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// This file is generated by omniidl (C++ backend)- omniORB_4_3. Do not edit. |
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#ifndef __robot_hh__ |
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#define __robot_hh__ |
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#ifndef __CORBA_H_EXTERNAL_GUARD__ |
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#include <omniORB4/CORBA.h> |
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#endif |
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#ifndef USE_stub_in_nt_dll |
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# define USE_stub_in_nt_dll_NOT_DEFINED_robot |
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#endif |
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#ifndef USE_core_stub_in_nt_dll |
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# define USE_core_stub_in_nt_dll_NOT_DEFINED_robot |
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#endif |
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#ifndef USE_dyn_stub_in_nt_dll |
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# define USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot |
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#endif |
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#ifndef __common_hh_EXTERNAL_GUARD__ |
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#define __common_hh_EXTERNAL_GUARD__ |
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#include <hpp/common-idl.hh> |
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#endif |
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#ifndef __robots_hh_EXTERNAL_GUARD__ |
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#define __robots_hh_EXTERNAL_GUARD__ |
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#include <hpp/pinocchio_idl/robots-idl.hh> |
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#endif |
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#ifdef USE_stub_in_nt_dll |
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# ifndef USE_core_stub_in_nt_dll |
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# define USE_core_stub_in_nt_dll |
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# endif |
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# ifndef USE_dyn_stub_in_nt_dll |
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# define USE_dyn_stub_in_nt_dll |
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# endif |
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#endif |
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#ifdef _core_attr |
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# error "A local CPP macro _core_attr has already been defined." |
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#else |
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# ifdef USE_core_stub_in_nt_dll |
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# define _core_attr _OMNIORB_NTDLL_IMPORT |
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# else |
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# define _core_attr |
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# endif |
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#endif |
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#ifdef _dyn_attr |
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# error "A local CPP macro _dyn_attr has already been defined." |
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#else |
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# ifdef USE_dyn_stub_in_nt_dll |
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# define _dyn_attr _OMNIORB_NTDLL_IMPORT |
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# else |
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# define _dyn_attr |
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# endif |
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#endif |
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_CORBA_MODULE hpp |
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_CORBA_MODULE_BEG |
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_CORBA_MODULE corbaserver |
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_CORBA_MODULE_BEG |
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#ifndef __hpp_mcorbaserver_mRobot__ |
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#define __hpp_mcorbaserver_mRobot__ |
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class Robot; |
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class _objref_Robot; |
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class _impl_Robot; |
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typedef _objref_Robot* Robot_ptr; |
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typedef Robot_ptr RobotRef; |
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class Robot_Helper { |
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public: |
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typedef Robot_ptr _ptr_type; |
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static _ptr_type _nil(); |
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static _CORBA_Boolean is_nil(_ptr_type); |
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static void release(_ptr_type); |
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static void duplicate(_ptr_type); |
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static void marshalObjRef(_ptr_type, cdrStream&); |
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static _ptr_type unmarshalObjRef(cdrStream&); |
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}; |
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typedef _CORBA_ObjRef_Var<_objref_Robot, Robot_Helper> Robot_var; |
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typedef _CORBA_ObjRef_OUT_arg<_objref_Robot,Robot_Helper > Robot_out; |
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#endif |
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// interface Robot |
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class Robot { |
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public: |
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// Declarations for this interface type. |
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typedef Robot_ptr _ptr_type; |
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typedef Robot_var _var_type; |
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static _ptr_type _duplicate(_ptr_type); |
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static _ptr_type _narrow(::CORBA::Object_ptr); |
