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// Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL. |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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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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#include "obstacle.impl.hh" |
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#include <coal/BVH/BVH_model.h> |
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#include <coal/mesh_loader/loader.h> |
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#include <coal/shape/geometric_shapes.h> |
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#include <hpp/corbaserver/server-plugin.hh> |
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#include <hpp/pinocchio/collision-object.hh> |
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#include <hpp/pinocchio/device.hh> |
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#include <hpp/pinocchio/urdf/util.hh> |
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#include <hpp/util/debug.hh> |
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#include <hpp/util/exception-factory.hh> |
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#include <iostream> |
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#include <pinocchio/algorithm/geometry.hpp> |
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#include <pinocchio/multibody/geometry.hpp> |
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#include <pinocchio/parsers/utils.hpp> |
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#include "tools.hh" |
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namespace hpp { |
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namespace corbaServer { |
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namespace impl { |
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Obstacle::Obstacle() : server_(NULL) {} |
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core::ProblemSolverPtr_t Obstacle::problemSolver() { |
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return server_->problemSolver(); |
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} |
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void Obstacle::loadObstacleModel(const char* filename, const char* prefix) { |
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try { |
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DevicePtr_t device(Device::create(prefix)); |
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hpp::pinocchio::urdf::loadModel(device, 0, "", "anchor", filename, ""); |
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problemSolver()->addObstacle(device, true, true); |
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} catch (const std::exception& exc) { |
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throw hpp::Error(exc.what()); |
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} |
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} |
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void Obstacle::loadObstacleModelFromString(const char* urdfString, |
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const char* prefix) { |
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try { |
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DevicePtr_t device(Device::create(prefix)); |
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hpp::pinocchio::urdf::loadModelFromString(device, 0, "", "anchor", |
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urdfString, ""); |
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problemSolver()->addObstacle(device, true, true); |
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} catch (const std::exception& exc) { |
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throw hpp::Error(exc.what()); |
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} |
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} |
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void Obstacle::loadPolyhedron(const char* name, const char* resourcename) { |
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try { |
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coal::MeshLoader loader(coal::BV_OBBRSS); |
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std::string filename(::pinocchio::retrieveResourcePath( |
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resourcename, ::pinocchio::rosPaths())); |
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coal::CollisionGeometryPtr_t coalgeom( |
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loader.load(filename, coal::Vec3f::Ones())); |
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CollisionGeometryPtr_t geom(coalgeom.get(), |
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[coalgeom](...) mutable { coalgeom.reset(); }); |
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problemSolver()->addObstacle(name, geom, Transform3s::Identity(), true, |
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true); |
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} catch (const std::exception& exc) { |
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throw hpp::Error(exc.what()); |
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} |
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} |
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void Obstacle::removeObstacleFromJoint(const char* objectName, |
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const char* jointName, Boolean collision, |
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Boolean distance) { |
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using pinocchio::COLLISION; |
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using pinocchio::DISTANCE; |
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using pinocchio::JointPtr_t; |
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using pinocchio::ObjectVector_t; |
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std::string objName(objectName); |
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std::string jName(jointName); |
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try { |
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if (collision) { |
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problemSolver()->removeObstacleFromJoint(objectName, jointName); |
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} |
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if (distance) { |
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throw std::runtime_error("Not implemented."); |
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} |
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} catch (const std::exception& exc) { |
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throw hpp::Error(exc.what()); |
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} |
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} |
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void Obstacle::removeObstacle(const char* objectName) { |
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try { |
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problemSolver()->removeObstacle(objectName); |
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} catch (std::exception& e) { |
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throw Error(e.what()); |
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} |
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} |
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void Obstacle::cutObstacle(const char* objectName, const floatSeq& aabb) { |
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try { |
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vector_t _aabb = floatSeqToVector(aabb, 6); |
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coal::AABB coalaabb(_aabb.head<3>(), _aabb.tail<3>()); |
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problemSolver()->cutObstacle(objectName, coalaabb); |
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} catch (const std::exception& e) { |
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throw hpp::Error(e.what()); |
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} |
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} |
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void Obstacle::addObstacle(const char* objectName, Boolean collision, |
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Boolean distance) { |
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DevicePtr_t robot = getRobotOrThrow(problemSolver()); |
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std::string objName(objectName); |
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CollisionGeometryPtr_t geometry = objectMap_.geometry(objectName); |
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problemSolver()->addObstacle(objName, geometry, Transform3s::Identity(), |
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collision, distance); |
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} |
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CollisionObjectPtr_t Obstacle::getObstacleByName(const char* name) { |
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try { |
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return problemSolver()->obstacle(name); |
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} catch (const std::invalid_argument&) { |
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HPP_THROW(Error, "Object " << name << " not found"); |
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} |
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} |
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void Obstacle::moveObstacle(const char* objectName, const Transform_ cfg) { |
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CollisionObjectPtr_t object = getObstacleByName(objectName); |
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if (object) { |
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object->move(toTransform3s(cfg)); |
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return; |
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} |
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HPP_THROW(Error, "Object " << objectName << " not found"); |
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} |
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void Obstacle::getObstaclePosition(const char* objectName, Transform_ cfg) { |
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CollisionObjectPtr_t object = getObstacleByName(objectName); |
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if (object) { |
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Transform3s transform = object->getTransform(); |
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toHppTransform(transform, cfg); |
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return; |
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} |
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try { |
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Transform3s transform = problemSolver()->obstacleFramePosition(objectName); |
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toHppTransform(transform, cfg); |
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return; |
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} catch (const std::invalid_argument&) { |
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// Ignore this exception. |
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} catch (const std::exception& e) { |
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throw Error(e.what()); |
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} |
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HPP_THROW(Error, "Object " << objectName << " not found"); |
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} |
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Names_t* Obstacle::getObstacleNames(bool collision, bool distance) { |
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std::list<std::string> obstacles = |
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problemSolver()->obstacleNames(collision, distance); |
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return toNames_t(obstacles.begin(), obstacles.end()); |
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} |
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void Obstacle::createPolyhedron(const char* polyhedronName) { |
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objectMap_.createPolyhedron(polyhedronName); |
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} |
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void Obstacle::createBox(const char* boxName, Double x, Double y, Double z) { |
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objectMap_.createBox(boxName, x, y, z); |
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} |
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void Obstacle::createSphere(const char* name, Double radius) { |
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objectMap_.createSphere(name, radius); |
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} |
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void Obstacle::createCylinder(const char* name, Double radius, Double length) { |
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objectMap_.createCylinder(name, radius, length); |
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} |
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ULong Obstacle::addPoint(const char* polyhedronName, Double x, Double y, |
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Double z) { |
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return static_cast<ULong>(objectMap_.addPoint(polyhedronName, x, y, z)); |
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} |
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ULong Obstacle::addTriangle(const char* polyhedronName, ULong pt1, ULong pt2, |
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ULong pt3) { |
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return static_cast<ULong>( |
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objectMap_.addTriangle(polyhedronName, pt1, pt2, pt3)); |
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} |
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} // namespace impl |
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} // end of namespace corbaServer. |
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} // end of namespace hpp. |
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