GCC Code Coverage Report


Directory: ./
File: src/hpp/pinocchio_idl/robots-idl.hh
Date: 2024-12-13 15:50:05
Exec Total Coverage
Lines: 13 34 38.2%
Branches: 2 12 16.7%

Line Branch Exec Source
1 // This file is generated by omniidl (C++ backend)- omniORB_4_3. Do not edit.
2 #ifndef pp_pinocchio_idl__robots_hh__
3 #define pp_pinocchio_idl__robots_hh__
4
5 #ifndef __CORBA_H_EXTERNAL_GUARD__
6 #include <omniORB4/CORBA.h>
7 #endif
8
9 #ifndef USE_stub_in_nt_dll
10 # define USE_stub_in_nt_dll_NOT_DEFINED_robots
11 #endif
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED_robots
14 #endif
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots
17 #endif
18
19
20
21 #ifndef pp_pinocchio_idl__common_hh_EXTERNAL_GUARD__
22 #define pp_pinocchio_idl__common_hh_EXTERNAL_GUARD__
23 #include <hpp/common-idl.hh>
24 #endif
25
26
27
28 #ifdef USE_stub_in_nt_dll
29 # ifndef USE_core_stub_in_nt_dll
30 # define USE_core_stub_in_nt_dll
31 # endif
32 # ifndef USE_dyn_stub_in_nt_dll
33 # define USE_dyn_stub_in_nt_dll
34 # endif
35 #endif
36
37 #ifdef _core_attr
38 # error "A local CPP macro _core_attr has already been defined."
39 #else
40 # ifdef USE_core_stub_in_nt_dll
41 # define _core_attr _OMNIORB_NTDLL_IMPORT
42 # else
43 # define _core_attr
44 # endif
45 #endif
46
47 #ifdef _dyn_attr
48 # error "A local CPP macro _dyn_attr has already been defined."
49 #else
50 # ifdef USE_dyn_stub_in_nt_dll
51 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
52 # else
53 # define _dyn_attr
54 # endif
55 #endif
56
57
58
59 _CORBA_MODULE hpp
60
61 _CORBA_MODULE_BEG
62
63 _CORBA_MODULE pinocchio_idl
64
65 _CORBA_MODULE_BEG
66
67 #ifndef __hpp_mpinocchio__idl_mCenterOfMassComputation__
68 #define __hpp_mpinocchio__idl_mCenterOfMassComputation__
69 class CenterOfMassComputation;
70 class _objref_CenterOfMassComputation;
71 class _impl_CenterOfMassComputation;
72
73 typedef _objref_CenterOfMassComputation* CenterOfMassComputation_ptr;
74 typedef CenterOfMassComputation_ptr CenterOfMassComputationRef;
75
76 class CenterOfMassComputation_Helper {
77 public:
78 typedef CenterOfMassComputation_ptr _ptr_type;
79
80 static _ptr_type _nil();
81 static _CORBA_Boolean is_nil(_ptr_type);
82 static void release(_ptr_type);
83 static void duplicate(_ptr_type);
84 static void marshalObjRef(_ptr_type, cdrStream&);
85 static _ptr_type unmarshalObjRef(cdrStream&);
86 };
87
88 typedef _CORBA_ObjRef_Var<_objref_CenterOfMassComputation, CenterOfMassComputation_Helper> CenterOfMassComputation_var;
89 typedef _CORBA_ObjRef_OUT_arg<_objref_CenterOfMassComputation,CenterOfMassComputation_Helper > CenterOfMassComputation_out;
90
91 #endif
92
93 // interface CenterOfMassComputation
94 class CenterOfMassComputation {
95 public:
96 // Declarations for this interface type.
97 typedef CenterOfMassComputation_ptr _ptr_type;
98 typedef CenterOfMassComputation_var _var_type;
99
100 static _ptr_type _duplicate(_ptr_type);
101 static _ptr_type _narrow(::CORBA::Object_ptr);
102 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
103
104 static _ptr_type _nil();
105
106 static inline void _marshalObjRef(_ptr_type, cdrStream&);
107
108 static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
109 omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
110 if (o)
111 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
112 else
113 return _nil();
114 }
115
116 static inline _ptr_type _fromObjRef(omniObjRef* o) {
117 if (o)
118 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
119 else
120 return _nil();
121 }
122
123 static _core_attr const char* _PD_repoId;
124
125 // Other IDL defined within this scope.
