hpp-corbaserver: src/hpp/pinocchio_idl/robots-fwd.hh Source File

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

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robots-fwd.hh
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1#ifndef hpp_pinocchio_idl__robots_hpp__
2#define hpp_pinocchio_idl__robots_hpp__
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/pinocchio_idl/robots.idl
6//
7
8#include <hpp/pinocchio_idl/robots-idl.hh>
9#include "hpp/corbaserver/servant-base.hh"
10
11#include <hpp/pinocchio/device.hh>
12#include <hpp/pinocchio/collision-object.hh>
13#include <hpp/pinocchio/configuration.hh>
14#include <hpp/pinocchio/liegroup.hh>
15#include <hpp/pinocchio/center-of-mass-computation.hh>
16
17
18
19
20
21//
22// Class implementing IDL interface hpp::pinocchio_idl::CenterOfMassComputation
23//
24 namespace hpp {
25
26 namespace pinocchio_impl {
27 template <typename _Base, typename _Storage>
28 class CenterOfMassComputationServant:
29 public hpp::corbaServer::ServantBase<hpp::pinocchio::CenterOfMassComputation, _Storage>, public virtual _Base
30{
31 public:
32 typedef hpp::pinocchio::CenterOfMassComputation HppBase;
33
34 SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::CenterOfMassComputation, HppBase);
35
36 public:
37 // standard constructor
38 CenterOfMassComputationServant(::hpp::corbaServer::Server* server, const _Storage& s);
39 virtual ~CenterOfMassComputationServant();
40
41 // methods corresponding to defined IDL attributes and operations
42
43 void deleteThis ();
44
45
46 ::CORBA::Boolean deleteIfExpired ();
47
48
49 void persistantStorage (::CORBA::Boolean persistant);
50
51
52 void compute ();
53
54
55 hpp::floatSeq* com ();
56
57
58 hpp::value_type mass ();
59
60
61 hpp::floatSeqSeq* jacobian ();
62
63
64};
65
66 typedef CenterOfMassComputationServant<POA_hpp::pinocchio_idl::CenterOfMassComputation,hpp::weak_ptr<hpp::pinocchio::CenterOfMassComputation> > CenterOfMassComputation;
67} // namespace pinocchio_impl
68
69} // namespace hpp
70
71 namespace hpp {
72 namespace corbaServer {
73 template<> struct hpp_traits<hpp::pinocchio::CenterOfMassComputation>{ typedef hpp::pinocchio::CenterOfMassComputation Base; };
74} // namespace corbaServer
75} // namespace corbaServer
76
77
78//
79// Class implementing IDL interface hpp::pinocchio_idl::Device
80//
81 namespace hpp {
82
83 namespace pinocchio_impl {
84 template <typename _Base, typename _Storage>
85 class DeviceServant:
86 public hpp::corbaServer::ServantBase<hpp::pinocchio::Device, _Storage>, public virtual _Base
87{
88 public:
89 typedef hpp::pinocchio::Device HppBase;
90
91 SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::Device, HppBase);
92
93 public:
94 // standard constructor
95 DeviceServant(::hpp::corbaServer::Server* server, const _Storage& s);
96 virtual ~DeviceServant();
97
98 // methods corresponding to defined IDL attributes and operations
99
100 void deleteThis ();
101
102
103 ::CORBA::Boolean deleteIfExpired ();
104
105
106 void persistantStorage (::CORBA::Boolean persistant);
107
108
109 char* name ();
110
111
112 hpp::floatSeq* neutralConfiguration ();
113
114
115 hpp::size_type configSize ();
116
117
118 hpp::size_type numberDof ();
119
120
121 void integrate (const hpp::floatSeq& config_in, const hpp::floatSeq& velocity, hpp::floatSeq_out result);
122
123
124 void difference (const hpp::floatSeq& q1, const hpp::floatSeq& q2, hpp::floatSeq_out result);
125
126
127 void interpolate (const hpp::floatSeq& q1, const hpp::floatSeq& q2, ::CORBA::Float u, hpp::floatSeq_out result);
128
129
