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// This file is generated by omniidl (C++ backend)- omniORB_4_3. Do not edit. |
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#ifndef pp_manipulation_idl____path__planners_hh__ |
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#define pp_manipulation_idl____path__planners_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___path__planners |
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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___path__planners |
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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___path__planners |
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#endif |
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#ifndef pp_manipulation_idl__common_hh_EXTERNAL_GUARD__ |
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#define pp_manipulation_idl__common_hh_EXTERNAL_GUARD__ |
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#include <hpp/common-idl.hh> |
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#endif |
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#ifndef pp_manipulation_idl__paths_hh_EXTERNAL_GUARD__ |
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#define pp_manipulation_idl__paths_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/paths-idl.hh> |
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#endif |
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#ifndef pp_manipulation_idl__constraints_hh_EXTERNAL_GUARD__ |
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#define pp_manipulation_idl__constraints_hh_EXTERNAL_GUARD__ |
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#include <hpp/constraints_idl/constraints-idl.hh> |
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#endif |
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#ifndef pp_manipulation_idl____constraints_hh_EXTERNAL_GUARD__ |
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#define pp_manipulation_idl____constraints_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/_constraints-idl.hh> |
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#endif |
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#ifndef pp_manipulation_idl__path__planners_hh_EXTERNAL_GUARD__ |
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#define pp_manipulation_idl__path__planners_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/path_planners-idl.hh> |
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#endif |
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#ifndef pp_manipulation_idl__gcommon_hh_EXTERNAL_GUARD__ |
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#define pp_manipulation_idl__gcommon_hh_EXTERNAL_GUARD__ |
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#include <hpp/corbaserver/manipulation/gcommon-idl.hh> |
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#endif |
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#ifndef pp_manipulation_idl__steering__methods_hh_EXTERNAL_GUARD__ |
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#define pp_manipulation_idl__steering__methods_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/steering_methods-idl.hh> |
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#endif |
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#ifndef pp_manipulation_idl__path__validations_hh_EXTERNAL_GUARD__ |
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#define pp_manipulation_idl__path__validations_hh_EXTERNAL_GUARD__ |
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#include <hpp/core_idl/path_validations-idl.hh> |
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#endif |
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#ifndef pp_manipulation_idl____graph_hh_EXTERNAL_GUARD__ |
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#define pp_manipulation_idl____graph_hh_EXTERNAL_GUARD__ |
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#include <hpp/manipulation_idl/_graph-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 core_idl |
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_CORBA_MODULE_BEG |
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#ifndef __hpp_mcore__idl_mPathPlanner__ |
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#define __hpp_mcore__idl_mPathPlanner__ |
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class PathPlanner; |
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class _objref_PathPlanner; |
