hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
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path_validations.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_PATH_VALIDATIONS_IDL
12#define HPP_CORE_PATH_VALIDATIONS_IDL
13#include <hpp/common.idl>
14
16
17#define HPP_CORE_OBSTACLE_USER_INTERFACE \
18 void setSecurityMargins(in floatSeqSeq margins) raises(Error); \
19 void setSecurityMarginBetweenBodies(in string body_a, in string body_b, in value_type margin) raises(Error); \
20 void filterCollisionPairs (in RelativeMotionMatrix relMotion) raises(Error);
21
22
23module hpp
24{
25 module core_idl {
26 typedef string ValidationReport;
27 typedef string PathValidationReport;
29
31 {
33
34 boolean validate (in floatSeq config, out ValidationReport report) raises (Error);
35 //* using namespace hpp::core;
36 //* ValidationReportPtr_t vr;
37 //*
38 //* bool res = get()->validate (hpp::corbaServer::floatSeqToVector(config), vr);
39 //*
40 //* if (vr) {
41 //* std::ostringstream oss; oss << *vr;
42 //* std::string res = oss.str();
43 //* report = CORBA::string_dup(res.c_str());
44 //* } else {
45 //* report = CORBA::string_dup("");
46 //* }
47 //*
48 //* return res;
49 }; // interface ConfigValidation
50
52 {
53 void add (in ConfigValidation validation) raises (Error);
55 void clear() raises (Error);
56
58 }; // interface ConfigValidations
59
61 {
63 }; // interface PathValidations
64
66 {
68
69 boolean validate (in Path p, in boolean reverse, out Path validPart, out PathValidationReport report) raises (Error);
70 //* using namespace hpp::core;
71 //* PathPtr_t _p (::hpp::corbaServer::reference_to_servant_base<core::Path>(server_, p)->get());
72 //* PathPtr_t vp;
73 //* PathValidationReportPtr_t pvr;
74 //*
75 //* bool res = get()->validate (_p, reverse, vp, pvr);
76 //*
77 //* if (pvr) {
78 //* std::ostringstream oss; oss << *pvr;
79 //* std::string res = oss.str();
80 //* report = CORBA::string_dup(res.c_str());
81 //* } else {
82 //* report = CORBA::string_dup("");
83 //* }
84 //*
85 //* validPart = ::hpp::corbaServer::makeServant<hpp::core_idl::Path_ptr> (server_, new Path (server_, vp));
86 //* return res;
87
88 boolean validateConfiguration (in floatSeq config,
89 out ValidationReport report) raises (Error);
90 //* using namespace hpp::core;
91 //* Configuration_t q(corbaServer::floatSeqToVector(config));
92 //* ValidationReportPtr_t vr;
93 //* bool res = get()->validate(q, vr);
94 //* if (vr) {
95 //* std::ostringstream oss; oss << *vr;
96 //* std::string res = oss.str();
97 //* report = CORBA::string_dup(res.c_str());
98 //* } else {
99 //* report = CORBA::string_dup("");
100 //* }
101 //* return res;
102 }; // interface SteeringMethod
103
105 {
107 }; // interface PathValidations
108
110 {
112
113 void setBreakDistance(in value_type breakDistance) raises (Error);
114 //-> breakDistance
115
117 //-> breakDistance
118 }; // interface PathValidations
119
120 module pathValidation_idl {
121 // \todo at the moment, multiple parent classes is not supported.
123 {
125 }; // interface PathValidations
126 }; // module pathValidation
127
128 }; // module core
129}; // module hpp
130//* #include <hpp/core/config-validation.hh>
131//* #include <hpp/core/config-validations.hh>
132//* #include <hpp/core/collision-validation.hh>
133//* #include <hpp/core/path-validation.hh>
134//* #include <hpp/core/path-validations.hh>
135//* #include <hpp/core/path-validation-report.hh>
136//* #include <hpp/core/path-validation/discretized.hh>
137//* #include <hpp/core/continuous-validation.hh>
138//* #include <hpp/core_idl/paths.hh>
139//* #include <hpp/corbaserver/conversions.hh>
140
141#endif // HPP_CORE_PATH_VALIDATIONS_IDL
Definition common-idl.hh:689
Definition common-idl.hh:575
#define HPP_EXPOSE_MEMORY_DEALLOCATION(ErrorType)
Definition common.idl:14
Corba exception travelling through the Corba channel.
Definition common.idl:27
Definition path_validations.idl:61
Definition path_validations.idl:31
Definition path_validations.idl:52
void add(in ConfigValidation validation)
Definition path_validations.idl:110
HPP_CORE_OBSTACLE_USER_INTERFACE void setBreakDistance(in value_type breakDistance)
Definition path_validations.idl:66
Definition path_validations.idl:105
Definition paths.idl:23
Definition path_validations.idl:123
string ValidationReport
Definition path_validations.idl:26
string PathValidationReport
Definition path_validations.idl:27
Implement CORBA interface `‘Obstacle’'.
Definition client.hh:46
long long size_type
Definition common.idl:19
double value_type
Definition common.idl:18
intSeqSeq RelativeMotionMatrix
Definition path_validations-idl.hh:87
char * PathValidationReport
Definition path_validations-idl.hh:83
_CORBA_MODULE hpp _CORBA_MODULE_BEG _CORBA_MODULE core_idl _CORBA_MODULE_BEG typedef char * ValidationReport
Definition path_validations-idl.hh:79
#define HPP_CORE_OBSTACLE_USER_INTERFACE
Definition path_validations.idl:17