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static _ptr_type _unchecked_narrow(::CORBA::Object_ptr); |
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static _ptr_type _nil(); |
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static inline void _marshalObjRef(_ptr_type, cdrStream&); |
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static inline _ptr_type _unmarshalObjRef(cdrStream& s) { |
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omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s); |
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if (o) |
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return (_ptr_type) o->_ptrToObjRef(_PD_repoId); |
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else |
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return _nil(); |
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} |
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static inline _ptr_type _fromObjRef(omniObjRef* o) { |
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if (o) |
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return (_ptr_type) o->_ptrToObjRef(_PD_repoId); |
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else |
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return _nil(); |
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} |
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static _core_attr const char* _PD_repoId; |
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// Other IDL defined within this scope. |
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}; |
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class _objref_Robot : |
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public virtual ::CORBA::Object, |
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public virtual omniObjRef |
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{ |
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public: |
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// IDL operations |
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void loadRobotModel(const char* robotName, const char* rootJointType, const char* urdfName, const char* srdfName); |
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void loadHumanoidModel(const char* robotName, const char* rootJointType, const char* urdfName, const char* srdfName); |
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void loadRobotModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString); |
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void loadHumanoidModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString); |
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::CORBA::Long getConfigSize(); |
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::CORBA::Long getNumberDof(); |
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Names_t* getJointNames(); |
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Names_t* getJointTypes(); |
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Names_t* getAllJointNames(); |
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char* getParentJointName(const char* jointName); |
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floatSeq* getJointConfig(const char* jointName); |
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void setJointConfig(const char* jointName, const ::hpp::floatSeq& config); |
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char* getJointType(const char* jointName); |
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floatSeq* jointIntegrate(const ::hpp::floatSeq& jointCfg, const char* jointName, const ::hpp::floatSeq& speed, ::CORBA::Boolean saturate); |
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floatSeqSeq* getCurrentTransformation(const char* jointName); |
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Transform__slice* getJointPosition(const char* jointName); |
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TransformSeq* getJointsPosition(const ::hpp::floatSeq& q, const ::hpp::Names_t& jointNames); |
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floatSeq* getJointVelocity(const char* jointName); |
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floatSeq* getJointVelocityInLocalFrame(const char* jointName); |
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Transform__slice* getJointPositionInParentFrame(const char* jointName); |
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Transform__slice* getRootJointPosition(); |
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void setRootJointPosition(const ::hpp::Transform_ position); |
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void setJointPositionInParentFrame(const char* jointName, const ::hpp::Transform_ position); |
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::CORBA::Long getJointNumberDof(const char* jointName); |
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::CORBA::Long getJointConfigSize(const char* jointName); |
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void setJointBounds(const char* jointName, const ::hpp::floatSeq& inJointBound); |
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floatSeq* getJointBounds(const char* jointName); |
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Transform__slice* getLinkPosition(const char* linkName); |
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TransformSeq* getLinksPosition(const ::hpp::floatSeq& q, const ::hpp::Names_t& linkName); |
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Names_t* getLinkNames(const char* jointName); |
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void setDimensionExtraConfigSpace(::CORBA::ULong dimension); |
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::CORBA::ULong getDimensionExtraConfigSpace(); |
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void setExtraConfigSpaceBounds(const ::hpp::floatSeq& bounds); |
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floatSeq* getCurrentConfig(); |
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floatSeq* shootRandomConfig(); |
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void setCurrentConfig(const ::hpp::floatSeq& dofArray); |
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floatSeq* getCurrentVelocity(); |
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void setCurrentVelocity(const ::hpp::floatSeq& qDot); |
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Names_t* getJointInnerObjects(const char* jointName); |
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Names_t* getJointOuterObjects(const char* jointName); |
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void getObjectPosition(const char* objectName, ::hpp::Transform_ cfg); |