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class _impl_PathPlanner; |
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typedef _objref_PathPlanner* PathPlanner_ptr; |
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typedef PathPlanner_ptr PathPlannerRef; |
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class PathPlanner_Helper { |
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public: |
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typedef PathPlanner_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_PathPlanner, PathPlanner_Helper> PathPlanner_var; |
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typedef _CORBA_ObjRef_OUT_arg<_objref_PathPlanner,PathPlanner_Helper > PathPlanner_out; |
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#endif |
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#ifndef __hpp_mcore__idl_mPathProjector__ |
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#define __hpp_mcore__idl_mPathProjector__ |
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class PathProjector; |
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class _objref_PathProjector; |
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class _impl_PathProjector; |
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typedef _objref_PathProjector* PathProjector_ptr; |
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typedef PathProjector_ptr PathProjectorRef; |
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class PathProjector_Helper { |
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public: |
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typedef PathProjector_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_PathProjector, PathProjector_Helper> PathProjector_var; |
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typedef _CORBA_ObjRef_OUT_arg<_objref_PathProjector,PathProjector_Helper > PathProjector_out; |
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#endif |
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_CORBA_MODULE_END |
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_CORBA_MODULE manipulation_idl |
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_CORBA_MODULE_BEG |
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typedef char* ValidationReport; |
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typedef ::CORBA::String_var ValidationReport_var; |
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typedef ::CORBA::String_out ValidationReport_out; |
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typedef ::CORBA::ULongLong size_t; |
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typedef ::CORBA::ULongLong_out size_t_out; |
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#ifndef __hpp_mmanipulation__idl_mRoadmap__ |
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#define __hpp_mmanipulation__idl_mRoadmap__ |
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class Roadmap; |
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class _objref_Roadmap; |
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class _impl_Roadmap; |
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typedef _objref_Roadmap* Roadmap_ptr; |
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typedef Roadmap_ptr RoadmapRef; |
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class Roadmap_Helper { |
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public: |
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typedef Roadmap_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_Roadmap, Roadmap_Helper> Roadmap_var; |
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typedef _CORBA_ObjRef_OUT_arg<_objref_Roadmap,Roadmap_Helper > Roadmap_out; |
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#endif |
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// interface Roadmap |
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class Roadmap { |
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public: |
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// Declarations for this interface type. |
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typedef Roadmap_ptr _ptr_type; |
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typedef Roadmap_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_Roadmap : |
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public virtual core_idl::_objref_Roadmap |
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{ |
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public: |
