hpp-corbaserver: src/hpp/core_idl/_constraints-fwd.hh Source File

hpp-corbaserver 9.0.2 Corba server for Humanoid Path Planner applications

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_constraints-fwd.hh
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1#ifndef hpp_core_idl____constraints_hpp__
2#define hpp_core_idl____constraints_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/core_idl/_constraints.idl
6//
7
8#include <hpp/core_idl/_constraints-idl.hh>
9#include "hpp/corbaserver/servant-base.hh"
10
11#include <hpp/core/constraint.hh>
12#include <hpp/core/constraint-set.hh>
13#include <hpp/core/config-projector.hh>
14#include <hpp/constraints_idl/constraints.hh>
15#include <hpp/constraints/solver/by-substitution.hh>
16
17
18
19
20
21//
22// Class implementing IDL interface hpp::core_idl::Constraint
23//
24 namespace hpp {
25
26 namespace core_impl {
27 template <typename _Base, typename _Storage>
28 class ConstraintServant:
29 public hpp::corbaServer::ServantBase<hpp::core::Constraint, _Storage>, public virtual _Base
30{
31 public:
32 typedef hpp::core::Constraint HppBase;
33
34 SERVANT_BASE_TYPEDEFS(hpp::core_idl::Constraint, HppBase);
35
36 public:
37 // standard constructor
38 ConstraintServant(::hpp::corbaServer::Server* server, const _Storage& s);
39 virtual ~ConstraintServant();
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 ::CORBA::Boolean apply (hpp::floatSeq& config);
53
54
55 char* name ();
56
57
58 char* str ();
59
60
61 ::CORBA::Boolean isSatisfied (const hpp::floatSeq& config);
62
63
64 hpp::core_idl::Constraint_ptr copy ();
65
66
67};
68
69 typedef ConstraintServant<POA_hpp::core_idl::Constraint,hpp::weak_ptr<hpp::core::Constraint> > Constraint;
70} // namespace core_impl
71
72} // namespace hpp
73
74 namespace hpp {
75 namespace corbaServer {
76 template<> struct hpp_traits<hpp::core::Constraint>{ typedef hpp::core::Constraint Base; };
77} // namespace corbaServer
78} // namespace corbaServer
79
80//
81// Class implementing IDL interface hpp::core_idl::ConfigProjector
82//
83 namespace hpp {
84
85 namespace core_impl {
86 template <typename _Base, typename _Storage>
87 class ConfigProjectorServant: public hpp::core_impl::ConstraintServant<_Base, _Storage>
88{
89 public:
90 typedef typename hpp::core_impl::ConstraintServant<_Base, _Storage>::HppBase HppBase;
91
92 SERVANT_BASE_TYPEDEFS(hpp::core_idl::ConfigProjector, HppBase);
93
94 public:
95 // standard constructor
96 ConfigProjectorServant(::hpp::corbaServer::Server* server, const _Storage& s);
97 virtual ~ConfigProjectorServant();
98
99 // methods corresponding to defined IDL attributes and operations
100
101 void setRightHandSideFromConfig (const hpp::floatSeq& config);
102
103
104 void setRightHandSideOfConstraintFromConfig (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& config);
105
106
107 void setRightHandSide (const hpp::floatSeq& param);
108
109
110 void setRightHandSideOfConstraint (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& rhs);
111
112
113 hpp::floatSeq* getRightHandSide ();
114
115
116 void setRightHandSideAt (hpp::value_type s);
117
118
119 ::CORBA::Boolean isConstraintSatisfied (hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq& arg, hpp::floatSeq_out err, ::CORBA::Boolean& constraintFound);
120
121
122 hpp::constraints_idl::Implicits* numericalConstraints ();
123
124
125 ::CORBA::Boolean add (hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority);
126
127
128 void setLastIsOptional (::CORBA::Boolean optional);
129
130
131 ::CORBA::Boolean getLastIsOptional ();
132
133
134 void setErrorThreshold (hpp::value_type threshold);
135
136
137 hpp::value_type getErrorThreshold ();
138
139
140};
141
142 typedef ConfigProjectorServant<POA_hpp::core_idl::ConfigProjector,hpp::weak_ptr<hpp::core::ConfigProjector> > ConfigProjector;
143} // namespace core_impl
