hpp-corbaserver 6.0.0
Corba server for Humanoid Path Planner applications
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steering-methods.hh
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1// Copyright (C) 2019 by Joseph Mirabel, LAAS-CNRS.
2//
3
4// Redistribution and use in source and binary forms, with or without
5// modification, are permitted provided that the following conditions are
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32// See the COPYING file for more information.
33
34#ifndef HPP_CORE_IDL_STEERING_METHODS_HH
35#define HPP_CORE_IDL_STEERING_METHODS_HH
36
37#include <stdlib.h>
38
42#include <vector>
43
45#include "hpp/core/steering-method.hh"
47
48namespace hpp {
49namespace corbaServer {
50namespace core_idl {
51template <typename D>
52class SteeringMethodStorage : public AbstractStorage<D, core::SteeringMethod> {
53 public:
57
58 core::DevicePtr_t r;
59 SteeringMethodStorage(const core::DevicePtr_t& _r, const ptr_t& _d)
60 : parent_t(_d), r(_r) {}
61
62 template <typename T>
66};
67
68template <typename _Base, typename _Storage>
70 : public ServantBase<core::SteeringMethod, _Storage>,
71 public virtual _Base {
73
74 public:
77
79
80 hpp::core_idl::Path_ptr call(const floatSeq& q1, const floatSeq& q2) {
82 qq2(floatSeqToConfig(getS().r, q2, true));
83 hpp::core_idl::Path_var p =
85 return p._retn();
86 }
87};
88
89typedef SteeringMethodServant<POA_hpp::core_idl::SteeringMethod,
92} // namespace core_idl
93} // end of namespace corbaServer.
94} // end of namespace hpp.
95
96#endif // HPP_CORE_IDL_STEERING_METHODS_HH
Definition common-idl.hh:689
Server * server_
Definition servant-base.hh:118
Definition servant-base.hh:233
weak_ptr< D > ptr_t
Definition servant-base.hh:235
Definition servant-base.hh:122
const Storage & getS() const
Definition servant-base.hh:155
virtual TShPtr_t get() const
Definition servant-base.hh:132
Implementation of Hpp module Corba server.
Definition server.hh:78
Definition steering-methods.hh:71
virtual ~SteeringMethodServant()
Definition steering-methods.hh:78
SteeringMethodServant(Server *server, const Storage &s)
Definition steering-methods.hh:75
hpp::core_idl::Path_ptr call(const floatSeq &q1, const floatSeq &q2)
Definition steering-methods.hh:80
Definition steering-methods.hh:52
AbstractStorage< D, core::SteeringMethod > parent_t
Definition steering-methods.hh:54
core::DevicePtr_t r
Definition steering-methods.hh:58
SteeringMethodStorage< T > cast() const
Definition steering-methods.hh:63
SteeringMethodStorage(const core::DevicePtr_t &_r, const ptr_t &_d)
Definition steering-methods.hh:59
ReturnType::Object_var makeServantDownCast(Server *server, const typename ServantBaseType::Storage &t)
Definition servant-base.hh:407
#define SERVANT_BASE_TYPEDEFS(idlObj, hppObj)
Definition servant-base.hh:73
Definition steering_methods.idl:23
SteeringMethodServant< POA_hpp::core_idl::SteeringMethod, SteeringMethodStorage< core::SteeringMethod > > SteeringMethod
Definition steering-methods.hh:91
Configuration_t floatSeqToConfig(const DevicePtr_t &robot, const floatSeq &dofArray, bool throwIfNotNormalized)
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:65
Implement CORBA interface `‘Obstacle’'.
Definition client.hh:46