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// IDL operations |
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void constraintGraph(::hpp::manipulation_idl::graph_idl::Graph_ptr graph); |
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// Constructors |
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inline _objref_Roadmap() { _PR_setobj(0); } // nil |
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_objref_Roadmap(omniIOR*, omniIdentity*); |
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protected: |
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virtual ~_objref_Roadmap(); |
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private: |
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virtual void* _ptrToObjRef(const char*); |
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_objref_Roadmap(const _objref_Roadmap&); |
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_objref_Roadmap& operator = (const _objref_Roadmap&); |
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// not implemented |
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friend class Roadmap; |
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}; |
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class _pof_Roadmap : public _OMNI_NS(proxyObjectFactory) { |
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public: |
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inline _pof_Roadmap() : _OMNI_NS(proxyObjectFactory)(Roadmap::_PD_repoId) {} |
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virtual ~_pof_Roadmap(); |
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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_Roadmap : |
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public virtual core_idl::_impl_Roadmap |
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{ |
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public: |
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virtual ~_impl_Roadmap(); |
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virtual void constraintGraph(::hpp::manipulation_idl::graph_idl::Graph_ptr graph) = 0; |
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public: // Really protected, workaround for xlC |
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virtual _CORBA_Boolean _dispatch(omniCallHandle&); |
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private: |
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virtual void* _ptrToInterface(const char*); |
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virtual const char* _mostDerivedRepoId(); |
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}; |
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_CORBA_MODULE pathPlanner_idl |
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_CORBA_MODULE_BEG |
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#ifndef __hpp_mmanipulation__idl_mpathPlanner__idl_mIkSolverInitialization__ |
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#define __hpp_mmanipulation__idl_mpathPlanner__idl_mIkSolverInitialization__ |
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class IkSolverInitialization; |
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class _objref_IkSolverInitialization; |
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class _impl_IkSolverInitialization; |
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typedef _objref_IkSolverInitialization* IkSolverInitialization_ptr; |
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typedef IkSolverInitialization_ptr IkSolverInitializationRef; |
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class IkSolverInitialization_Helper { |
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public: |
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typedef IkSolverInitialization_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_IkSolverInitialization, IkSolverInitialization_Helper> IkSolverInitialization_var; |
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typedef _CORBA_ObjRef_OUT_arg<_objref_IkSolverInitialization,IkSolverInitialization_Helper > IkSolverInitialization_out; |
305 |
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306 |
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#endif |
307 |
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308 |
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// interface IkSolverInitialization |
309 |
