GCC Code Coverage Report

Directory: src/
File: src/hpp/manipulation_idl/_path_planners-idl.hh
Date: 2025-05-06 11:09:35
Exec Total Coverage
Lines: 0 44 0.0%
Branches: 0 22 0.0%
Line Branch Exec Source
1 // This file is generated by omniidl (C++ backend)- omniORB_4_3. Do not edit.
2 #ifndef pp_manipulation_idl____path__planners_hh__
3 #define pp_manipulation_idl____path__planners_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___path__planners
11 #endif
12 #ifndef USE_core_stub_in_nt_dll
13 # define USE_core_stub_in_nt_dll_NOT_DEFINED___path__planners
14 #endif
15 #ifndef USE_dyn_stub_in_nt_dll
16 # define USE_dyn_stub_in_nt_dll_NOT_DEFINED___path__planners
17 #endif
18
19
20
21 #ifndef pp_manipulation_idl__common_hh_EXTERNAL_GUARD__
22 #define pp_manipulation_idl__common_hh_EXTERNAL_GUARD__
23 #include <hpp/common-idl.hh>
24 #endif
25 #ifndef pp_manipulation_idl__paths_hh_EXTERNAL_GUARD__
26 #define pp_manipulation_idl__paths_hh_EXTERNAL_GUARD__
27 #include <hpp/core_idl/paths-idl.hh>
28 #endif
29 #ifndef pp_manipulation_idl__constraints_hh_EXTERNAL_GUARD__
30 #define pp_manipulation_idl__constraints_hh_EXTERNAL_GUARD__
31 #include <hpp/constraints_idl/constraints-idl.hh>
32 #endif
33 #ifndef pp_manipulation_idl____constraints_hh_EXTERNAL_GUARD__
34 #define pp_manipulation_idl____constraints_hh_EXTERNAL_GUARD__
35 #include <hpp/core_idl/_constraints-idl.hh>
36 #endif
37 #ifndef pp_manipulation_idl__path__planners_hh_EXTERNAL_GUARD__
38 #define pp_manipulation_idl__path__planners_hh_EXTERNAL_GUARD__
39 #include <hpp/core_idl/path_planners-idl.hh>
40 #endif
41 #ifndef pp_manipulation_idl__gcommon_hh_EXTERNAL_GUARD__
42 #define pp_manipulation_idl__gcommon_hh_EXTERNAL_GUARD__
43 #include <hpp/corbaserver/manipulation/gcommon-idl.hh>
44 #endif
45 #ifndef pp_manipulation_idl__steering__methods_hh_EXTERNAL_GUARD__
46 #define pp_manipulation_idl__steering__methods_hh_EXTERNAL_GUARD__
47 #include <hpp/core_idl/steering_methods-idl.hh>
48 #endif
49 #ifndef pp_manipulation_idl__path__validations_hh_EXTERNAL_GUARD__
50 #define pp_manipulation_idl__path__validations_hh_EXTERNAL_GUARD__
51 #include <hpp/core_idl/path_validations-idl.hh>
52 #endif
53 #ifndef pp_manipulation_idl____graph_hh_EXTERNAL_GUARD__
54 #define pp_manipulation_idl____graph_hh_EXTERNAL_GUARD__
55 #include <hpp/manipulation_idl/_graph-idl.hh>
56 #endif
57
58
59
60 #ifdef USE_stub_in_nt_dll
61 # ifndef USE_core_stub_in_nt_dll
62 # define USE_core_stub_in_nt_dll
63 # endif
64 # ifndef USE_dyn_stub_in_nt_dll
65 # define USE_dyn_stub_in_nt_dll
66 # endif
67 #endif
68
69 #ifdef _core_attr
70 # error "A local CPP macro _core_attr has already been defined."
71 #else
72 # ifdef USE_core_stub_in_nt_dll
73 # define _core_attr _OMNIORB_NTDLL_IMPORT
74 # else
75 # define _core_attr
76 # endif
77 #endif
78
79 #ifdef _dyn_attr
80 # error "A local CPP macro _dyn_attr has already been defined."
