GCC Code Coverage Report

Directory: ./
File: src/hpp/pinocchio_idl/robots.hh
Date: 2025-05-11 11:10:19
Exec Total Coverage
Lines: 35 201 17.4%
Branches: 30 446 6.7%
Line Branch Exec Source
1 #ifndef hpp_pinocchio_idl__robots_hxx__
2 #define hpp_pinocchio_idl__robots_hxx__
3
4 //
5 // Implemention of IDL interfaces in file /root/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-6.0.0/idl/hpp/pinocchio_idl/robots.idl
6 //
7
8 #include <hpp/pinocchio_idl/robots-fwd.hh>
9
10 #include <sstream>
11
12 #include <hpp/corbaserver/fwd.hh>
13 #include <hpp/corbaserver/conversions.hh>
14 #include "hpp/corbaserver/servant-base.hh"
15
16
17
18 //
19 // Implementational code for IDL interface hpp::pinocchio_idl::CenterOfMassComputation
20 //
21 namespace hpp {
22
23 namespace pinocchio_impl {
24 template <typename _Base, typename _Storage>
25 ✗ CenterOfMassComputationServant<_Base, _Storage>::CenterOfMassComputationServant(::hpp::corbaServer::Server* server,
26 const _Storage& s)
27 ✗ : hpp::corbaServer::ServantBase<hpp::pinocchio::CenterOfMassComputation, _Storage> (server, s)
28 {
29 // add extra constructor code here
30 }
31 template <typename _Base, typename _Storage>
32 ✗ CenterOfMassComputationServant<_Base, _Storage>::~CenterOfMassComputationServant()
33 {
34 // add extra destructor code here
35 }
36
37 // Methods corresponding to IDL attributes and operations
38
39 template <typename _Base, typename _Storage>
40 ✗ void CenterOfMassComputationServant<_Base, _Storage>::deleteThis ()
41 {
42 try {
43 // automatically generated code.
44 ✗ _ServantBase::deleteThis();
45 ✗ } catch (const std::exception& e) {
46 ✗ throw ::hpp::Error (e.what());
47 }
48 }
49
50 template <typename _Base, typename _Storage>
51 ✗ ::CORBA::Boolean CenterOfMassComputationServant<_Base, _Storage>::deleteIfExpired ()
52 {
53 try {
54 // automatically generated code.
55 ✗ return _ServantBase::deleteIfExpired();
56 ✗ } catch (const std::exception& e) {
57 ✗ throw ::hpp::Error (e.what());
58 }
59 }
60
61 template <typename _Base, typename _Storage>
62 ✗ void CenterOfMassComputationServant<_Base, _Storage>::persistantStorage (::CORBA::Boolean persistant)
63 {
64 try {
65 // automatically generated code.
66 ✗ _ServantBase::persistantStorage(persistant);
67 ✗ } catch (const std::exception& e) {
68 ✗ throw ::hpp::Error (e.what());
69 }
70 }
71
72 template <typename _Base, typename _Storage>
73 ✗ void CenterOfMassComputationServant<_Base, _Storage>::compute ()
74 {
75 try {
76 // automatically generated code.
77
78 ✗ (getT()->compute ());
79
80
81 ✗ } catch (const std::exception& e) {
82 ✗ throw ::hpp::Error (e.what());
83 }
84 }
85
86 template <typename _Base, typename _Storage>
87 ✗ hpp::floatSeq* CenterOfMassComputationServant<_Base, _Storage>::com ()
88 {
89 try {
90 // automatically generated code.
91
92 ✗ hpp::floatSeq* __return__ = hpp::corbaServer::vectorToFloatSeq (getT()->com ());
93
94 ✗ return __return__;
95 ✗ } catch (const std::exception& e) {
96 ✗ throw ::hpp::Error (e.what());
97 }
98 }
99
100 template <typename _Base, typename _Storage>
101 ✗ hpp::value_type CenterOfMassComputationServant<_Base, _Storage>::mass ()
102 {
103 try {
104 // automatically generated code.