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class IkSolverInitialization { |
310 |
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public: |
311 |
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// Declarations for this interface type. |
312 |
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typedef IkSolverInitialization_ptr _ptr_type; |
313 |
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typedef IkSolverInitialization_var _var_type; |
314 |
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315 |
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static _ptr_type _duplicate(_ptr_type); |
316 |
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static _ptr_type _narrow(::CORBA::Object_ptr); |
317 |
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static _ptr_type _unchecked_narrow(::CORBA::Object_ptr); |
318 |
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319 |
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static _ptr_type _nil(); |
320 |
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static inline void _marshalObjRef(_ptr_type, cdrStream&); |
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323 |
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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(); |
329 |
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} |
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331 |
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static inline _ptr_type _fromObjRef(omniObjRef* o) { |
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if (o) |
333 |
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return (_ptr_type) o->_ptrToObjRef(_PD_repoId); |
334 |
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else |
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return _nil(); |
336 |
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} |
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338 |
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static _core_attr const char* _PD_repoId; |
339 |
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340 |
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// Other IDL defined within this scope. |
341 |
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342 |
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}; |
343 |
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344 |
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class _objref_IkSolverInitialization : |
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public virtual ::CORBA::Object, |
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public virtual omniObjRef |
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{ |
348 |
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public: |
349 |
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// IDL operations |
350 |
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351 |
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352 |
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// Constructors |
353 |
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✗ |
inline _objref_IkSolverInitialization() { _PR_setobj(0); } // nil |
354 |
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_objref_IkSolverInitialization(omniIOR*, omniIdentity*); |
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protected: |
357 |
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virtual ~_objref_IkSolverInitialization(); |
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private: |
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virtual void* _ptrToObjRef(const char*); |
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_objref_IkSolverInitialization(const _objref_IkSolverInitialization&); |
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_objref_IkSolverInitialization& operator = (const _objref_IkSolverInitialization&); |
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// not implemented |
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367 |
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friend class IkSolverInitialization; |
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}; |
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370 |
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class _pof_IkSolverInitialization : public _OMNI_NS(proxyObjectFactory) { |
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public: |
372 |
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✗ |
inline _pof_IkSolverInitialization() : _OMNI_NS(proxyObjectFactory)(IkSolverInitialization::_PD_repoId) {} |