130 void saturate (const hpp::floatSeq& qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation);
131
132
133 void replaceGeometryByConvexHull (const hpp::Names_t& geometryNames);
134
135
136 hpp::floatSeq* getCurrentConfiguration ();
137
138
139 ::CORBA::Boolean setCurrentConfiguration (const hpp::floatSeq& configuration);
140
141
142 hpp::floatSeq* getCurrentVelocity ();
143
144
145 ::CORBA::Boolean setCurrentVelocity (const hpp::floatSeq& velocity);
146
147
148 hpp::floatSeq* getCurrentAcceleration ();
149
150
151 ::CORBA::Boolean setCurrentAcceleration (const hpp::floatSeq& acceleration);
152
153
154 ::CORBA::Short computationFlag ();
155
156
157 void controlComputation (::CORBA::Short flag);
158
159
160 void computeForwardKinematics (::CORBA::Short computationFlag);
161
162
163 void computeFramesForwardKinematics ();
164
165
166 void updateGeometryPlacements ();
167
168
169 hpp::frame_index getFrameByName (const char* name);
170
171
172 hpp::Transform__slice* getFramePosition (hpp::frame_index frame_id);
173
174
175 hpp::floatSeqSeq* getFrameJacobian (hpp::frame_index frame_id);
176
177
178 void removeJoints (const hpp::Names_t& joints, const hpp::floatSeq& refConfig);
179
180
181};
182
183 typedef DeviceServant<POA_hpp::pinocchio_idl::Device,hpp::weak_ptr<hpp::pinocchio::Device> > Device;
184} // namespace pinocchio_impl
185
186} // namespace hpp
187
188 namespace hpp {
189 namespace corbaServer {
190 template<> struct hpp_traits<hpp::pinocchio::Device>{ typedef hpp::pinocchio::Device Base; };
191} // namespace corbaServer
192} // namespace corbaServer
193
194
195//
196// Class implementing IDL interface hpp::pinocchio_idl::CollisionObject
197//
198 namespace hpp {
199
200 namespace pinocchio_impl {
201 template <typename _Base, typename _Storage>
202 class CollisionObjectServant:
203 public hpp::corbaServer::ServantBase<hpp::pinocchio::CollisionObject, _Storage>, public virtual _Base
204{
205 public:
206 typedef hpp::pinocchio::CollisionObject HppBase;
207
208 SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::CollisionObject, HppBase);
209
210 public:
211 // standard constructor
212 CollisionObjectServant(::hpp::corbaServer::Server* server, const _Storage& s);
213 virtual ~CollisionObjectServant();
214
215 // methods corresponding to defined IDL attributes and operations
216
217 void deleteThis ();
218
219
220 ::CORBA::Boolean deleteIfExpired ();
221
222
223 void persistantStorage (::CORBA::Boolean persistant);
224
225
226};
227
228 typedef CollisionObjectServant<POA_hpp::pinocchio_idl::CollisionObject,hpp::weak_ptr<hpp::pinocchio::CollisionObject> > CollisionObject;
229} // namespace pinocchio_impl
230
231} // namespace hpp
232
233 namespace hpp {
234 namespace corbaServer {
235 template<> struct hpp_traits<hpp::pinocchio::CollisionObject>{ typedef hpp::pinocchio::CollisionObject Base; };
236} // namespace corbaServer
237} // namespace corbaServer
238
239
240
241
242
243#endif // hpp_pinocchio_idl__robots_hpp__
244
center-of-mass-computation.hh
hpp::corbaServer::ServantBase
Definition servant-base.hh:122
hpp::corbaServer::ServantBase< hpp::pinocchio::CenterOfMassComputation, _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::pinocchio::CenterOfMassComputation
hpp::pinocchio::CollisionObject
hpp::pinocchio::Device
hpp::pinocchio_impl::CenterOfMassComputationServant
Definition robots-fwd.hh:30
hpp::pinocchio_impl::CenterOfMassComputationServant::com
hpp::floatSeq * com()
Definition robots.hh:87
hpp::pinocchio_impl::CenterOfMassComputationServant::HppBase
hpp::pinocchio::CenterOfMassComputation HppBase