126
127 };
128
129 class _objref_CenterOfMassComputation :
130 public virtual ::CORBA::Object,
131 public virtual omniObjRef
132 {
133 public:
134 // IDL operations
135 void deleteThis();
136 ::CORBA::Boolean deleteIfExpired();
137 void persistantStorage(::CORBA::Boolean persistant);
138 void compute();
139 floatSeq* com();
140 value_type mass();
141 floatSeqSeq* jacobian();
142
143 // Constructors
144 inline _objref_CenterOfMassComputation() { _PR_setobj(0); } // nil
145 _objref_CenterOfMassComputation(omniIOR*, omniIdentity*);
146
147 protected:
148 virtual ~_objref_CenterOfMassComputation();
149
150
151 private:
152 virtual void* _ptrToObjRef(const char*);
153
154 _objref_CenterOfMassComputation(const _objref_CenterOfMassComputation&);
155 _objref_CenterOfMassComputation& operator = (const _objref_CenterOfMassComputation&);
156 // not implemented
157
158 friend class CenterOfMassComputation;
159 };
160
161 class _pof_CenterOfMassComputation : public _OMNI_NS(proxyObjectFactory) {
162 public:
163 8 inline _pof_CenterOfMassComputation() : _OMNI_NS(proxyObjectFactory)(CenterOfMassComputation::_PD_repoId) {}
164 virtual ~_pof_CenterOfMassComputation();
165
166 virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
167 virtual _CORBA_Boolean is_a(const char*) const;
168 };
169
170 class _impl_CenterOfMassComputation :
171 public virtual omniServant
172 {
173 public:
174 virtual ~_impl_CenterOfMassComputation();
175
176 virtual void deleteThis() = 0;
177 virtual ::CORBA::Boolean deleteIfExpired() = 0;
178 virtual void persistantStorage(::CORBA::Boolean persistant) = 0;
179 virtual void compute() = 0;
180 virtual floatSeq* com() = 0;
181 virtual value_type mass() = 0;
182 virtual floatSeqSeq* jacobian() = 0;
183
184 public: // Really protected, workaround for xlC
185 virtual _CORBA_Boolean _dispatch(omniCallHandle&);
186
187 private:
188 virtual void* _ptrToInterface(const char*);
189 virtual const char* _mostDerivedRepoId();
190
191 };
192
193
194 #ifndef __hpp_mpinocchio__idl_mDevice__
195 #define __hpp_mpinocchio__idl_mDevice__
196 class Device;
197 class _objref_Device;
198 class _impl_Device;
199
200 typedef _objref_Device* Device_ptr;
201 typedef Device_ptr DeviceRef;
202
203 class Device_Helper {
204 public:
205 typedef Device_ptr _ptr_type;
206
207 static _ptr_type _nil();
208 static _CORBA_Boolean is_nil(_ptr_type);
209 static void release(_ptr_type);
210 static void duplicate(_ptr_type);
211 static void marshalObjRef(_ptr_type, cdrStream&);
212 static _ptr_type unmarshalObjRef(cdrStream&);
213 };
214
215 typedef _CORBA_ObjRef_Var<_objref_Device, Device_Helper> Device_var;
216 typedef _CORBA_ObjRef_OUT_arg<_objref_Device,Device_Helper > Device_out;
217
218 #endif
219
220 // interface Device
221 class Device {
222 public:
223 // Declarations for this interface type.
224 typedef Device_ptr _ptr_type;
225 typedef Device_var _var_type;
226
227 static _ptr_type _duplicate(_ptr_type);
228 static _ptr_type _narrow(::CORBA::Object_ptr);
229 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
230
231 static _ptr_type _nil();
232
233 static inline void _marshalObjRef(_ptr_type, cdrStream&);
234
235 2 static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
236 2 omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
237
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2 if (o)
238 2 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
239 else
240 return _nil();
241 }
242
243 static inline _ptr_type _fromObjRef(omniObjRef* o) {
244 if (o)
245 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
246 else
247 return _nil();
248 }
249
250 static _core_attr const char* _PD_repoId;
251
252 // Other IDL defined within this scope.