144
145} // namespace hpp
146
147 namespace hpp {
148 namespace corbaServer {
149 template<> struct hpp_traits<hpp::core::ConfigProjector>{ typedef hpp::core::Constraint Base; };
150} // namespace corbaServer
151} // namespace corbaServer
152
153//
154// Class implementing IDL interface hpp::core_idl::ConstraintSet
155//
156 namespace hpp {
157
158 namespace core_impl {
159 template <typename _Base, typename _Storage>
160 class ConstraintSetServant: public hpp::core_impl::ConstraintServant<_Base, _Storage>
161{
162 public:
163 typedef typename hpp::core_impl::ConstraintServant<_Base, _Storage>::HppBase HppBase;
164
165 SERVANT_BASE_TYPEDEFS(hpp::core_idl::ConstraintSet, HppBase);
166
167 public:
168 // standard constructor
169 ConstraintSetServant(::hpp::corbaServer::Server* server, const _Storage& s);
170 virtual ~ConstraintSetServant();
171
172 // methods corresponding to defined IDL attributes and operations
173
174 hpp::core_idl::Constraint_ptr getConfigProjector ();
175
176
177 void addConstraint (hpp::core_idl::Constraint_ptr a_constraint);
178
179
180};
181
182 typedef ConstraintSetServant<POA_hpp::core_idl::ConstraintSet,hpp::weak_ptr<hpp::core::ConstraintSet> > ConstraintSet;
183} // namespace core_impl
184
185} // namespace hpp
186
187 namespace hpp {
188 namespace corbaServer {
189 template<> struct hpp_traits<hpp::core::ConstraintSet>{ typedef hpp::core::Constraint Base; };
190} // namespace corbaServer
191} // namespace corbaServer
192
193
194
195
196
197#endif // hpp_core_idl____constraints_hpp__
198
_constraints-idl.hh
by-substitution.hh
hpp::corbaServer::ServantBase
Definition servant-base.hh:122
hpp::corbaServer::ServantBase< hpp::core::Constraint, _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::ConfigProjector
hpp::core::ConstraintSet
hpp::core::Constraint
hpp::core_impl::ConfigProjectorServant
Definition _constraints-fwd.hh:88
hpp::core_impl::ConfigProjectorServant::~ConfigProjectorServant
virtual ~ConfigProjectorServant()
Definition _constraints.hh:160
hpp::core_impl::ConfigProjectorServant::setRightHandSideOfConstraintFromConfig
void setRightHandSideOfConstraintFromConfig(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &config)
Definition _constraints.hh:182
hpp::core_impl::ConfigProjectorServant::getErrorThreshold
hpp::value_type getErrorThreshold()
Definition _constraints.hh:342
hpp::core_impl::ConfigProjectorServant::numericalConstraints
hpp::constraints_idl::Implicits * numericalConstraints()
Definition _constraints.hh:272
hpp::core_impl::ConfigProjectorServant::add
::CORBA::Boolean add(hpp::constraints_idl::Implicit_ptr numconstraint, ::CORBA::ULong priority)
Definition _constraints.hh:286
hpp::core_impl::ConfigProjectorServant::isConstraintSatisfied
::CORBA::Boolean isConstraintSatisfied(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &arg, hpp::floatSeq_out err, ::CORBA::Boolean &constraintFound)
Definition _constraints.hh:254
hpp::core_impl::ConfigProjectorServant::setRightHandSideFromConfig
void setRightHandSideFromConfig(const hpp::floatSeq &config)
Definition _constraints.hh:168
hpp::core_impl::ConfigProjectorServant::setRightHandSideAt
void setRightHandSideAt(hpp::value_type s)
Definition _constraints.hh:240
hpp::core_impl::ConfigProjectorServant::SERVANT_BASE_TYPEDEFS
SERVANT_BASE_TYPEDEFS(hpp::core_idl::ConfigProjector, HppBase)
hpp::core_impl::ConfigProjectorServant::HppBase
hpp::core_impl::ConstraintServant< _Base, _Storage >::HppBase HppBase
Definition _constraints-fwd.hh:90
hpp::core_impl::ConfigProjectorServant::getRightHandSide
hpp::floatSeq * getRightHandSide()
Definition _constraints.hh:226
hpp::core_impl::ConfigProjectorServant::setRightHandSide
void setRightHandSide(const hpp::floatSeq &param)
Definition _constraints.hh:197
hpp::core_impl::ConfigProjectorServant::setLastIsOptional