81 #else
82 # ifdef USE_dyn_stub_in_nt_dll
83 # define _dyn_attr _OMNIORB_NTDLL_IMPORT
84 # else
85 # define _dyn_attr
86 # endif
87 #endif
88
89
90
91 _CORBA_MODULE hpp
92
93 _CORBA_MODULE_BEG
94
95 _CORBA_MODULE core_idl
96
97 _CORBA_MODULE_BEG
98
99 #ifndef __hpp_mcore__idl_mPathPlanner__
100 #define __hpp_mcore__idl_mPathPlanner__
101 class PathPlanner;
102 class _objref_PathPlanner;
103 class _impl_PathPlanner;
104
105 typedef _objref_PathPlanner* PathPlanner_ptr;
106 typedef PathPlanner_ptr PathPlannerRef;
107
108 class PathPlanner_Helper {
109 public:
110 typedef PathPlanner_ptr _ptr_type;
111
112 static _ptr_type _nil();
113 static _CORBA_Boolean is_nil(_ptr_type);
114 static void release(_ptr_type);
115 static void duplicate(_ptr_type);
116 static void marshalObjRef(_ptr_type, cdrStream&);
117 static _ptr_type unmarshalObjRef(cdrStream&);
118 };
119
120 typedef _CORBA_ObjRef_Var<_objref_PathPlanner, PathPlanner_Helper> PathPlanner_var;
121 typedef _CORBA_ObjRef_OUT_arg<_objref_PathPlanner,PathPlanner_Helper > PathPlanner_out;
122
123 #endif
124
125 #ifndef __hpp_mcore__idl_mPathProjector__
126 #define __hpp_mcore__idl_mPathProjector__
127 class PathProjector;
128 class _objref_PathProjector;
129 class _impl_PathProjector;
130
131 typedef _objref_PathProjector* PathProjector_ptr;
132 typedef PathProjector_ptr PathProjectorRef;
133
134 class PathProjector_Helper {
135 public:
136 typedef PathProjector_ptr _ptr_type;
137
138 static _ptr_type _nil();
139 static _CORBA_Boolean is_nil(_ptr_type);
140 static void release(_ptr_type);
141 static void duplicate(_ptr_type);
142 static void marshalObjRef(_ptr_type, cdrStream&);
143 static _ptr_type unmarshalObjRef(cdrStream&);
144 };
145
146 typedef _CORBA_ObjRef_Var<_objref_PathProjector, PathProjector_Helper> PathProjector_var;
147 typedef _CORBA_ObjRef_OUT_arg<_objref_PathProjector,PathProjector_Helper > PathProjector_out;
148
149 #endif
150
151 _CORBA_MODULE_END
152
153 _CORBA_MODULE manipulation_idl
154
155 _CORBA_MODULE_BEG
156
157 typedef char* ValidationReport;
158 typedef ::CORBA::String_var ValidationReport_var;
159 typedef ::CORBA::String_out ValidationReport_out;
160
161 typedef ::CORBA::ULongLong size_t;
162 typedef ::CORBA::ULongLong_out size_t_out;
163
164 #ifndef __hpp_mmanipulation__idl_mRoadmap__
165 #define __hpp_mmanipulation__idl_mRoadmap__
166 class Roadmap;
167 class _objref_Roadmap;
168 class _impl_Roadmap;
169
170 typedef _objref_Roadmap* Roadmap_ptr;
171 typedef Roadmap_ptr RoadmapRef;
172
173 class Roadmap_Helper {
174 public:
175 typedef Roadmap_ptr _ptr_type;
176
177 static _ptr_type _nil();
178 static _CORBA_Boolean is_nil(_ptr_type);
179 static void release(_ptr_type);
180 static void duplicate(_ptr_type);
181 static void marshalObjRef(_ptr_type, cdrStream&);
182 static _ptr_type unmarshalObjRef(cdrStream&);
183 };
184
185 typedef _CORBA_ObjRef_Var<_objref_Roadmap, Roadmap_Helper> Roadmap_var;
186 typedef _CORBA_ObjRef_OUT_arg<_objref_Roadmap,Roadmap_Helper > Roadmap_out;
187
188 #endif
189
190 // interface Roadmap
191 class Roadmap {
192 public:
193 // Declarations for this interface type.
194 typedef Roadmap_ptr _ptr_type;
195 typedef Roadmap_var _var_type;
196
197 static _ptr_type _duplicate(_ptr_type);
198 static _ptr_type _narrow(::CORBA::Object_ptr);
199 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
200
201 static _ptr_type _nil();
202
203 static inline void _marshalObjRef(_ptr_type, cdrStream&);
204
205 ✗ static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
206 ✗ omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
207 ✗ if (o)
208 ✗ return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
209 else
210 ✗ return _nil();
211 }
212
213 static inline _ptr_type _fromObjRef(omniObjRef* o) {
214 if (o)
215 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
216 else
217 return _nil();
218 }
219
220 static _core_attr const char* _PD_repoId;
221
222 // Other IDL defined within this scope.