253
254 };
255
256 class _objref_Device :
257 public virtual ::CORBA::Object,
258 public virtual omniObjRef
259 {
260 public:
261 // IDL operations
262 void deleteThis();
263 ::CORBA::Boolean deleteIfExpired();
264 void persistantStorage(::CORBA::Boolean persistant);
265 char* name();
266 floatSeq* neutralConfiguration();
267 size_type configSize();
268 size_type numberDof();
269 void integrate(const ::hpp::floatSeq& config_in, const ::hpp::floatSeq& velocity, ::hpp::floatSeq_out result);
270 void difference(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::hpp::floatSeq_out result);
271 void interpolate(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::CORBA::Float u, ::hpp::floatSeq_out result);
272 void saturate(const ::hpp::floatSeq& qin, ::hpp::floatSeq_out qout, ::hpp::boolSeq_out saturation);
273 void replaceGeometryByConvexHull(const ::hpp::Names_t& geometryNames);
274 floatSeq* getCurrentConfiguration();
275 ::CORBA::Boolean setCurrentConfiguration(const ::hpp::floatSeq& configuration);
276 floatSeq* getCurrentVelocity();
277 ::CORBA::Boolean setCurrentVelocity(const ::hpp::floatSeq& velocity);
278 floatSeq* getCurrentAcceleration();
279 ::CORBA::Boolean setCurrentAcceleration(const ::hpp::floatSeq& acceleration);
280 ::CORBA::Short computationFlag();
281 void controlComputation(::CORBA::Short flag);
282 void computeForwardKinematics(::CORBA::Short computationFlag);
283 void computeFramesForwardKinematics();
284 void updateGeometryPlacements();
285 frame_index getFrameByName(const char* name);
286 Transform__slice* getFramePosition(::hpp::frame_index frame_id);
287 floatSeqSeq* getFrameJacobian(::hpp::frame_index frame_id);
288 void removeJoints(const ::hpp::Names_t& joints, const ::hpp::floatSeq& refConfig);
289
290 // Constructors
291
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2 inline _objref_Device() { _PR_setobj(0); } // nil
292 _objref_Device(omniIOR*, omniIdentity*);
293
294 protected:
295 virtual ~_objref_Device();
296
297
298 private:
299 virtual void* _ptrToObjRef(const char*);
300
301 _objref_Device(const _objref_Device&);
302 _objref_Device& operator = (const _objref_Device&);
303 // not implemented
304
305 friend class Device;
306 };
307
308 class _pof_Device : public _OMNI_NS(proxyObjectFactory) {
309 public:
310 8 inline _pof_Device() : _OMNI_NS(proxyObjectFactory)(Device::_PD_repoId) {}
311 virtual ~_pof_Device();
312
313 virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
314 virtual _CORBA_Boolean is_a(const char*) const;
315 };
316
317 class _impl_Device :
318 public virtual omniServant
319 {
320 public:
321 virtual ~_impl_Device();
322
323 virtual void deleteThis() = 0;
324 virtual ::CORBA::Boolean deleteIfExpired() = 0;
325 virtual void persistantStorage(::CORBA::Boolean persistant) = 0;
326 virtual char* name() = 0;
327 virtual floatSeq* neutralConfiguration() = 0;
328 virtual size_type configSize() = 0;
329 virtual size_type numberDof() = 0;
330 virtual void integrate(const ::hpp::floatSeq& config_in, const ::hpp::floatSeq& velocity, ::hpp::floatSeq_out result) = 0;
331 virtual void difference(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::hpp::floatSeq_out result) = 0;
332 virtual void interpolate(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::CORBA::Float u, ::hpp::floatSeq_out result) = 0;