105
106 ✗ hpp::value_type __return__ (getT()->mass ());
107
108 ✗ return __return__;
109 ✗ } catch (const std::exception& e) {
110 ✗ throw ::hpp::Error (e.what());
111 }
112 }
113
114 template <typename _Base, typename _Storage>
115 ✗ hpp::floatSeqSeq* CenterOfMassComputationServant<_Base, _Storage>::jacobian ()
116 {
117 try {
118 // automatically generated code.
119
120 ✗ hpp::floatSeqSeq* __return__ = hpp::corbaServer::matrixToFloatSeqSeq (getT()->jacobian ());
121
122 ✗ return __return__;
123 ✗ } catch (const std::exception& e) {
124 ✗ throw ::hpp::Error (e.what());
125 }
126 }
127
128 // End of implementational code
129 } // namespace pinocchio_impl
130
131 } // namespace hpp
132
133 //
134 // Implementational code for IDL interface hpp::pinocchio_idl::Device
135 //
136 namespace hpp {
137
138 namespace pinocchio_impl {
139 template <typename _Base, typename _Storage>
140 2 DeviceServant<_Base, _Storage>::DeviceServant(::hpp::corbaServer::Server* server,
141 const _Storage& s)
142
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 2 : hpp::corbaServer::ServantBase<hpp::pinocchio::Device, _Storage> (server, s)
143 {
144 // add extra constructor code here
145 2 }
146 template <typename _Base, typename _Storage>
147 8 DeviceServant<_Base, _Storage>::~DeviceServant()
148 {
149 // add extra destructor code here
150 8 }
151
152 // Methods corresponding to IDL attributes and operations
153
154 template <typename _Base, typename _Storage>
155 ✗ void DeviceServant<_Base, _Storage>::deleteThis ()
156 {
157 try {
158 // automatically generated code.
159 ✗ _ServantBase::deleteThis();
160 ✗ } catch (const std::exception& e) {
161 ✗ throw ::hpp::Error (e.what());
162 }
163 }
164
165 template <typename _Base, typename _Storage>
166 ✗ ::CORBA::Boolean DeviceServant<_Base, _Storage>::deleteIfExpired ()
167 {
168 try {
169 // automatically generated code.
170 ✗ return _ServantBase::deleteIfExpired();
171 ✗ } catch (const std::exception& e) {
172 ✗ throw ::hpp::Error (e.what());
173 }
174 }
175
176 template <typename _Base, typename _Storage>
177 ✗ void DeviceServant<_Base, _Storage>::persistantStorage (::CORBA::Boolean persistant)
178 {
179 try {
180 // automatically generated code.
181 ✗ _ServantBase::persistantStorage(persistant);
182 ✗ } catch (const std::exception& e) {
183 ✗ throw ::hpp::Error (e.what());
184 }
185 }
186
187 template <typename _Base, typename _Storage>
188 ✗ char* DeviceServant<_Base, _Storage>::name ()
189 {
190 try {
191 // automatically generated code.
192
193 ✗ char* __return__ = ::hpp::corbaServer::c_str (getT()->name ());
194
195 ✗ return __return__;
196 ✗ } catch (const std::exception& e) {
197 ✗ throw ::hpp::Error (e.what());
198 }
199 }
200
201 template <typename _Base, typename _Storage>
202 ✗ hpp::floatSeq* DeviceServant<_Base, _Storage>::neutralConfiguration ()
203 {
204 try {
205 // automatically generated code.
206
207 ✗ hpp::floatSeq* __return__ = hpp::corbaServer::vectorToFloatSeq (getT()->neutralConfiguration ());
208
209 ✗ return __return__;
210 ✗ } catch (const std::exception& e) {
211 ✗ throw ::hpp::Error (e.what());
212 }
213 }
214
215 template <typename _Base, typename _Storage>
216 1 hpp::size_type DeviceServant<_Base, _Storage>::configSize ()
217 {
218 try {
219 // automatically generated code.