Definition robots-fwd.hh:32
hpp::pinocchio_impl::CenterOfMassComputationServant::jacobian
hpp::floatSeqSeq * jacobian()
Definition robots.hh:115
hpp::pinocchio_impl::CenterOfMassComputationServant::deleteThis
void deleteThis()
Definition robots.hh:40
hpp::pinocchio_impl::CenterOfMassComputationServant::SERVANT_BASE_TYPEDEFS
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::CenterOfMassComputation, HppBase)
hpp::pinocchio_impl::CenterOfMassComputationServant::compute
void compute()
Definition robots.hh:73
hpp::pinocchio_impl::CenterOfMassComputationServant::mass
hpp::value_type mass()
Definition robots.hh:101
hpp::pinocchio_impl::CenterOfMassComputationServant::deleteIfExpired
::CORBA::Boolean deleteIfExpired()
Definition robots.hh:51
hpp::pinocchio_impl::CenterOfMassComputationServant::~CenterOfMassComputationServant
virtual ~CenterOfMassComputationServant()
Definition robots.hh:32
hpp::pinocchio_impl::CollisionObjectServant
Definition robots-fwd.hh:204
hpp::pinocchio_impl::CollisionObjectServant::HppBase
hpp::pinocchio::CollisionObject HppBase
Definition robots-fwd.hh:206
hpp::pinocchio_impl::CollisionObjectServant::~CollisionObjectServant
virtual ~CollisionObjectServant()
Definition robots.hh:558
hpp::pinocchio_impl::CollisionObjectServant::SERVANT_BASE_TYPEDEFS
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::CollisionObject, HppBase)
hpp::pinocchio_impl::CollisionObjectServant::deleteIfExpired
::CORBA::Boolean deleteIfExpired()
Definition robots.hh:577
hpp::pinocchio_impl::CollisionObjectServant::deleteThis
void deleteThis()
Definition robots.hh:566
hpp::pinocchio_impl::DeviceServant
Definition robots-fwd.hh:87
hpp::pinocchio_impl::DeviceServant::difference
void difference(const hpp::floatSeq &q1, const hpp::floatSeq &q2, hpp::floatSeq_out result)
Definition robots.hh:262
hpp::pinocchio_impl::DeviceServant::deleteThis
void deleteThis()
Definition robots.hh:155
hpp::pinocchio_impl::DeviceServant::HppBase
hpp::pinocchio::Device HppBase
Definition robots-fwd.hh:89
hpp::pinocchio_impl::DeviceServant::name
char * name()
Definition robots.hh:188
hpp::pinocchio_impl::DeviceServant::interpolate
void interpolate(const hpp::floatSeq &q1, const hpp::floatSeq &q2, ::CORBA::Float u, hpp::floatSeq_out result)
Definition robots.hh:280
hpp::pinocchio_impl::DeviceServant::getCurrentVelocity
hpp::floatSeq * getCurrentVelocity()
Definition robots.hh:359
hpp::pinocchio_impl::DeviceServant::computeFramesForwardKinematics
void computeFramesForwardKinematics()
Definition robots.hh:455
hpp::pinocchio_impl::DeviceServant::getFrameByName
hpp::frame_index getFrameByName(const char *name)
Definition robots.hh:483
hpp::pinocchio_impl::DeviceServant::saturate
void saturate(const hpp::floatSeq &qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation)
Definition robots.hh:299
hpp::pinocchio_impl::DeviceServant::numberDof
hpp::size_type numberDof()
Definition robots.hh:230
hpp::pinocchio_impl::DeviceServant::deleteIfExpired
::CORBA::Boolean deleteIfExpired()
Definition robots.hh:166
hpp::pinocchio_impl::DeviceServant::configSize
hpp::size_type configSize()
Definition robots.hh:216
hpp::pinocchio_impl::DeviceServant::setCurrentConfiguration
::CORBA::Boolean setCurrentConfiguration(const hpp::floatSeq &configuration)
Definition robots.hh:345
hpp::pinocchio_impl::DeviceServant::integrate
void integrate(const hpp::floatSeq &config_in, const hpp::floatSeq &velocity, hpp::floatSeq_out result)
Definition robots.hh:244
hpp::pinocchio_impl::DeviceServant::replaceGeometryByConvexHull
void replaceGeometryByConvexHull(const hpp::Names_t &geometryNames)