333 virtual void saturate(const ::hpp::floatSeq& qin, ::hpp::floatSeq_out qout, ::hpp::boolSeq_out saturation) = 0;
334 virtual void replaceGeometryByConvexHull(const ::hpp::Names_t& geometryNames) = 0;
335 virtual floatSeq* getCurrentConfiguration() = 0;
336 virtual ::CORBA::Boolean setCurrentConfiguration(const ::hpp::floatSeq& configuration) = 0;
337 virtual floatSeq* getCurrentVelocity() = 0;
338 virtual ::CORBA::Boolean setCurrentVelocity(const ::hpp::floatSeq& velocity) = 0;
339 virtual floatSeq* getCurrentAcceleration() = 0;
340 virtual ::CORBA::Boolean setCurrentAcceleration(const ::hpp::floatSeq& acceleration) = 0;
341 virtual ::CORBA::Short computationFlag() = 0;
342 virtual void controlComputation(::CORBA::Short flag) = 0;
343 virtual void computeForwardKinematics(::CORBA::Short computationFlag) = 0;
344 virtual void computeFramesForwardKinematics() = 0;
345 virtual void updateGeometryPlacements() = 0;
346 virtual frame_index getFrameByName(const char* name) = 0;
347 virtual Transform__slice* getFramePosition(::hpp::frame_index frame_id) = 0;
348 virtual floatSeqSeq* getFrameJacobian(::hpp::frame_index frame_id) = 0;
349 virtual void removeJoints(const ::hpp::Names_t& joints, const ::hpp::floatSeq& refConfig) = 0;
350
351 public: // Really protected, workaround for xlC
352 virtual _CORBA_Boolean _dispatch(omniCallHandle&);
353
354 private:
355 virtual void* _ptrToInterface(const char*);
356 virtual const char* _mostDerivedRepoId();
357
358 };
359
360
361 #ifndef __hpp_mpinocchio__idl_mCollisionObject__
362 #define __hpp_mpinocchio__idl_mCollisionObject__
363 class CollisionObject;
364 class _objref_CollisionObject;
365 class _impl_CollisionObject;
366
367 typedef _objref_CollisionObject* CollisionObject_ptr;
368 typedef CollisionObject_ptr CollisionObjectRef;
369
370 class CollisionObject_Helper {
371 public:
372 typedef CollisionObject_ptr _ptr_type;
373
374 static _ptr_type _nil();
375 static _CORBA_Boolean is_nil(_ptr_type);
376 static void release(_ptr_type);
377 static void duplicate(_ptr_type);
378 static void marshalObjRef(_ptr_type, cdrStream&);
379 static _ptr_type unmarshalObjRef(cdrStream&);
380 };
381
382 typedef _CORBA_ObjRef_Var<_objref_CollisionObject, CollisionObject_Helper> CollisionObject_var;
383 typedef _CORBA_ObjRef_OUT_arg<_objref_CollisionObject,CollisionObject_Helper > CollisionObject_out;
384
385 #endif
386
387 // interface CollisionObject
388 class CollisionObject {
389 public:
390 // Declarations for this interface type.
391 typedef CollisionObject_ptr _ptr_type;
392 typedef CollisionObject_var _var_type;
393
394 static _ptr_type _duplicate(_ptr_type);
395 static _ptr_type _narrow(::CORBA::Object_ptr);
396 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
397
398 static _ptr_type _nil();
399
400 static inline void _marshalObjRef(_ptr_type, cdrStream&);
401
402 static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
403 omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
404 if (o)
405 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
406 else
407 return _nil();
408 }
409
410 static inline _ptr_type _fromObjRef(omniObjRef* o) {
411 if (o)
412 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
413 else
414 return _nil();
415 }
416
417 static _core_attr const char* _PD_repoId;
418
419 // Other IDL defined within this scope.