220
221
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 1 hpp::size_type __return__ (getT()->configSize ());
222
223 1 return __return__;
224 ✗ } catch (const std::exception& e) {
225 ✗ throw ::hpp::Error (e.what());
226 }
227 }
228
229 template <typename _Base, typename _Storage>
230 1 hpp::size_type DeviceServant<_Base, _Storage>::numberDof ()
231 {
232 try {
233 // automatically generated code.
234
235
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 1 hpp::size_type __return__ (getT()->numberDof ());
236
237 1 return __return__;
238 ✗ } catch (const std::exception& e) {
239 ✗ throw ::hpp::Error (e.what());
240 }
241 }
242
243 template <typename _Base, typename _Storage>
244 ✗ void DeviceServant<_Base, _Storage>::integrate (const hpp::floatSeq& config_in, const hpp::floatSeq& velocity, hpp::floatSeq_out result)
245 {
246 try {
247 // generated from /root/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-6.0.0/idl/hpp/pinocchio_idl/robots.idl:29
248 ✗ hpp::pinocchio::DevicePtr_t d = getT();
249 ✗ hpp::pinocchio::Configuration_t res (d->configSize());
250 ✗ hpp::pinocchio::integrate<false, hpp::pinocchio::DefaultLieGroupMap> (d,
251 ::hpp::corbaServer::floatSeqToVector(config_in, d->configSize()),
252 ::hpp::corbaServer::floatSeqToVector(velocity , d->numberDof()),
253 res);
254 ✗ result = ::hpp::corbaServer::vectorToFloatSeq (res);
255
256 ✗ } catch (const std::exception& e) {
257 ✗ throw ::hpp::Error (e.what());
258 }
259 }
260
261 template <typename _Base, typename _Storage>
262 ✗ void DeviceServant<_Base, _Storage>::difference (const hpp::floatSeq& q1, const hpp::floatSeq& q2, hpp::floatSeq_out result)
263 {
264 try {
265 // generated from /root/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-6.0.0/idl/hpp/pinocchio_idl/robots.idl:29
266 ✗ hpp::pinocchio::DevicePtr_t d = getT();
267 ✗ hpp::pinocchio::Configuration_t res (d->numberDof());
268 ✗ hpp::pinocchio::difference<hpp::pinocchio::DefaultLieGroupMap> (d,
269 ::hpp::corbaServer::floatSeqToVector(q1, d->configSize()),
270 ::hpp::corbaServer::floatSeqToVector(q2, d->configSize()),
271 res);
272 ✗ result = ::hpp::corbaServer::vectorToFloatSeq (res);
273
274 ✗ } catch (const std::exception& e) {
275 ✗ throw ::hpp::Error (e.what());
276 }
277 }
278
279 template <typename _Base, typename _Storage>
280 ✗ void DeviceServant<_Base, _Storage>::interpolate (const hpp::floatSeq& q1, const hpp::floatSeq& q2, ::CORBA::Float u, hpp::floatSeq_out result)
281 {
282 try {
283 // generated from /root/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-6.0.0/idl/hpp/pinocchio_idl/robots.idl:29
284 ✗ hpp::pinocchio::DevicePtr_t d = getT();
285 ✗ hpp::pinocchio::Configuration_t res (d->configSize());
286 ✗ hpp::pinocchio::interpolate<hpp::pinocchio::DefaultLieGroupMap> (d,
287 ::hpp::corbaServer::floatSeqToVector(q1, d->configSize()),
288 ::hpp::corbaServer::floatSeqToVector(q2, d->configSize()),
289 ✗ u,
290 res);
291 ✗ result = ::hpp::corbaServer::vectorToFloatSeq (res);
292
293 ✗ } catch (const std::exception& e) {
294 ✗ throw ::hpp::Error (e.what());
295 }
296 }
297
298 template <typename _Base, typename _Storage>
299 ✗ void DeviceServant<_Base, _Storage>::saturate (const hpp::floatSeq& qin, hpp::floatSeq_out qout, hpp::boolSeq_out saturation)
300 {
301 try {
302 // generated from /root/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-6.0.0/idl/hpp/pinocchio_idl/robots.idl:29
303 ✗ hpp::pinocchio::DevicePtr_t d = getT();
