hpp-corbaserver: hpp-corbaserver

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

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hpp-corbaserver

# Introduction

This package implements a Corba interface with hppCore package. Corba requests can be sent to trigger actions in a hpp::core::ProblemSolver object. Three main Corba interfaces are implemented:

- hpp::corbaserver::Robot: to build a hpp::model::Device and to insert it in a hpp::core::ProblemSolver object,
- hpp::corbaserver::Obstacle: to build obstacles and insert them in a hpp::core::ProblemSolver object,
- hpp::corbaserver::Problem: to define a path planning problem and solve it.

However, the main interface classes for users of this package are

- hpp::corbaServer::Server that implements the above Corba interfaces

# How to communicate with the CORBA server

The easiest way is

- to launch `hppcorbaserver` executable or any executable that implements the server,
- open a python terminal and type:
  from hpp.corbaserver import
  Client cl = Client ()
  hpp::corbaserver
  Definition obstacle.idl:17
  hpp
  Implement CORBA interface `‘Obstacle’'.
  Then variable `cl` contains three members `robot`, `obstacle` and `problem` that can send request to the server.

Some python classes are provided that embed corba clients and that forward corba resquests to the server side:

- hpp.corbaserver.robot.Robot to load and handle a robot,
- hpp.corbaserver.robot.HumanoidRobot to load and handle a humanoid robot,
- hpp.corbaserver.problem_solver.ProblemSolver to set and solve a path planning problem.
- hpp.corbaserver.benchmark.Benchmark to generate statistics on solving time and length of solutions.

# How to embed a server in an application

To embed a CORBA server in an application, see documentation of class hpp::corbaServer::Server.