420
421 };
422
423 class _objref_CollisionObject :
424 public virtual ::CORBA::Object,
425 public virtual omniObjRef
426 {
427 public:
428 // IDL operations
429 void deleteThis();
430 ::CORBA::Boolean deleteIfExpired();
431 void persistantStorage(::CORBA::Boolean persistant);
432
433 // Constructors
434 inline _objref_CollisionObject() { _PR_setobj(0); } // nil
435 _objref_CollisionObject(omniIOR*, omniIdentity*);
436
437 protected:
438 virtual ~_objref_CollisionObject();
439
440
441 private:
442 virtual void* _ptrToObjRef(const char*);
443
444 _objref_CollisionObject(const _objref_CollisionObject&);
445 _objref_CollisionObject& operator = (const _objref_CollisionObject&);
446 // not implemented
447
448 friend class CollisionObject;
449 };
450
451 class _pof_CollisionObject : public _OMNI_NS(proxyObjectFactory) {
452 public:
453 8 inline _pof_CollisionObject() : _OMNI_NS(proxyObjectFactory)(CollisionObject::_PD_repoId) {}
454 virtual ~_pof_CollisionObject();
455
456 virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
457 virtual _CORBA_Boolean is_a(const char*) const;
458 };
459
460 class _impl_CollisionObject :
461 public virtual omniServant
462 {
463 public:
464 virtual ~_impl_CollisionObject();
465
466 virtual void deleteThis() = 0;
467 virtual ::CORBA::Boolean deleteIfExpired() = 0;
468 virtual void persistantStorage(::CORBA::Boolean persistant) = 0;
469
470 public: // Really protected, workaround for xlC
471 virtual _CORBA_Boolean _dispatch(omniCallHandle&);
472
473 private:
474 virtual void* _ptrToInterface(const char*);
475 virtual const char* _mostDerivedRepoId();
476
477 };
478
479
480 _CORBA_MODULE_END
481
482 _CORBA_MODULE_END
483
484
485
486 _CORBA_MODULE POA_hpp
487 _CORBA_MODULE_BEG
488
489 _CORBA_MODULE pinocchio_idl
490 _CORBA_MODULE_BEG
491
492 class CenterOfMassComputation :
493 public virtual hpp::pinocchio_idl::_impl_CenterOfMassComputation,
494 public virtual ::PortableServer::ServantBase
495 {
496 public:
497 virtual ~CenterOfMassComputation();
498
499 inline ::hpp::pinocchio_idl::CenterOfMassComputation_ptr _this() {
500 return (::hpp::pinocchio_idl::CenterOfMassComputation_ptr) _do_this(::hpp::pinocchio_idl::CenterOfMassComputation::_PD_repoId);
501 }
502 };
503
504 class Device :
505 public virtual hpp::pinocchio_idl::_impl_Device,
506 public virtual ::PortableServer::ServantBase
507 {
508 public:
509 virtual ~Device();
510
511 2 inline ::hpp::pinocchio_idl::Device_ptr _this() {
512 2 return (::hpp::pinocchio_idl::Device_ptr) _do_this(::hpp::pinocchio_idl::Device::_PD_repoId);
513 }
514 };
515
516 class CollisionObject :
517 public virtual hpp::pinocchio_idl::_impl_CollisionObject,
518 public virtual ::PortableServer::ServantBase
519 {
520 public:
521 virtual ~CollisionObject();
522
523 inline ::hpp::pinocchio_idl::CollisionObject_ptr _this() {
524 return (::hpp::pinocchio_idl::CollisionObject_ptr) _do_this(::hpp::pinocchio_idl::CollisionObject::_PD_repoId);
525 }
526 };
527
528 _CORBA_MODULE_END
529
530 _CORBA_MODULE_END
531
532
533
534 _CORBA_MODULE OBV_hpp
535 _CORBA_MODULE_BEG
536
537 _CORBA_MODULE pinocchio_idl
538 _CORBA_MODULE_BEG
539
540 _CORBA_MODULE_END
541
542 _CORBA_MODULE_END
543
544
545
546
547
548 #undef _core_attr
549 #undef _dyn_attr
550
551
552
553 inline void
554 hpp::pinocchio_idl::CenterOfMassComputation::_marshalObjRef(::hpp::pinocchio_idl::CenterOfMassComputation_ptr obj, cdrStream& s) {
555 omniObjRef::_marshal(obj->_PR_getobj(),s);
556 }
557
558 inline void
559 2 hpp::pinocchio_idl::Device::_marshalObjRef(::hpp::pinocchio_idl::Device_ptr obj, cdrStream& s) {
560 2 omniObjRef::_marshal(obj->_PR_getobj(),s);
561 2 }
562
563 inline void
564 hpp::pinocchio_idl::CollisionObject::_marshalObjRef(::hpp::pinocchio_idl::CollisionObject_ptr obj, cdrStream& s) {
565 omniObjRef::_marshal(obj->_PR_getobj(),s);
566 }
567
568
569
570 #ifdef USE_stub_in_nt_dll_NOT_DEFINED_robots
571 # undef USE_stub_in_nt_dll
572 # undef USE_stub_in_nt_dll_NOT_DEFINED_robots
573 #endif
574 #ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_robots
575 # undef USE_core_stub_in_nt_dll
576 # undef USE_core_stub_in_nt_dll_NOT_DEFINED_robots
577 #endif
578 #ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots
579 # undef USE_dyn_stub_in_nt_dll
580 # undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots
581 #endif
582
583 #endif // __robots_hh__
584
585