304 ✗ hpp::pinocchio::Configuration_t q (::hpp::corbaServer::floatSeqToVector(qin));
305 ✗ hpp::pinocchio::ArrayXb sat (d->numberDof());
306 ✗ hpp::pinocchio::saturate (d, q, sat);
307 ✗ qout = ::hpp::corbaServer::vectorToFloatSeq (q);
308 ✗ saturation = ::hpp::corbaServer::toBoolSeq(sat.data(), sat.data()+sat.size());
309
310 ✗ } catch (const std::exception& e) {
311 ✗ throw ::hpp::Error (e.what());
312 }
313 }
314
315 template <typename _Base, typename _Storage>
316 ✗ void DeviceServant<_Base, _Storage>::replaceGeometryByConvexHull (const hpp::Names_t& geometryNames)
317 {
318 try {
319 // generated from /root/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-6.0.0/idl/hpp/pinocchio_idl/robots.idl:29
320 ✗ hpp::pinocchio::DevicePtr_t d = getT();
321 ✗ hpp::pinocchio::replaceGeometryByConvexHull(d->geomModel(),
322 ::hpp::corbaServer::toStrings<std::vector<std::string> >(geometryNames));
323 ✗ d->createGeomData();
324
325 ✗ } catch (const std::exception& e) {
326 ✗ throw ::hpp::Error (e.what());
327 }
328 }
329
330 template <typename _Base, typename _Storage>
331 2 hpp::floatSeq* DeviceServant<_Base, _Storage>::getCurrentConfiguration ()
332 {
333 try {
334 // automatically generated code.
335
336
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 2 hpp::floatSeq* __return__ = hpp::corbaServer::vectorToFloatSeq (getT()->currentConfiguration ());
337
338 2 return __return__;
339 ✗ } catch (const std::exception& e) {
340 ✗ throw ::hpp::Error (e.what());
341 }
342 }
343
344 template <typename _Base, typename _Storage>
345 1 ::CORBA::Boolean DeviceServant<_Base, _Storage>::setCurrentConfiguration (const hpp::floatSeq& configuration)
346 {
347 try {
348 // automatically generated code.
349
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 1 hpp::core::vector_t _configuration = hpp::corbaServer::floatSeqToVector (configuration);
350
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 1 ::CORBA::Boolean __return__ (getT()->currentConfiguration (_configuration));
351
352 1 return __return__;
353
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 1 } catch (const std::exception& e) {
354 ✗ throw ::hpp::Error (e.what());
355 }
356 }
357
358 template <typename _Base, typename _Storage>
359 1 hpp::floatSeq* DeviceServant<_Base, _Storage>::getCurrentVelocity ()
360 {
361 try {
362 // automatically generated code.
363
364
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 1 hpp::floatSeq* __return__ = hpp::corbaServer::vectorToFloatSeq (getT()->currentVelocity ());
365
366 1 return __return__;
367 ✗ } catch (const std::exception& e) {
368 ✗ throw ::hpp::Error (e.what());
369 }
370 }
371
372 template <typename _Base, typename _Storage>
373 1 ::CORBA::Boolean DeviceServant<_Base, _Storage>::setCurrentVelocity (const hpp::floatSeq& velocity)
374 {
375 try {
376 // automatically generated code.
377
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 1 hpp::core::vector_t _velocity = hpp::corbaServer::floatSeqToVector (velocity);
378
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 1 ::CORBA::Boolean __return__ (getT()->currentVelocity (_velocity));
379
380 1 return __return__;
381
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 1 } catch (const std::exception& e) {
382 ✗ throw ::hpp::Error (e.what());
383 }
384 }
385
386 template <typename _Base, typename _Storage>
387 1 hpp::floatSeq* DeviceServant<_Base, _Storage>::getCurrentAcceleration ()
388 {
389 try {
390 // automatically generated code.