223
224 };
225
226 class _objref_Roadmap :
227 public virtual core_idl::_objref_Roadmap
228 {
229 public:
230 // IDL operations
231 void constraintGraph(::hpp::manipulation_idl::graph_idl::Graph_ptr graph);
232
233 // Constructors
234 ✗ inline _objref_Roadmap() { _PR_setobj(0); } // nil
235 _objref_Roadmap(omniIOR*, omniIdentity*);
236
237 protected:
238 virtual ~_objref_Roadmap();
239
240
241 private:
242 virtual void* _ptrToObjRef(const char*);
243
244 _objref_Roadmap(const _objref_Roadmap&);
245 _objref_Roadmap& operator = (const _objref_Roadmap&);
246 // not implemented
247
248 friend class Roadmap;
249 };
250
251 class _pof_Roadmap : public _OMNI_NS(proxyObjectFactory) {
252 public:
253 ✗ inline _pof_Roadmap() : _OMNI_NS(proxyObjectFactory)(Roadmap::_PD_repoId) {}
254 virtual ~_pof_Roadmap();
255
256 virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
257 virtual _CORBA_Boolean is_a(const char*) const;
258 };
259
260 class _impl_Roadmap :
261 public virtual core_idl::_impl_Roadmap
262 {
263 public:
264 virtual ~_impl_Roadmap();
265
266 virtual void constraintGraph(::hpp::manipulation_idl::graph_idl::Graph_ptr graph) = 0;
267
268 public: // Really protected, workaround for xlC
269 virtual _CORBA_Boolean _dispatch(omniCallHandle&);
270
271 private:
272 virtual void* _ptrToInterface(const char*);
273 virtual const char* _mostDerivedRepoId();
274
275 };
276
277
278 _CORBA_MODULE pathPlanner_idl
279
280 _CORBA_MODULE_BEG
281
282 #ifndef __hpp_mmanipulation__idl_mpathPlanner__idl_mIkSolverInitialization__
283 #define __hpp_mmanipulation__idl_mpathPlanner__idl_mIkSolverInitialization__
284 class IkSolverInitialization;
285 class _objref_IkSolverInitialization;
286 class _impl_IkSolverInitialization;
287
288 typedef _objref_IkSolverInitialization* IkSolverInitialization_ptr;
289 typedef IkSolverInitialization_ptr IkSolverInitializationRef;
290
291 class IkSolverInitialization_Helper {
292 public:
293 typedef IkSolverInitialization_ptr _ptr_type;
294
295 static _ptr_type _nil();
296 static _CORBA_Boolean is_nil(_ptr_type);
297 static void release(_ptr_type);
298 static void duplicate(_ptr_type);
299 static void marshalObjRef(_ptr_type, cdrStream&);
300 static _ptr_type unmarshalObjRef(cdrStream&);
301 };
302
303 typedef _CORBA_ObjRef_Var<_objref_IkSolverInitialization, IkSolverInitialization_Helper> IkSolverInitialization_var;
304 typedef _CORBA_ObjRef_OUT_arg<_objref_IkSolverInitialization,IkSolverInitialization_Helper > IkSolverInitialization_out;
305
306 #endif
307
308 // interface IkSolverInitialization
309 class IkSolverInitialization {
310 public:
311 // Declarations for this interface type.
312 typedef IkSolverInitialization_ptr _ptr_type;
313 typedef IkSolverInitialization_var _var_type;
314
315 static _ptr_type _duplicate(_ptr_type);
316 static _ptr_type _narrow(::CORBA::Object_ptr);
317 static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
318
319 static _ptr_type _nil();
320
321 static inline void _marshalObjRef(_ptr_type, cdrStream&);
322
323 ✗ static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
324 ✗ omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
325 ✗ if (o)
326 ✗ return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
327 else
328 ✗ return _nil();
329 }
330
331 static inline _ptr_type _fromObjRef(omniObjRef* o) {
332 if (o)
333 return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
334 else
335 return _nil();
336 }
337
338 static _core_attr const char* _PD_repoId;
339
340 // Other IDL defined within this scope.
341
342 };
343
344 class _objref_IkSolverInitialization :
345 public virtual ::CORBA::Object,
346 public virtual omniObjRef
347 {
348 public:
349 // IDL operations
350
351
352 // Constructors
353 ✗ inline _objref_IkSolverInitialization() { _PR_setobj(0); } // nil
354 _objref_IkSolverInitialization(omniIOR*, omniIdentity*);
355
356 protected:
357 virtual ~_objref_IkSolverInitialization();
358
359
360 private:
361 virtual void* _ptrToObjRef(const char*);
362
363 _objref_IkSolverInitialization(const _objref_IkSolverInitialization&);
364 _objref_IkSolverInitialization& operator = (const _objref_IkSolverInitialization&);
365 // not implemented
366
367 friend class IkSolverInitialization;
368 };
369
370 class _pof_IkSolverInitialization : public _OMNI_NS(proxyObjectFactory) {
371 public:
372 ✗ inline _pof_IkSolverInitialization() : _OMNI_NS(proxyObjectFactory)(IkSolverInitialization::_PD_repoId) {}
373 virtual ~_pof_IkSolverInitialization();
374
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
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