373 |
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virtual ~_pof_IkSolverInitialization(); |
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375 |
|
|
virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*); |
376 |
|
|
virtual _CORBA_Boolean is_a(const char*) const; |
377 |
|
|
}; |
378 |
|
|
|
379 |
|
|
class _impl_IkSolverInitialization : |
380 |
|
|
public virtual omniServant |
381 |
|
|
{ |
382 |
|
|
public: |
383 |
|
|
virtual ~_impl_IkSolverInitialization(); |
384 |
|
|
|
385 |
|
|
|
386 |
|
|
|
387 |
|
|
public: // Really protected, workaround for xlC |
388 |
|
|
virtual _CORBA_Boolean _dispatch(omniCallHandle&); |
389 |
|
|
|
390 |
|
|
private: |
391 |
|
|
virtual void* _ptrToInterface(const char*); |
392 |
|
|
virtual const char* _mostDerivedRepoId(); |
393 |
|
|
|
394 |
|
|
}; |
395 |
|
|
|
396 |
|
|
|
397 |
|
|
#ifndef __hpp_mmanipulation__idl_mpathPlanner__idl_mEndEffectorTrajectory__ |
398 |
|
|
#define __hpp_mmanipulation__idl_mpathPlanner__idl_mEndEffectorTrajectory__ |
399 |
|
|
class EndEffectorTrajectory; |
400 |
|
|
class _objref_EndEffectorTrajectory; |
401 |
|
|
class _impl_EndEffectorTrajectory; |
402 |
|
|
|
403 |
|
|
typedef _objref_EndEffectorTrajectory* EndEffectorTrajectory_ptr; |
404 |
|
|
typedef EndEffectorTrajectory_ptr EndEffectorTrajectoryRef; |
405 |
|
|
|
406 |
|
|
class EndEffectorTrajectory_Helper { |
407 |
|
|
public: |
408 |
|
|
typedef EndEffectorTrajectory_ptr _ptr_type; |
409 |
|
|
|
410 |
|
|
static _ptr_type _nil(); |
411 |
|
|
static _CORBA_Boolean is_nil(_ptr_type); |
412 |
|
|
static void release(_ptr_type); |
413 |
|
|
static void duplicate(_ptr_type); |
414 |
|
|
static void marshalObjRef(_ptr_type, cdrStream&); |
415 |
|
|
static _ptr_type unmarshalObjRef(cdrStream&); |
416 |
|
|
}; |
417 |
|
|
|
418 |
|
|
typedef _CORBA_ObjRef_Var<_objref_EndEffectorTrajectory, EndEffectorTrajectory_Helper> EndEffectorTrajectory_var; |
419 |
|
|
typedef _CORBA_ObjRef_OUT_arg<_objref_EndEffectorTrajectory,EndEffectorTrajectory_Helper > EndEffectorTrajectory_out; |
420 |
|
|
|
421 |
|
|
#endif |
422 |
|
|
|
423 |
|
|
// interface EndEffectorTrajectory |
424 |
|
|
class EndEffectorTrajectory { |
425 |
|
|
public: |
426 |
|
|
// Declarations for this interface type. |
427 |
|
|
typedef EndEffectorTrajectory_ptr _ptr_type; |
428 |
|
|
typedef EndEffectorTrajectory_var _var_type; |
429 |
|
|
|
430 |
|
|
static _ptr_type _duplicate(_ptr_type); |
431 |
|
|
static _ptr_type _narrow(::CORBA::Object_ptr); |
432 |
|
|
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr); |
433 |
|
|
|
434 |
|
|
static _ptr_type _nil(); |
435 |
|
|
|
436 |
|
|
static inline void _marshalObjRef(_ptr_type, cdrStream&); |
437 |
|
|
|
438 |
|
✗ |
static inline _ptr_type _unmarshalObjRef(cdrStream& s) { |
439 |
|
✗ |
omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s); |
440 |
|
✗ |
if (o) |
441 |
|
✗ |
return (_ptr_type) o->_ptrToObjRef(_PD_repoId); |
442 |
|
|
else |
443 |
|
✗ |
return _nil(); |
444 |
|
|
} |
445 |
|
|
|
446 |
|
|
static inline _ptr_type _fromObjRef(omniObjRef* o) { |
447 |
|
|
if (o) |
448 |
|
|
return (_ptr_type) o->_ptrToObjRef(_PD_repoId); |
449 |
|
|
else |
450 |
|
|
return _nil(); |
451 |
|
|
} |
452 |
|
|
|
453 |
|
|
static _core_attr const char* _PD_repoId; |
454 |
|
|
|
455 |
|
|
// Other IDL defined within this scope. |
456 |
|
|
|
457 |
|
|
}; |
458 |
|
|
|
459 |
|
|
class _objref_EndEffectorTrajectory : |
460 |
|
|
public virtual core_idl::_objref_PathPlanner |
461 |
|
|
{ |
462 |
|
|
public: |
463 |
|
|
// IDL operations |
464 |
|
|
::CORBA::Long getNRandomConfig(); |
465 |
|
|
void setNRandomConfig(::CORBA::Long n); |
466 |
|
|
::CORBA::Long getNDiscreteSteps(); |
467 |
|
|
void setNDiscreteSteps(::CORBA::Long n); |
468 |
|
|
::CORBA::Boolean getCheckFeasibilityOnly(); |
469 |
|
|
void setCheckFeasibilityOnly(::CORBA::Boolean n); |
470 |
|
|
void setIkSolverInitialization(::hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization_ptr solver); |
471 |
|
|
|
472 |
|
|
// Constructors |
473 |
|
✗ |
inline _objref_EndEffectorTrajectory() { _PR_setobj(0); } // nil |
474 |
|
|
_objref_EndEffectorTrajectory(omniIOR*, omniIdentity*); |
475 |
|
|
|
476 |
|
|
protected: |
477 |
|
|
virtual ~_objref_EndEffectorTrajectory(); |
478 |
|
|
|
479 |
|
|
|
480 |
|
|
private: |
481 |
|
|
virtual void* _ptrToObjRef(const char*); |
482 |
|
|
|
483 |
|
|
_objref_EndEffectorTrajectory(const _objref_EndEffectorTrajectory&); |
484 |
|
|