391
392
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 1 hpp::floatSeq* __return__ = hpp::corbaServer::vectorToFloatSeq (getT()->currentAcceleration ());
393
394 1 return __return__;
395 ✗ } catch (const std::exception& e) {
396 ✗ throw ::hpp::Error (e.what());
397 }
398 }
399
400 template <typename _Base, typename _Storage>
401 1 ::CORBA::Boolean DeviceServant<_Base, _Storage>::setCurrentAcceleration (const hpp::floatSeq& acceleration)
402 {
403 try {
404 // automatically generated code.
405
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 1 hpp::core::vector_t _acceleration = hpp::corbaServer::floatSeqToVector (acceleration);
406
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 1 ::CORBA::Boolean __return__ (getT()->currentAcceleration (_acceleration));
407
408 1 return __return__;
409
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 1 } catch (const std::exception& e) {
410 ✗ throw ::hpp::Error (e.what());
411 }
412 }
413
414 template <typename _Base, typename _Storage>
415 ✗ ::CORBA::Short DeviceServant<_Base, _Storage>::computationFlag ()
416 {
417 try {
418 // automatically generated code.
419
420 ✗ ::CORBA::Short __return__ (getT()->computationFlag ());
421
422 ✗ return __return__;
423 ✗ } catch (const std::exception& e) {
424 ✗ throw ::hpp::Error (e.what());
425 }
426 }
427
428 template <typename _Base, typename _Storage>
429 ✗ void DeviceServant<_Base, _Storage>::controlComputation (::CORBA::Short flag)
430 {
431 try {
432 // generated from /root/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-6.0.0/idl/hpp/pinocchio_idl/robots.idl:29
433 ✗ getT()->controlComputation(hpp::pinocchio::Computation_t(flag));
434
435 ✗ } catch (const std::exception& e) {
436 ✗ throw ::hpp::Error (e.what());
437 }
438 }
439
440 template <typename _Base, typename _Storage>
441 ✗ void DeviceServant<_Base, _Storage>::computeForwardKinematics (::CORBA::Short computationFlag)
442 {
443 try {
444 // automatically generated code.
445
446 ✗ (getT()->computeForwardKinematics (computationFlag));
447
448
449 ✗ } catch (const std::exception& e) {
450 ✗ throw ::hpp::Error (e.what());
451 }
452 }
453
454 template <typename _Base, typename _Storage>
455 ✗ void DeviceServant<_Base, _Storage>::computeFramesForwardKinematics ()
456 {
457 try {
458 // automatically generated code.
459
460 ✗ (getT()->computeFramesForwardKinematics ());
461
462
463 ✗ } catch (const std::exception& e) {
464 ✗ throw ::hpp::Error (e.what());
465 }
466 }
467
468 template <typename _Base, typename _Storage>
469 ✗ void DeviceServant<_Base, _Storage>::updateGeometryPlacements ()
470 {
471 try {
472 // automatically generated code.
473
474 ✗ (getT()->updateGeometryPlacements ());
475
476
477 ✗ } catch (const std::exception& e) {
478 ✗ throw ::hpp::Error (e.what());
479 }
480 }
481
482 template <typename _Base, typename _Storage>
483 ✗ hpp::frame_index DeviceServant<_Base, _Storage>::getFrameByName (const char* name)
484 {
485 try {
486 // generated from /root/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-6.0.0/idl/hpp/pinocchio_idl/robots.idl:29
487 ✗ return (frame_index) getT()->getFrameByName(name).index();
488
489 ✗ } catch (const std::exception& e) {
490 ✗ throw ::hpp::Error (e.what());
491 }
492 }
493
494 template <typename _Base, typename _Storage>
495 ✗ hpp::Transform__slice* DeviceServant<_Base, _Storage>::getFramePosition (hpp::frame_index frame_id)
496 {
497 try {
498 // generated from /root/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-6.0.0/idl/hpp/pinocchio_idl/robots.idl:29
