hpp-corbaserver: idl/hpp/core_idl/steering_methods.idl Source File

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

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steering_methods.idl
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1// Copyright (C) 2019 by Joseph Mirabel, LAAS-CNRS.
2//
3// This file is part of the hpp-corbaserver.
4//
5// This software is provided "as is" without warranty of any kind,
6// either expressed or implied, including but not limited to the
7// implied warranties of fitness for a particular purpose.
8//
9// See the COPYING file for more information.
10
11#ifndef HPP_CORE_STEERING_METHODS_IDL
12#define HPP_CORE_STEERING_METHODS_IDL
13#include <hpp/common.idl>
14
15#include <hpp/core_idl/paths.idl>
16#include <hpp/core_idl/_constraints.idl>
17
18module hpp
19{
20 module core_idl {
21
22 interface SteeringMethod
23 {
24 HPP_EXPOSE_MEMORY_DEALLOCATION(Error)
25
26 Path call (in floatSeq q1, in floatSeq q2) raises (Error);
27 //-> operator()
28
29 void setConstraints (in ConstraintSet constraints) raises (Error);
30 //-> constraints
31
32 // The return type should be ConstraintSet. At the moment, this causes a bug
33 // because because the implementation does not know this inherits from Constraint
34 Constraint getConstraints () raises (Error);
35 //-> constraints
36 }; // interface SteeringMethod
37
38 module steeringMethod_idl {
39
40 interface SplineBernstein3 : SteeringMethod {
41 Path steer(in floatSeq q1, in intSeq order1, in floatSeqSeq derivatives1,
42 in floatSeq q2, in intSeq order2, in floatSeqSeq derivatives2,
43 in float length)
44 raises (Error);
45
46 Path steerSE3(in floatSeq q1, in intSeq order1, in floatSeqSeq derivatives1,
47 in floatSeq q2, in intSeq order2, in floatSeqSeq derivatives2,
48 in float length)
49 raises (Error);
50 //* hpp::core::vector_t _q1 = hpp::corbaServer::floatSeqToVector (q1);
51 //* std::vector<int> _order1 = hpp::corbaServer::intSeqToVector (order1);
52 //* hpp::core::matrix_t _derivatives1 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives1);
53 //* hpp::core::vector_t _q2 = hpp::corbaServer::floatSeqToVector (q2);
54 //* std::vector<int> _order2 = hpp::corbaServer::intSeqToVector (order2);
55 //* hpp::core::matrix_t _derivatives2 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives2);
56 //* hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length, true));
57 //*
58 //* return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
59
60 };
61
62 interface SplineBernstein5 : SteeringMethod {
63 Path steer(in floatSeq q1, in intSeq order1, in floatSeqSeq derivatives1,
64 in floatSeq q2, in intSeq order2, in floatSeqSeq derivatives2,
65 in float length)
66 raises (Error);
67
68 Path steerSE3(in floatSeq q1, in intSeq order1, in floatSeqSeq derivatives1,
69 in floatSeq q2, in intSeq order2, in floatSeqSeq derivatives2,
70 in float length)
71 raises (Error);
72 //* hpp::core::vector_t _q1 = hpp::corbaServer::floatSeqToVector (q1);
73 //* std::vector<int> _order1 = hpp::corbaServer::intSeqToVector (order1);
74 //* hpp::core::matrix_t _derivatives1 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives1);
75 //* hpp::core::vector_t _q2 = hpp::corbaServer::floatSeqToVector (q2);
76 //* std::vector<int> _order2 = hpp::corbaServer::intSeqToVector (order2);
77 //* hpp::core::matrix_t _derivatives2 = hpp::corbaServer::floatSeqSeqToMatrix (derivatives2);
78 //* hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length, true));
79 //*
80 //* return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
81 };
82
83 }; // module steeringMethod
84
85 }; // module core
86}; // module hpp
87//* #include <hpp/corbaserver/steering-method.hh>
88//* #include <hpp/core/steering-method.hh>
89//* #include <hpp/core_idl/paths.hh>
90//* #include <hpp/core_idl/_constraints.hh>
91
92#endif // HPP_CORE_STEERING_METHODS_IDL
_constraints.idl
floatSeqSeq
Definition common-idl.hh:803
floatSeq
Definition common-idl.hh:689
intSeq
Definition common-idl.hh:461
common.idl
HPP_EXPOSE_MEMORY_DEALLOCATION
#define HPP_EXPOSE_MEMORY_DEALLOCATION(ErrorType)
Definition common.idl:14
hpp::Error
Corba exception travelling through the Corba channel.
Definition common.idl:27
hpp::core_idl::ConstraintSet
Definition _constraints.idl:81
hpp::core_idl::Constraint
Definition _constraints.idl:27
hpp::core_idl::Path
Definition paths.idl:23
hpp::core_idl::SteeringMethod
Definition steering_methods.idl:23
hpp::core_idl::steeringMethod_idl::SplineBernstein3
Definition steering_methods.idl:40
hpp::core_idl::steeringMethod_idl::SplineBernstein3::steer
Path steer(in floatSeq q1, in intSeq order1, in floatSeqSeq derivatives1, in floatSeq q2, in intSeq order2, in floatSeqSeq derivatives2, in float length)
hpp::core_idl::steeringMethod_idl::SplineBernstein3::steerSE3
Path steerSE3(in floatSeq q1, in intSeq order1, in floatSeqSeq derivatives1, in floatSeq q2, in intSeq order2, in floatSeqSeq derivatives2, in float length)
hpp::core_idl::steeringMethod_idl::SplineBernstein5
Definition steering_methods.idl:62
hpp::core_idl::steeringMethod_idl::SplineBernstein5::steerSE3
Path steerSE3(in floatSeq q1, in intSeq order1, in floatSeqSeq derivatives1, in floatSeq q2, in intSeq order2, in floatSeqSeq derivatives2, in float length)
hpp::core_idl::steeringMethod_idl::SplineBernstein5::steer
Path steer(in floatSeq q1, in intSeq order1, in floatSeqSeq derivatives1, in floatSeq q2, in intSeq order2, in floatSeqSeq derivatives2, in float length)
hpp
Implement CORBA interface `‘Obstacle’'.
paths.idl