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void isConfigValid(const ::hpp::floatSeq& dofArray, ::CORBA::Boolean& validity, ::CORBA::String_out report); |
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void distancesToCollision(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints); |
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void autocollisionCheck(::hpp::boolSeq_out collide); |
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void autocollisionPairs(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active); |
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void setAutoCollision(const char* innerObject, const char* outerObject, ::CORBA::Boolean active); |
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floatSeq* getRobotAABB(); |
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::CORBA::Double getMass(); |
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floatSeq* getCenterOfMass(); |
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floatSeq* getCenterOfMassVelocity(); |
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floatSeqSeq* getJacobianCenterOfMass(); |
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void addPartialCom(const char* comName, const ::hpp::Names_t& jointNames); |
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floatSeq* getPartialCom(const char* comName); |
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floatSeqSeq* getJacobianPartialCom(const char* comName); |
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floatSeq* getVelocityPartialCom(const char* comName); |
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char* getRobotName(); |
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pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation(const char* name); |
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void createRobot(const char* robotName); |
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void appendJoint(const char* parentJoint, const char* jointName, const char* jointType, const ::hpp::Transform_ pos); |
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void createPolyhedron(const char* inPolyName); |
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void createBox(const char* name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z); |
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void createSphere(const char* name, ::CORBA::Double radius); |
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void createCylinder(const char* name, ::CORBA::Double radius, ::CORBA::Double length); |
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::CORBA::ULong addPoint(const char* inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z); |
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::CORBA::ULong addTriangle(const char* inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3); |
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void addObjectToJoint(const char* jointName, const char* objectName, const ::hpp::Transform_ pos); |
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// Constructors |
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inline _objref_Robot() { _PR_setobj(0); } // nil |
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_objref_Robot(omniIOR*, omniIdentity*); |
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protected: |
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virtual ~_objref_Robot(); |
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private: |
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virtual void* _ptrToObjRef(const char*); |
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_objref_Robot(const _objref_Robot&); |
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_objref_Robot& operator = (const _objref_Robot&); |
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// not implemented |
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friend class Robot; |
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}; |
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class _pof_Robot : public _OMNI_NS(proxyObjectFactory) { |
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public: |
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inline _pof_Robot() : _OMNI_NS(proxyObjectFactory)(Robot::_PD_repoId) {} |
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virtual ~_pof_Robot(); |
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virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*); |
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virtual _CORBA_Boolean is_a(const char*) const; |
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}; |
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class _impl_Robot : |
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public virtual omniServant |
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{ |
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public: |
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virtual ~_impl_Robot(); |
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virtual void loadRobotModel(const char* robotName, const char* rootJointType, const char* urdfName, const char* srdfName) = 0; |
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virtual void loadHumanoidModel(const char* robotName, const char* rootJointType, const char* urdfName, const char* srdfName) = 0; |
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virtual void loadRobotModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString) = 0; |
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virtual void loadHumanoidModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString) = 0; |
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virtual ::CORBA::Long getConfigSize() = 0; |
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virtual ::CORBA::Long getNumberDof() = 0; |
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virtual Names_t* getJointNames() = 0; |
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virtual Names_t* getJointTypes() = 0; |
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virtual Names_t* getAllJointNames() = 0; |
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virtual char* getParentJointName(const char* jointName) = 0; |
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virtual floatSeq* getJointConfig(const char* jointName) = 0; |
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virtual void setJointConfig(const char* jointName, const ::hpp::floatSeq& config) = 0; |
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virtual char* getJointType(const char* jointName) = 0; |