499 ✗ if (getT()->model().nframes <= (int)frame_id) throw hpp::Error("Index out of range");
500 ✗ hpp::pinocchio::Frame frame(getT(), frame_id);
501 ✗ return hpp::corbaServer::toHppTransform(frame.currentTransformation());
502
503 ✗ } catch (const std::exception& e) {
504 ✗ throw ::hpp::Error (e.what());
505 }
506 }
507
508 template <typename _Base, typename _Storage>
509 ✗ hpp::floatSeqSeq* DeviceServant<_Base, _Storage>::getFrameJacobian (hpp::frame_index frame_id)
510 {
511 try {
512 // generated from /root/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-6.0.0/idl/hpp/pinocchio_idl/robots.idl:29
513 ✗ if (getT()->model().nframes <= (int)frame_id) throw hpp::Error("Index out of range");
514 ✗ if (!(getT()->computationFlag() & hpp::pinocchio::JACOBIAN))
515 ✗ throw hpp::Error("Invalid computation flags");
516 ✗ hpp::pinocchio::Frame frame(getT(), frame_id);
517 ✗ return hpp::corbaServer::matrixToFloatSeqSeq(frame.jacobian());
518
519 ✗ } catch (const std::exception& e) {
520 ✗ throw ::hpp::Error (e.what());
521 }
522 }
523
524 template <typename _Base, typename _Storage>
525 ✗ void DeviceServant<_Base, _Storage>::removeJoints (const hpp::Names_t& joints, const hpp::floatSeq& refConfig)
526 {
527 try {
528 // automatically generated code.
529 ✗ typedef std::vector<std::string> strings_t;strings_t _joints = hpp::corbaServer::toStrings<strings_t> (joints);
530 ✗ hpp::core::vector_t _refConfig = hpp::corbaServer::floatSeqToVector (refConfig);
531 ✗ (getT()->removeJoints (_joints, _refConfig));
532
533
534 ✗ } catch (const std::exception& e) {
535 ✗ throw ::hpp::Error (e.what());
536 }
537 }
538
539 // End of implementational code
540 } // namespace pinocchio_impl
541
542 } // namespace hpp
543
544 //
545 // Implementational code for IDL interface hpp::pinocchio_idl::CollisionObject
546 //
547 namespace hpp {
548
549 namespace pinocchio_impl {
550 template <typename _Base, typename _Storage>
551 ✗ CollisionObjectServant<_Base, _Storage>::CollisionObjectServant(::hpp::corbaServer::Server* server,
552 const _Storage& s)
553 ✗ : hpp::corbaServer::ServantBase<hpp::pinocchio::CollisionObject, _Storage> (server, s)
554 {
555 // add extra constructor code here
556 }
557 template <typename _Base, typename _Storage>
558 ✗ CollisionObjectServant<_Base, _Storage>::~CollisionObjectServant()
559 {
560 // add extra destructor code here
561 }
562
563 // Methods corresponding to IDL attributes and operations
564
565 template <typename _Base, typename _Storage>
566 ✗ void CollisionObjectServant<_Base, _Storage>::deleteThis ()
567 {
568 try {
569 // automatically generated code.
570 ✗ _ServantBase::deleteThis();
571 ✗ } catch (const std::exception& e) {
572 ✗ throw ::hpp::Error (e.what());
573 }
574 }
575
576 template <typename _Base, typename _Storage>
577 ✗ ::CORBA::Boolean CollisionObjectServant<_Base, _Storage>::deleteIfExpired ()
578 {
579 try {
580 // automatically generated code.
581 ✗ return _ServantBase::deleteIfExpired();
582 ✗ } catch (const std::exception& e) {
583 ✗ throw ::hpp::Error (e.what());
584 }
585 }
586
587 template <typename _Base, typename _Storage>
588 ✗ void CollisionObjectServant<_Base, _Storage>::persistantStorage (::CORBA::Boolean persistant)
589 {
590 try {
591 // automatically generated code.
592 ✗ _ServantBase::persistantStorage(persistant);
593 ✗ } catch (const std::exception& e) {
594 ✗ throw ::hpp::Error (e.what());
595 }
596 }
597
598 // End of implementational code
599 } // namespace pinocchio_impl
600
601 } // namespace hpp
602
603
604
605
606
607 #endif // hpp_pinocchio_idl__robots_hxx__
608
609