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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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#ifndef HPP_CORBASERVER_OBSTACLE_IMPL_HH |
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#define HPP_CORBASERVER_OBSTACLE_IMPL_HH |
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#include <hpp/fcl/data_types.h> |
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#include <hpp/corbaserver/fwd.hh> |
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#include <hpp/corbaserver/object-map.hh> |
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#include <hpp/corbaserver/obstacle-idl.hh> |
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#include <hpp/core/problem-solver.hh> |
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#include <map> |
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#include <string> |
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/// \brief Implement CORBA interface ``Obstacle''. |
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namespace hpp { |
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namespace corbaServer { |
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namespace impl { |
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class Obstacle : public virtual POA_hpp::corbaserver::Obstacle { |
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public: |
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Obstacle(); |
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void setServer(ServerPlugin* server) { server_ = server; } |
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virtual void loadObstacleModel(const char* filename, const char* prefix); |
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virtual void loadObstacleModelFromString(const char* urdfString, |
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const char* prefix); |
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virtual void loadPolyhedron(const char* name, const char* filename); |
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virtual void removeObstacleFromJoint(const char* objectName, |
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const char* jointName, Boolean collision, |
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Boolean distance); |
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virtual void removeObstacle(const char* objectName); |
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virtual void cutObstacle(const char* objectName, const floatSeq& aabb); |
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virtual void addObstacle(const char* polyhedronName, Boolean collision, |
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Boolean distance); |
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virtual void moveObstacle(const char* polyName, const Transform_ cfg); |
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virtual void getObstaclePosition(const char* objectName, Transform_ cfg); |
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virtual Names_t* getObstacleNames(bool collision, bool distance); |
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virtual void createPolyhedron(const char* polyhedronName); |
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virtual void createBox(const char* boxName, Double x, Double y, Double z); |
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virtual void createSphere(const char* name, Double radius); |
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virtual void createCylinder(const char* name, Double radius, Double length); |
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virtual ULong addPoint(const char* polyhedronName, Double x, Double y, |
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Double z); |
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virtual ULong addTriangle(const char* polyhedronName, ULong pt1, ULong pt2, |
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ULong pt3); |
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private: |
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CollisionObjectPtr_t getObstacleByName(const char* name); |
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/// Map of object in construction. |
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ObjectMap objectMap_; |
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/// \brief Pointer to the ServerPlugin owning this object. |
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ServerPlugin* server_; |
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/// \brief Pointer to hpp::core::ProblemSolver object of ServerPlugin. |
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core::ProblemSolverPtr_t problemSolver(); |
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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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#endif //! HPP_CORBASERVER_OBSTACLE_HH |
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