_objref_EndEffectorTrajectory& operator = (const _objref_EndEffectorTrajectory&); |
485 |
|
|
// not implemented |
486 |
|
|
|
487 |
|
|
friend class EndEffectorTrajectory; |
488 |
|
|
}; |
489 |
|
|
|
490 |
|
|
class _pof_EndEffectorTrajectory : public _OMNI_NS(proxyObjectFactory) { |
491 |
|
|
public: |
492 |
|
✗ |
inline _pof_EndEffectorTrajectory() : _OMNI_NS(proxyObjectFactory)(EndEffectorTrajectory::_PD_repoId) {} |
493 |
|
|
virtual ~_pof_EndEffectorTrajectory(); |
494 |
|
|
|
495 |
|
|
virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*); |
496 |
|
|
virtual _CORBA_Boolean is_a(const char*) const; |
497 |
|
|
}; |
498 |
|
|
|
499 |
|
|
class _impl_EndEffectorTrajectory : |
500 |
|
|
public virtual core_idl::_impl_PathPlanner |
501 |
|
|
{ |
502 |
|
|
public: |
503 |
|
|
virtual ~_impl_EndEffectorTrajectory(); |
504 |
|
|
|
505 |
|
|
virtual ::CORBA::Long getNRandomConfig() = 0; |
506 |
|
|
virtual void setNRandomConfig(::CORBA::Long n) = 0; |
507 |
|
|
virtual ::CORBA::Long getNDiscreteSteps() = 0; |
508 |
|
|
virtual void setNDiscreteSteps(::CORBA::Long n) = 0; |
509 |
|
|
virtual ::CORBA::Boolean getCheckFeasibilityOnly() = 0; |
510 |
|
|
virtual void setCheckFeasibilityOnly(::CORBA::Boolean n) = 0; |
511 |
|
|
virtual void setIkSolverInitialization(::hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization_ptr solver) = 0; |
512 |
|
|
|
513 |
|
|
public: // Really protected, workaround for xlC |
514 |
|
|
virtual _CORBA_Boolean _dispatch(omniCallHandle&); |
515 |
|
|
|
516 |
|
|
private: |
517 |
|
|
virtual void* _ptrToInterface(const char*); |
518 |
|
|
virtual const char* _mostDerivedRepoId(); |
519 |
|
|
|
520 |
|
|
}; |
521 |
|
|
|
522 |
|
|
|
523 |
|
|
#ifndef __hpp_mmanipulation__idl_mpathPlanner__idl_mTransitionPlanner__ |
524 |
|
|
#define __hpp_mmanipulation__idl_mpathPlanner__idl_mTransitionPlanner__ |
525 |
|
|
class TransitionPlanner; |
526 |
|
|
class _objref_TransitionPlanner; |
527 |
|
|
class _impl_TransitionPlanner; |
528 |
|
|
|
529 |
|
|
typedef _objref_TransitionPlanner* TransitionPlanner_ptr; |
530 |
|
|
typedef TransitionPlanner_ptr TransitionPlannerRef; |
531 |
|
|
|
532 |
|
|
class TransitionPlanner_Helper { |
533 |
|
|
public: |
534 |
|
|
typedef TransitionPlanner_ptr _ptr_type; |
535 |
|
|
|
536 |
|
|
static _ptr_type _nil(); |
537 |
|
|
static _CORBA_Boolean is_nil(_ptr_type); |
538 |
|
|
static void release(_ptr_type); |
539 |
|
|
static void duplicate(_ptr_type); |
540 |
|
|
static void marshalObjRef(_ptr_type, cdrStream&); |
541 |
|
|
static _ptr_type unmarshalObjRef(cdrStream&); |
542 |
|
|
}; |
543 |
|
|
|
544 |
|
|
typedef _CORBA_ObjRef_Var<_objref_TransitionPlanner, TransitionPlanner_Helper> TransitionPlanner_var; |
545 |
|
|
typedef _CORBA_ObjRef_OUT_arg<_objref_TransitionPlanner,TransitionPlanner_Helper > TransitionPlanner_out; |
546 |
|
|
|
547 |
|
|
#endif |
548 |
|
|
|
549 |
|
|
// interface TransitionPlanner |
550 |
|
|
class TransitionPlanner { |
551 |
|
|
public: |
552 |
|
|
// Declarations for this interface type. |
553 |
|
|
typedef TransitionPlanner_ptr _ptr_type; |
554 |
|
|
typedef TransitionPlanner_var _var_type; |
555 |
|
|
|
556 |
|
|
static _ptr_type _duplicate(_ptr_type); |
557 |
|
|
static _ptr_type _narrow(::CORBA::Object_ptr); |
558 |
|
|
static _ptr_type _unchecked_narrow(::CORBA::Object_ptr); |
559 |
|
|
|
560 |
|
|
static _ptr_type _nil(); |
561 |
|
|
|
562 |
|
|
static inline void _marshalObjRef(_ptr_type, cdrStream&); |
563 |
|
|
|
564 |
|
✗ |
static inline _ptr_type _unmarshalObjRef(cdrStream& s) { |
565 |
|
✗ |
omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s); |
566 |
|
✗ |
if (o) |
567 |
|
✗ |
return (_ptr_type) o->_ptrToObjRef(_PD_repoId); |
568 |
|
|
else |
569 |
|
✗ |
return _nil(); |
570 |
|
|
} |
571 |
|
|
|
572 |
|
|
static inline _ptr_type _fromObjRef(omniObjRef* o) { |
573 |
|
|
if (o) |
574 |
|
|
return (_ptr_type) o->_ptrToObjRef(_PD_repoId); |
575 |
|
|
else |
576 |
|
|
return _nil(); |
577 |
|
|
} |
578 |
|
|
|
579 |
|
|
static _core_attr const char* _PD_repoId; |
580 |
|
|
|
581 |
|
|
// Other IDL defined within this scope. |
582 |
|
|
|
583 |
|
|
}; |
584 |
|
|
|
585 |
|
|
class _objref_TransitionPlanner : |
586 |
|
|
public virtual core_idl::_objref_PathPlanner |
587 |
|
|
{ |
588 |
|
|
public: |
589 |
|
|
// IDL operations |
590 |
|
|
core_idl::PathVector_ptr planPath(const ::hpp::floatSeq& qInit, const ::hpp::floatSeqSeq& qGoals, ::CORBA::Boolean resetRoadmap); |
591 |
|
|