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virtual floatSeq* jointIntegrate(const ::hpp::floatSeq& jointCfg, const char* jointName, const ::hpp::floatSeq& speed, ::CORBA::Boolean saturate) = 0; |
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virtual floatSeqSeq* getCurrentTransformation(const char* jointName) = 0; |
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virtual Transform__slice* getJointPosition(const char* jointName) = 0; |
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virtual TransformSeq* getJointsPosition(const ::hpp::floatSeq& q, const ::hpp::Names_t& jointNames) = 0; |
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virtual floatSeq* getJointVelocity(const char* jointName) = 0; |
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virtual floatSeq* getJointVelocityInLocalFrame(const char* jointName) = 0; |
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virtual Transform__slice* getJointPositionInParentFrame(const char* jointName) = 0; |
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virtual Transform__slice* getRootJointPosition() = 0; |
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virtual void setRootJointPosition(const ::hpp::Transform_ position) = 0; |
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virtual void setJointPositionInParentFrame(const char* jointName, const ::hpp::Transform_ position) = 0; |
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virtual ::CORBA::Long getJointNumberDof(const char* jointName) = 0; |
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virtual ::CORBA::Long getJointConfigSize(const char* jointName) = 0; |
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virtual void setJointBounds(const char* jointName, const ::hpp::floatSeq& inJointBound) = 0; |
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virtual floatSeq* getJointBounds(const char* jointName) = 0; |
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virtual Transform__slice* getLinkPosition(const char* linkName) = 0; |
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virtual TransformSeq* getLinksPosition(const ::hpp::floatSeq& q, const ::hpp::Names_t& linkName) = 0; |
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virtual Names_t* getLinkNames(const char* jointName) = 0; |
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virtual void setDimensionExtraConfigSpace(::CORBA::ULong dimension) = 0; |
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virtual ::CORBA::ULong getDimensionExtraConfigSpace() = 0; |
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virtual void setExtraConfigSpaceBounds(const ::hpp::floatSeq& bounds) = 0; |
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virtual floatSeq* getCurrentConfig() = 0; |
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virtual floatSeq* shootRandomConfig() = 0; |
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virtual void setCurrentConfig(const ::hpp::floatSeq& dofArray) = 0; |
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virtual floatSeq* getCurrentVelocity() = 0; |
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virtual void setCurrentVelocity(const ::hpp::floatSeq& qDot) = 0; |
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virtual Names_t* getJointInnerObjects(const char* jointName) = 0; |
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virtual Names_t* getJointOuterObjects(const char* jointName) = 0; |
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virtual void getObjectPosition(const char* objectName, ::hpp::Transform_ cfg) = 0; |
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virtual void isConfigValid(const ::hpp::floatSeq& dofArray, ::CORBA::Boolean& validity, ::CORBA::String_out report) = 0; |
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virtual void distancesToCollision(::hpp::floatSeq_out distances, ::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::floatSeqSeq_out innerPoints, ::hpp::floatSeqSeq_out outerPoints) = 0; |
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virtual void autocollisionCheck(::hpp::boolSeq_out collide) = 0; |
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virtual void autocollisionPairs(::hpp::Names_t_out innerObjects, ::hpp::Names_t_out outerObjects, ::hpp::boolSeq_out active) = 0; |
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virtual void setAutoCollision(const char* innerObject, const char* outerObject, ::CORBA::Boolean active) = 0; |
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virtual floatSeq* getRobotAABB() = 0; |
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virtual ::CORBA::Double getMass() = 0; |
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virtual floatSeq* getCenterOfMass() = 0; |
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virtual floatSeq* getCenterOfMassVelocity() = 0; |
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virtual floatSeqSeq* getJacobianCenterOfMass() = 0; |
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virtual void addPartialCom(const char* comName, const ::hpp::Names_t& jointNames) = 0; |
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virtual floatSeq* getPartialCom(const char* comName) = 0; |
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virtual floatSeqSeq* getJacobianPartialCom(const char* comName) = 0; |
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virtual floatSeq* getVelocityPartialCom(const char* comName) = 0; |
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virtual char* getRobotName() = 0; |
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virtual pinocchio_idl::CenterOfMassComputation_ptr getCenterOfMassComputation(const char* name) = 0; |
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virtual void createRobot(const char* robotName) = 0; |
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virtual void appendJoint(const char* parentJoint, const char* jointName, const char* jointType, const ::hpp::Transform_ pos) = 0; |
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virtual void createPolyhedron(const char* inPolyName) = 0; |
| 299 |
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virtual void createBox(const char* name, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0; |
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virtual void createSphere(const char* name, ::CORBA::Double radius) = 0; |
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virtual void createCylinder(const char* name, ::CORBA::Double radius, ::CORBA::Double length) = 0; |
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virtual ::CORBA::ULong addPoint(const char* inPolyName, ::CORBA::Double x, ::CORBA::Double y, ::CORBA::Double z) = 0; |