Definition robots.hh:316
hpp::pinocchio_impl::DeviceServant::~DeviceServant
virtual ~DeviceServant()
Definition robots.hh:147
hpp::pinocchio_impl::DeviceServant::setCurrentAcceleration
::CORBA::Boolean setCurrentAcceleration(const hpp::floatSeq &acceleration)
Definition robots.hh:401
hpp::pinocchio_impl::DeviceServant::computeForwardKinematics
void computeForwardKinematics(::CORBA::Short computationFlag)
Definition robots.hh:441
hpp::pinocchio_impl::DeviceServant::getFramePosition
hpp::Transform__slice * getFramePosition(hpp::frame_index frame_id)
Definition robots.hh:495
hpp::pinocchio_impl::DeviceServant::getCurrentConfiguration
hpp::floatSeq * getCurrentConfiguration()
Definition robots.hh:331
hpp::pinocchio_impl::DeviceServant::controlComputation
void controlComputation(::CORBA::Short flag)
Definition robots.hh:429
hpp::pinocchio_impl::DeviceServant::updateGeometryPlacements
void updateGeometryPlacements()
Definition robots.hh:469
hpp::pinocchio_impl::DeviceServant::SERVANT_BASE_TYPEDEFS
SERVANT_BASE_TYPEDEFS(hpp::pinocchio_idl::Device, HppBase)
hpp::pinocchio_impl::DeviceServant::setCurrentVelocity
::CORBA::Boolean setCurrentVelocity(const hpp::floatSeq &velocity)
Definition robots.hh:373
hpp::pinocchio_impl::DeviceServant::computationFlag
::CORBA::Short computationFlag()
Definition robots.hh:415
hpp::pinocchio_impl::DeviceServant::neutralConfiguration
hpp::floatSeq * neutralConfiguration()
Definition robots.hh:202
hpp::pinocchio_impl::DeviceServant::removeJoints
void removeJoints(const hpp::Names_t &joints, const hpp::floatSeq &refConfig)
Definition robots.hh:525
hpp::pinocchio_impl::DeviceServant::getFrameJacobian
hpp::floatSeqSeq * getFrameJacobian(hpp::frame_index frame_id)
Definition robots.hh:509
hpp::pinocchio_impl::DeviceServant::getCurrentAcceleration
hpp::floatSeq * getCurrentAcceleration()
Definition robots.hh:387
collision-object.hh
configuration.hh
device.hh
hpp::pinocchio_idl::CenterOfMassComputation
Definition robots.idl:19
hpp::pinocchio_idl::CollisionObject
Definition robots.idl:130
hpp::pinocchio_idl::Device
Definition robots.idl:29
liegroup.hh
hpp::pinocchio_impl::CenterOfMassComputation
CenterOfMassComputationServant< POA_hpp::pinocchio_idl::CenterOfMassComputation, hpp::weak_ptr< hpp::pinocchio::CenterOfMassComputation > > CenterOfMassComputation
Definition robots-fwd.hh:66
hpp::pinocchio_impl::CollisionObject
CollisionObjectServant< POA_hpp::pinocchio_idl::CollisionObject, hpp::weak_ptr< hpp::pinocchio::CollisionObject > > CollisionObject
Definition robots-fwd.hh:228
hpp::pinocchio_impl::Device
DeviceServant< POA_hpp::pinocchio_idl::Device, hpp::weak_ptr< hpp::pinocchio::Device > > Device
Definition robots-fwd.hh:183
hpp
Implement CORBA interface `‘Obstacle’'.
hpp::size_type
long long size_type
Definition common.idl:19
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::Names_t
sequence< string > Names_t
Sequence of names.
Definition common.idl:23
hpp::frame_index
unsigned long frame_index
Definition common.idl:20
hpp::value_type
double value_type
Definition common.idl:18
robots-idl.hh
servant-base.hh
hpp::corbaServer::hpp_traits< hpp::pinocchio::CenterOfMassComputation >::Base
hpp::pinocchio::CenterOfMassComputation Base
Definition robots-fwd.hh:73
hpp::corbaServer::hpp_traits< hpp::pinocchio::CollisionObject >::Base
hpp::pinocchio::CollisionObject Base
Definition robots-fwd.hh:235
hpp::corbaServer::hpp_traits< hpp::pinocchio::Device >::Base
hpp::pinocchio::Device Base
Definition robots-fwd.hh:190
hpp::corbaServer::hpp_traits
Definition servant-base.hh:89