core_idl::Path_ptr directPath(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::CORBA::Boolean validate, ::CORBA::Boolean& success, ::CORBA::String_out status); |
592 |
|
|
::CORBA::Boolean validateConfiguration(const ::hpp::floatSeq& config, ::hpp::manipulation_idl::size_t id, ::hpp::manipulation_idl::ValidationReport_out report); |
593 |
|
|
core_idl::PathVector_ptr optimizePath(::hpp::core_idl::Path_ptr path); |
594 |
|
|
core_idl::PathVector_ptr timeParameterization(::hpp::core_idl::PathVector_ptr path); |
595 |
|
|
void setReedsAndSheppSteeringMethod(::CORBA::Double turningRadius); |
596 |
|
|
void setEdge(::CORBA::Long id); |
597 |
|
|
void setPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance); |
598 |
|
|
void clearPathOptimizers(); |
599 |
|
|
void addPathOptimizer(const char* pathOptimizerType); |
600 |
|
|
void setParameter(const char* name, const ::CORBA::Any& value); |
601 |
|
|
|
602 |
|
|
// Constructors |
603 |
|
✗ |
inline _objref_TransitionPlanner() { _PR_setobj(0); } // nil |
604 |
|
|
_objref_TransitionPlanner(omniIOR*, omniIdentity*); |
605 |
|
|
|
606 |
|
|
protected: |
607 |
|
|
virtual ~_objref_TransitionPlanner(); |
608 |
|
|
|
609 |
|
|
|
610 |
|
|
private: |
611 |
|
|
virtual void* _ptrToObjRef(const char*); |
612 |
|
|
|
613 |
|
|
_objref_TransitionPlanner(const _objref_TransitionPlanner&); |
614 |
|
|
_objref_TransitionPlanner& operator = (const _objref_TransitionPlanner&); |
615 |
|
|
// not implemented |
616 |
|
|
|
617 |
|
|
friend class TransitionPlanner; |
618 |
|
|
}; |
619 |
|
|
|
620 |
|
|
class _pof_TransitionPlanner : public _OMNI_NS(proxyObjectFactory) { |
621 |
|
|
public: |
622 |
|
✗ |
inline _pof_TransitionPlanner() : _OMNI_NS(proxyObjectFactory)(TransitionPlanner::_PD_repoId) {} |
623 |
|
|
virtual ~_pof_TransitionPlanner(); |
624 |
|
|
|
625 |
|
|
virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*); |
626 |
|
|
virtual _CORBA_Boolean is_a(const char*) const; |
627 |
|
|
}; |
628 |
|
|
|
629 |
|
|
class _impl_TransitionPlanner : |
630 |
|
|
public virtual core_idl::_impl_PathPlanner |
631 |
|
|
{ |
632 |
|
|
public: |
633 |
|
|
virtual ~_impl_TransitionPlanner(); |
634 |
|
|
|
635 |
|
|
virtual core_idl::PathVector_ptr planPath(const ::hpp::floatSeq& qInit, const ::hpp::floatSeqSeq& qGoals, ::CORBA::Boolean resetRoadmap) = 0; |
636 |
|
|
virtual core_idl::Path_ptr directPath(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::CORBA::Boolean validate, ::CORBA::Boolean& success, ::CORBA::String_out status) = 0; |
637 |
|
|
virtual ::CORBA::Boolean validateConfiguration(const ::hpp::floatSeq& config, ::hpp::manipulation_idl::size_t id, ::hpp::manipulation_idl::ValidationReport_out report) = 0; |
638 |
|
|
virtual core_idl::PathVector_ptr optimizePath(::hpp::core_idl::Path_ptr path) = 0; |
639 |
|
|
virtual core_idl::PathVector_ptr timeParameterization(::hpp::core_idl::PathVector_ptr path) = 0; |
640 |
|
|
virtual void setReedsAndSheppSteeringMethod(::CORBA::Double turningRadius) = 0; |
641 |
|
|
virtual void setEdge(::CORBA::Long id) = 0; |
642 |
|
|
virtual void setPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance) = 0; |
643 |
|
|
virtual void clearPathOptimizers() = 0; |
644 |
|
|
virtual void addPathOptimizer(const char* pathOptimizerType) = 0; |
645 |
|
|
virtual void setParameter(const char* name, const ::CORBA::Any& value) = 0; |
646 |
|
|
|
647 |
|
|
public: // Really protected, workaround for xlC |
648 |
|
|
virtual _CORBA_Boolean _dispatch(omniCallHandle&); |
649 |
|
|
|
650 |
|
|
private: |
651 |
|
|
virtual void* _ptrToInterface(const char*); |
652 |
|
|
virtual const char* _mostDerivedRepoId(); |
653 |
|
|
|
654 |
|
|
}; |
655 |
|
|
|
656 |
|
|
|
657 |
|
|
_CORBA_MODULE_END |
658 |
|
|
|
659 |
|
|
_CORBA_MODULE_END |
660 |
|
|
|
661 |
|
|
_CORBA_MODULE_END |
662 |
|
|
|
663 |
|
|
|
664 |
|
|
|
665 |
|
|
_CORBA_MODULE POA_hpp |
666 |
|
|
_CORBA_MODULE_BEG |
667 |
|
|
|
668 |
|
|
_CORBA_MODULE core_idl |
669 |
|
|
_CORBA_MODULE_BEG |
670 |
|
|
|
671 |
|
|
_CORBA_MODULE_END |
672 |
|
|
|
673 |
|
|
_CORBA_MODULE manipulation_idl |
674 |
|
|
_CORBA_MODULE_BEG |
675 |
|
|
|
676 |
|
|
class Roadmap : |
677 |
|
|
public virtual hpp::manipulation_idl::_impl_Roadmap, |
678 |
|
|
public virtual core_idl::Roadmap |
679 |
|
|
{ |
680 |
|
|
public: |
681 |
|
|
virtual ~Roadmap(); |
682 |
|
|
|
683 |
|
✗ |
inline ::hpp::manipulation_idl::Roadmap_ptr _this() { |
684 |
|
✗ |
return (::hpp::manipulation_idl::Roadmap_ptr) _do_this(::hpp::manipulation_idl::Roadmap::_PD_repoId); |
685 |
|
|
} |
686 |
|
|
}; |
687 |
