hpp-corbaserver
6.0.0
Corba server for Humanoid Path Planner applications
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paths.idl
Go to the documentation of this file.
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// Copyright (C) 2019 by Joseph Mirabel, LAAS-CNRS.
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//
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// This file is part of the hpp-corbaserver.
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//
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// This software is provided "as is" without warranty of any kind,
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// either expressed or implied, including but not limited to the
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// implied warranties of fitness for a particular purpose.
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//
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// See the COPYING file for more information.
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#ifndef HPP_CORE_PATHS_IDL
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#define HPP_CORE_PATHS_IDL
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#include <
hpp/common.idl
>
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module
hpp
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{
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module core_idl {
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typedef
unsigned
long
long
size_t
;
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interface
PathVector
;
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interface
ConstraintSet
;
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interface
Path
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{
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HPP_EXPOSE_MEMORY_DEALLOCATION
(
Error
)
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size_type
outputSize () raises (
Error
);
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size_type
outputDerivativeSize () raises (
Error
);
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value_type
length () raises (
Error
);
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floatSeq
initial () raises (
Error
);
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floatSeq
end () raises (
Error
);
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ConstraintSet
constraints () raises (
Error
);
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string
str () raises (
Error
);
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floatSeq
call (in
value_type
t, out
boolean
success) raises (
Error
);
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//-> eval
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floatSeq
at (in
value_type
t, out
boolean
success) raises (
Error
);
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//* hpp::core::vector_t res (get()->outputSize());
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//* success = get()->at (t, res);
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//* return hpp::corbaServer::vectorToFloatSeq (res);
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floatSeq
derivative (in
value_type
t, in
short
order) raises (
Error
);
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//* hpp::core::vector_t res (get()->outputDerivativeSize());
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//* get()->derivative (res, t, order);
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//* return hpp::corbaServer::vectorToFloatSeq (res);
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Path
extract (in
value_type
tmin, in
value_type
tmax) raises (
Error
);
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PathVector
asVector () raises (
Error
);
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//* hpp::core::PathPtr_t p = get();
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//* hpp::core::PathVectorPtr_t pv =
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//* hpp::core::PathVector::create (p->outputSize(), p->outputDerivativeSize());
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//* pv->appendPath (p);
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//*
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//* return hpp::corbaServer::makeServant<hpp::core_idl::PathVector_ptr>
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//* (server_, new PathVector (server_, pv));
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Path
reverse () raises (
Error
);
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};
// interface Path
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interface
PathVector
:
Path
{
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size_t
numberPaths
() raises (
Error
);
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size_t
rankAtParam (in
value_type
param, out
value_type
localParam) raises (
Error
);
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Path
pathAtRank (in
size_t
rank) raises (
Error
);
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void
appendPath (in
Path
p) raises (
Error
);
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void
concatenate (in
PathVector
p) raises (
Error
);
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PathVector
flatten () raises (
Error
);
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//* hpp::core::PathPtr_t p = get();
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//* hpp::core::PathVectorPtr_t pv =
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//* HPP_DYNAMIC_PTR_CAST(hpp::core::PathVector, p);
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//* hpp::core::PathVectorPtr_t out =
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//* hpp::core::PathVector::create (p->outputSize(), p->outputDerivativeSize());
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//* pv->flatten (out);
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//*
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//* return hpp::corbaServer::makeServant<hpp::core_idl::PathVector_ptr>
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//* (server_, new PathVector (server_, out));
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};
// interface PathVector
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module path_idl {
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interface
Hermite
:
Path
{
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};
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};
// module path
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};
// module core
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};
// module hpp
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//* #include <hpp/core/path.hh>
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//* #include <hpp/core/path-vector.hh>
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//* #include <hpp/core/path/hermite.hh>
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//* #include <hpp/core_idl/_constraints.hh>
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#include <
hpp/core_idl/_constraints.idl
>
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#endif
// HPP_CORE_PATHS_IDL
_constraints.idl
floatSeq
Definition
common-idl.hh:689
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::PathVector
Definition
paths.idl:67
hpp::core_idl::PathVector::numberPaths
size_t numberPaths()
hpp::core_idl::Path
Definition
paths.idl:23
hpp::core_idl::path_idl::Hermite
Definition
paths.idl:91
hpp
Implement CORBA interface `‘Obstacle’'.
Definition
client.hh:46
hpp::size_type
long long size_type
Definition
common.idl:19
hpp::value_type
double value_type
Definition
common.idl:18
size_t
_CORBA_MODULE hpp _CORBA_MODULE_BEG _CORBA_MODULE core_idl _CORBA_MODULE_BEGtypedef ::CORBA::ULongLong size_t
Definition
paths-idl.hh:75
idl
hpp
core_idl
paths.idl
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