void setLastIsOptional(::CORBA::Boolean optional)
Definition _constraints.hh:300
hpp::core_impl::ConfigProjectorServant::setRightHandSideOfConstraint
void setRightHandSideOfConstraint(hpp::constraints_idl::Implicit_ptr nm, const hpp::floatSeq &rhs)
Definition _constraints.hh:211
hpp::core_impl::ConfigProjectorServant::setErrorThreshold
void setErrorThreshold(hpp::value_type threshold)
Definition _constraints.hh:328
hpp::core_impl::ConfigProjectorServant::getLastIsOptional
::CORBA::Boolean getLastIsOptional()
Definition _constraints.hh:314
hpp::core_impl::ConstraintServant
Definition _constraints-fwd.hh:30
hpp::core_impl::ConstraintServant::name
char * name()
Definition _constraints.hh:87
hpp::core_impl::ConstraintServant::deleteIfExpired
::CORBA::Boolean deleteIfExpired()
Definition _constraints.hh:51
hpp::core_impl::ConstraintServant::deleteThis
void deleteThis()
Definition _constraints.hh:40
hpp::core_impl::ConstraintServant::~ConstraintServant
virtual ~ConstraintServant()
Definition _constraints.hh:32
hpp::core_impl::ConstraintServant::HppBase
hpp::core::Constraint HppBase
Definition _constraints-fwd.hh:32
hpp::core_impl::ConstraintServant::apply
::CORBA::Boolean apply(hpp::floatSeq &config)
Definition _constraints.hh:73
hpp::core_impl::ConstraintServant::copy
hpp::core_idl::Constraint_ptr copy()
Definition _constraints.hh:128
hpp::core_impl::ConstraintServant::SERVANT_BASE_TYPEDEFS
SERVANT_BASE_TYPEDEFS(hpp::core_idl::Constraint, HppBase)
hpp::core_impl::ConstraintServant::str
char * str()
Definition _constraints.hh:101
hpp::core_impl::ConstraintServant::isSatisfied
::CORBA::Boolean isSatisfied(const hpp::floatSeq &config)
Definition _constraints.hh:114
hpp::core_impl::ConstraintSetServant
Definition _constraints-fwd.hh:161
hpp::core_impl::ConstraintSetServant::HppBase
hpp::core_impl::ConstraintServant< _Base, _Storage >::HppBase HppBase
Definition _constraints-fwd.hh:163
hpp::core_impl::ConstraintSetServant::addConstraint
void addConstraint(hpp::core_idl::Constraint_ptr a_constraint)
Definition _constraints.hh:396
hpp::core_impl::ConstraintSetServant::~ConstraintSetServant
virtual ~ConstraintSetServant()
Definition _constraints.hh:374
hpp::core_impl::ConstraintSetServant::SERVANT_BASE_TYPEDEFS
SERVANT_BASE_TYPEDEFS(hpp::core_idl::ConstraintSet, HppBase)
hpp::core_impl::ConstraintSetServant::getConfigProjector
hpp::core_idl::Constraint_ptr getConfigProjector()
Definition _constraints.hh:382
config-projector.hh
constraint-set.hh
constraint.hh
hpp::core_idl::ConfigProjector
Definition _constraints.idl:40
hpp::core_idl::ConstraintSet
Definition _constraints.idl:81
hpp::core_idl::Constraint
Definition _constraints.idl:27
hpp::constraints_idl::Implicits
sequence< Implicit > Implicits
Definition _constraints.idl:21
hpp::core_impl::ConstraintSet
ConstraintSetServant< POA_hpp::core_idl::ConstraintSet, hpp::weak_ptr< hpp::core::ConstraintSet > > ConstraintSet
Definition _constraints-fwd.hh:182
hpp::core_impl::ConfigProjector
ConfigProjectorServant< POA_hpp::core_idl::ConfigProjector, hpp::weak_ptr< hpp::core::ConfigProjector > > ConfigProjector
Definition _constraints-fwd.hh:142
hpp::core_impl::Constraint
ConstraintServant< POA_hpp::core_idl::Constraint, hpp::weak_ptr< hpp::core::Constraint > > Constraint
Definition _constraints-fwd.hh:69
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::value_type
double value_type
Definition common.idl:18
servant-base.hh
constraints.hh
hpp::corbaServer::hpp_traits< hpp::core::ConfigProjector >::Base
hpp::core::Constraint Base
Definition _constraints-fwd.hh:149
hpp::corbaServer::hpp_traits< hpp::core::ConstraintSet >::Base
hpp::core::Constraint Base
Definition _constraints-fwd.hh:189
hpp::corbaServer::hpp_traits< hpp::core::Constraint >::Base
hpp::core::Constraint Base
Definition _constraints-fwd.hh:76
hpp::corbaServer::hpp_traits
Definition servant-base.hh:89