|
|
|
688 |
|
|
_CORBA_MODULE pathPlanner_idl |
689 |
|
|
_CORBA_MODULE_BEG |
690 |
|
|
|
691 |
|
|
class IkSolverInitialization : |
692 |
|
|
public virtual hpp::manipulation_idl::pathPlanner_idl::_impl_IkSolverInitialization, |
693 |
|
|
public virtual ::PortableServer::ServantBase |
694 |
|
|
{ |
695 |
|
|
public: |
696 |
|
|
virtual ~IkSolverInitialization(); |
697 |
|
|
|
698 |
|
✗ |
inline ::hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization_ptr _this() { |
699 |
|
✗ |
return (::hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization_ptr) _do_this(::hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization::_PD_repoId); |
700 |
|
|
} |
701 |
|
|
}; |
702 |
|
|
|
703 |
|
|
class EndEffectorTrajectory : |
704 |
|
|
public virtual hpp::manipulation_idl::pathPlanner_idl::_impl_EndEffectorTrajectory, |
705 |
|
|
public virtual core_idl::PathPlanner |
706 |
|
|
{ |
707 |
|
|
public: |
708 |
|
|
virtual ~EndEffectorTrajectory(); |
709 |
|
|
|
710 |
|
✗ |
inline ::hpp::manipulation_idl::pathPlanner_idl::EndEffectorTrajectory_ptr _this() { |
711 |
|
✗ |
return (::hpp::manipulation_idl::pathPlanner_idl::EndEffectorTrajectory_ptr) _do_this(::hpp::manipulation_idl::pathPlanner_idl::EndEffectorTrajectory::_PD_repoId); |
712 |
|
|
} |
713 |
|
|
}; |
714 |
|
|
|
715 |
|
|
class TransitionPlanner : |
716 |
|
|
public virtual hpp::manipulation_idl::pathPlanner_idl::_impl_TransitionPlanner, |
717 |
|
|
public virtual core_idl::PathPlanner |
718 |
|
|
{ |
719 |
|
|
public: |
720 |
|
|
virtual ~TransitionPlanner(); |
721 |
|
|
|
722 |
|
✗ |
inline ::hpp::manipulation_idl::pathPlanner_idl::TransitionPlanner_ptr _this() { |
723 |
|
✗ |
return (::hpp::manipulation_idl::pathPlanner_idl::TransitionPlanner_ptr) _do_this(::hpp::manipulation_idl::pathPlanner_idl::TransitionPlanner::_PD_repoId); |
724 |
|
|
} |
725 |
|
|
}; |
726 |
|
|
|
727 |
|
|
_CORBA_MODULE_END |
728 |
|
|
|
729 |
|
|
_CORBA_MODULE_END |
730 |
|
|
|
731 |
|
|
_CORBA_MODULE_END |
732 |
|
|
|
733 |
|
|
|
734 |
|
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|
735 |
|
|
_CORBA_MODULE OBV_hpp |
736 |
|
|
_CORBA_MODULE_BEG |
737 |
|
|
|
738 |
|
|
_CORBA_MODULE core_idl |
739 |
|
|
_CORBA_MODULE_BEG |
740 |
|
|
|
741 |
|
|
_CORBA_MODULE_END |
742 |
|
|
|
743 |
|
|
_CORBA_MODULE manipulation_idl |
744 |
|
|
_CORBA_MODULE_BEG |
745 |
|
|
|
746 |
|
|
_CORBA_MODULE pathPlanner_idl |
747 |
|
|
_CORBA_MODULE_BEG |
748 |
|
|
|
749 |
|
|
_CORBA_MODULE_END |
750 |
|
|
|
751 |
|
|
_CORBA_MODULE_END |
752 |
|
|
|
753 |
|
|
_CORBA_MODULE_END |
754 |
|
|
|
755 |
|
|
|
756 |
|
|
|
757 |
|
|
|
758 |
|
|
|
759 |
|
|
#undef _core_attr |
760 |
|
|
#undef _dyn_attr |
761 |
|
|
|
762 |
|
|
|
763 |
|
|
|
764 |
|
|
inline void |
765 |
|
✗ |
hpp::manipulation_idl::Roadmap::_marshalObjRef(::hpp::manipulation_idl::Roadmap_ptr obj, cdrStream& s) { |
766 |
|
✗ |
omniObjRef::_marshal(obj->_PR_getobj(),s); |
767 |
|
|
} |
768 |
|
|
|
769 |
|
|
inline void |
770 |
|
✗ |
hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization::_marshalObjRef(::hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization_ptr obj, cdrStream& s) { |
771 |
|
✗ |
omniObjRef::_marshal(obj->_PR_getobj(),s); |
772 |
|
|
} |
773 |
|
|
|
774 |
|
|
inline void |
775 |
|
✗ |
hpp::manipulation_idl::pathPlanner_idl::EndEffectorTrajectory::_marshalObjRef(::hpp::manipulation_idl::pathPlanner_idl::EndEffectorTrajectory_ptr obj, cdrStream& s) { |
776 |
|
✗ |
omniObjRef::_marshal(obj->_PR_getobj(),s); |
777 |
|
|
} |
778 |
|
|
|
779 |
|
|
inline void |
780 |
|
✗ |
hpp::manipulation_idl::pathPlanner_idl::TransitionPlanner::_marshalObjRef(::hpp::manipulation_idl::pathPlanner_idl::TransitionPlanner_ptr obj, cdrStream& s) { |
781 |
|
✗ |
omniObjRef::_marshal(obj->_PR_getobj(),s); |
782 |
|
|
} |
783 |
|
|
|
784 |
|
|
|
785 |
|
|
|
786 |
|
|
#ifdef USE_stub_in_nt_dll_NOT_DEFINED___path__planners |
787 |
|
|
# undef USE_stub_in_nt_dll |
788 |
|
|
# undef USE_stub_in_nt_dll_NOT_DEFINED___path__planners |
789 |
|
|
#endif |
790 |
|
|
#ifdef USE_core_stub_in_nt_dll_NOT_DEFINED___path__planners |
791 |
|
|
# undef USE_core_stub_in_nt_dll |
792 |
|
|
# undef USE_core_stub_in_nt_dll_NOT_DEFINED___path__planners |
793 |
|
|
#endif |
794 |
|
|
#ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED___path__planners |
795 |
|
|
# undef USE_dyn_stub_in_nt_dll |
796 |
|
|
# undef USE_dyn_stub_in_nt_dll_NOT_DEFINED___path__planners |
797 |
|
|
#endif |
798 |
|
|
|
799 |
|
|
#endif // ____path__planners_hh__ |
800 |
|
|
|
801 |
|
|
|