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virtual ::CORBA::ULong addTriangle(const char* inPolyName, ::CORBA::ULong pt1, ::CORBA::ULong pt2, ::CORBA::ULong pt3) = 0; |
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virtual void addObjectToJoint(const char* jointName, const char* objectName, const ::hpp::Transform_ pos) = 0; |
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public: // Really protected, workaround for xlC |
| 307 |
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virtual _CORBA_Boolean _dispatch(omniCallHandle&); |
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| 309 |
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private: |
| 310 |
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virtual void* _ptrToInterface(const char*); |
| 311 |
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virtual const char* _mostDerivedRepoId(); |
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| 313 |
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}; |
| 314 |
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| 315 |
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| 316 |
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_CORBA_MODULE_END |
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| 318 |
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_CORBA_MODULE_END |
| 319 |
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| 320 |
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_CORBA_MODULE POA_hpp |
| 323 |
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_CORBA_MODULE_BEG |
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| 325 |
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_CORBA_MODULE corbaserver |
| 326 |
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_CORBA_MODULE_BEG |
| 327 |
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| 328 |
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class Robot : |
| 329 |
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public virtual hpp::corbaserver::_impl_Robot, |
| 330 |
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public virtual ::PortableServer::ServantBase |
| 331 |
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{ |
| 332 |
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public: |
| 333 |
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virtual ~Robot(); |
| 334 |
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| 335 |
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17 |
inline ::hpp::corbaserver::Robot_ptr _this() { |
| 336 |
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17 |
return (::hpp::corbaserver::Robot_ptr) _do_this(::hpp::corbaserver::Robot::_PD_repoId); |
| 337 |
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} |
| 338 |
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}; |
| 339 |
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| 340 |
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_CORBA_MODULE_END |
| 341 |
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| 342 |
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_CORBA_MODULE_END |
| 343 |
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| 344 |
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| 345 |
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| 346 |
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_CORBA_MODULE OBV_hpp |
| 347 |
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_CORBA_MODULE_BEG |
| 348 |
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| 349 |
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_CORBA_MODULE corbaserver |
| 350 |
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_CORBA_MODULE_BEG |
| 351 |
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| 352 |
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_CORBA_MODULE_END |
| 353 |
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| 354 |
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_CORBA_MODULE_END |
| 355 |
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| 356 |
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| 357 |
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| 358 |
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| 359 |
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| 360 |
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#undef _core_attr |
| 361 |
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#undef _dyn_attr |
| 362 |
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| 363 |
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| 364 |
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| 365 |
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inline void |
| 366 |
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✗ |
hpp::corbaserver::Robot::_marshalObjRef(::hpp::corbaserver::Robot_ptr obj, cdrStream& s) { |
| 367 |
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✗ |
omniObjRef::_marshal(obj->_PR_getobj(),s); |
| 368 |
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} |
| 369 |
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| 370 |
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| 371 |
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| 372 |
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#ifdef USE_stub_in_nt_dll_NOT_DEFINED_robot |
| 373 |
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# undef USE_stub_in_nt_dll |
| 374 |
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# undef USE_stub_in_nt_dll_NOT_DEFINED_robot |
| 375 |
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#endif |
| 376 |
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#ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_robot |
| 377 |
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# undef USE_core_stub_in_nt_dll |
| 378 |
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# undef USE_core_stub_in_nt_dll_NOT_DEFINED_robot |
| 379 |
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#endif |
| 380 |
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#ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot |
| 381 |
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# undef USE_dyn_stub_in_nt_dll |
| 382 |
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# undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot |
| 383 |
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#endif |
| 384 |
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| 385 |
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#endif // __robot_hh__ |
| 386 |
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| 387 |
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