbaServer::Server
Implementation of Hpp module Corba server.
Definition server.hh:78
hpp::core_impl::SteeringMethodServant
Definition steering_methods-fwd.hh:29
hpp::core_impl::SteeringMethodServant::call
hpp::core_idl::Path_ptr call(const hpp::floatSeq &q1, const hpp::floatSeq &q2)
Definition steering_methods.hh:73
hpp::core_impl::SteeringMethodServant::setConstraints
void setConstraints(hpp::core_idl::ConstraintSet_ptr constraints)
Definition steering_methods.hh:88
hpp::core_impl::SteeringMethodServant::~SteeringMethodServant
virtual ~SteeringMethodServant()
Definition steering_methods.hh:32
hpp::core_impl::SteeringMethodServant::SteeringMethodServant
SteeringMethodServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition steering_methods.hh:25
hpp::core_impl::SteeringMethodServant::deleteIfExpired
::CORBA::Boolean deleteIfExpired()
Definition steering_methods.hh:51
hpp::core_impl::SteeringMethodServant::deleteThis
void deleteThis()
Definition steering_methods.hh:40
hpp::core_impl::SteeringMethodServant::getConstraints
hpp::core_idl::Constraint_ptr getConstraints()
Definition steering_methods.hh:102
hpp::core_impl::steeringMethod_impl::SplineBernstein3Servant::SplineBernstein3Servant
SplineBernstein3Servant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition steering_methods.hh:129
hpp::core_impl::steeringMethod_impl::SplineBernstein3Servant::steerSE3
hpp::core_idl::Path_ptr steerSE3(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:163
hpp::core_impl::steeringMethod_impl::SplineBernstein3Servant::steer
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
hpp::core_impl::steeringMethod_impl::SplineBernstein3Servant::~SplineBernstein3Servant
virtual ~SplineBernstein3Servant()
Definition steering_methods.hh:136
hpp::core_impl::steeringMethod_impl::SplineBernstein5Servant::~SplineBernstein5Servant
virtual ~SplineBernstein5Servant()
Definition steering_methods.hh:205
hpp::core_impl::steeringMethod_impl::SplineBernstein5Servant::SplineBernstein5Servant
SplineBernstein5Servant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition steering_methods.hh:198
hpp::core_impl::steeringMethod_impl::SplineBernstein5Servant::steerSE3
hpp::core_idl::Path_ptr steerSE3(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:232
hpp::core_impl::steeringMethod_impl::SplineBernstein5Servant::steer
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:213
conversions.hh
fwd.hh
hpp::corbaServer::makeServantDownCast
ReturnType::Object_var makeServantDownCast(Server *server, const typename ServantBaseType::Storage &t)
Definition servant-base.hh:407
steer
PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const
hpp::corbaServer::intSeqToVector
std::vector< int > intSeqToVector(const intSeq &dofArray)
hpp::corbaServer::floatSeqSeqToMatrix
core::matrix_t floatSeqSeqToMatrix(const floatSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
hpp::corbaServer::floatSeqToVector
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
hpp::core::ConstraintPtr_t
shared_ptr< Constraint > ConstraintPtr_t
hpp::core::vector_t
pinocchio::vector_t vector_t
hpp::core::ConstraintSetPtr_t
shared_ptr< ConstraintSet > ConstraintSetPtr_t
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
hpp::core::matrix_t
pinocchio::matrix_t matrix_t
hpp
Implement CORBA interface `‘Obstacle’'.
hpp::floatSeq
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition common.idl:34
hpp::floatSeqSeq
sequence< floatSeq > floatSeqSeq
Definition common.idl:35
hpp::intSeq
sequence< long > intSeq
Definition common.idl:31
servant-base.hh
steering_methods-fwd.hh