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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_corba_idl__graph_hh__ |
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#define pp_manipulation_corba_idl__graph_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_graph |
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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_graph |
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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_graph |
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#endif |
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#ifndef pp_manipulation_corba_idl__gcommon_hh_EXTERNAL_GUARD__ |
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#define pp_manipulation_corba_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_corba_idl__common_hh_EXTERNAL_GUARD__ |
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#define pp_manipulation_corba_idl__common_hh_EXTERNAL_GUARD__ |
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#include <hpp/common-idl.hh> |
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#endif |
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#ifdef USE_stub_in_nt_dll |
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# ifndef USE_core_stub_in_nt_dll |
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# define USE_core_stub_in_nt_dll |
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# endif |
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# ifndef USE_dyn_stub_in_nt_dll |
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# define USE_dyn_stub_in_nt_dll |
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# endif |
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#endif |
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#ifdef _core_attr |
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# error "A local CPP macro _core_attr has already been defined." |
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#else |
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# ifdef USE_core_stub_in_nt_dll |
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# define _core_attr _OMNIORB_NTDLL_IMPORT |
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# else |
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# define _core_attr |
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# endif |
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#endif |
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#ifdef _dyn_attr |
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# error "A local CPP macro _dyn_attr has already been defined." |
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#else |
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# ifdef USE_dyn_stub_in_nt_dll |
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# define _dyn_attr _OMNIORB_NTDLL_IMPORT |
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# else |
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# define _dyn_attr |
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# endif |
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#endif |
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_CORBA_MODULE hpp |
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_CORBA_MODULE_BEG |
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_CORBA_MODULE corbaserver |
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_CORBA_MODULE_BEG |
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_CORBA_MODULE manipulation |
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_CORBA_MODULE_BEG |
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class Namess_t_var; |
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class Namess_t : public _CORBA_Unbounded_Sequence< Names_t > { |
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public: |
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typedef Namess_t_var _var_type; |
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inline Namess_t() {} |
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inline Namess_t(const Namess_t& _s) |
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: _CORBA_Unbounded_Sequence< Names_t > (_s) {} |
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inline Namess_t(_CORBA_ULong _max) |
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: _CORBA_Unbounded_Sequence< Names_t > (_max) {} |
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inline Namess_t(_CORBA_ULong _max, _CORBA_ULong _len, Names_t* _val, _CORBA_Boolean _rel=0) |
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: _CORBA_Unbounded_Sequence< Names_t > (_max, _len, _val, _rel) {} |
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inline Namess_t& operator = (const Namess_t& _s) { |
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_CORBA_Unbounded_Sequence< Names_t > ::operator=(_s); |
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return *this; |
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} |
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}; |
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class Namess_t_out; |
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class Namess_t_var { |
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public: |
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inline Namess_t_var() : _pd_seq(0) {} |
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inline Namess_t_var(Namess_t* _s) : _pd_seq(_s) {} |
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inline Namess_t_var(const Namess_t_var& _s) { |
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if (_s._pd_seq) _pd_seq = new Namess_t(*_s._pd_seq); |
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else _pd_seq = 0; |
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} |
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inline ~Namess_t_var() { if (_pd_seq) delete _pd_seq; } |
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inline Namess_t_var& operator = (Namess_t* _s) { |
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if (_pd_seq) delete _pd_seq; |
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_pd_seq = _s; |
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return *this; |
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} |
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inline Namess_t_var& operator = (const Namess_t_var& _s) { |
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if (&_s != this) { |
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if (_s._pd_seq) { |
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if (!_pd_seq) _pd_seq = new Namess_t; |
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*_pd_seq = *_s._pd_seq; |
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} |
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else if (_pd_seq) { |
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delete _pd_seq; |
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_pd_seq = 0; |
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} |
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} |
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return *this; |
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} |
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inline Names_t& operator [] (_CORBA_ULong _s) { |
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return (*_pd_seq)[_s]; |
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} |
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inline Namess_t* operator -> () { return _pd_seq; } |
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inline const Namess_t* operator -> () const { return _pd_seq; } |
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#if defined(__GNUG__) |
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inline operator Namess_t& () const { return *_pd_seq; } |
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#else |
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inline operator const Namess_t& () const { return *_pd_seq; } |
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inline operator Namess_t& () { return *_pd_seq; } |
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#endif |
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inline const Namess_t& in() const { return *_pd_seq; } |
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inline Namess_t& inout() { return *_pd_seq; } |
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inline Namess_t*& out() { |
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if (_pd_seq) { delete _pd_seq; _pd_seq = 0; } |
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return _pd_seq; |
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} |
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inline Namess_t* _retn() { Namess_t* tmp = _pd_seq; _pd_seq = 0; return tmp; } |
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friend class Namess_t_out; |
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private: |
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Namess_t* _pd_seq; |
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}; |
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class Namess_t_out { |
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public: |
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inline Namess_t_out(Namess_t*& _s) : _data(_s) { _data = 0; } |
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inline Namess_t_out(Namess_t_var& _s) |
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: _data(_s._pd_seq) { _s = (Namess_t*) 0; } |
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inline Namess_t_out(const Namess_t_out& _s) : _data(_s._data) {} |
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inline Namess_t_out& operator = (const Namess_t_out& _s) { |
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_data = _s._data; |
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return *this; |
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} |
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inline Namess_t_out& operator = (Namess_t* _s) { |
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_data = _s; |
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return *this; |
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} |
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inline operator Namess_t*&() { return _data; } |
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inline Namess_t*& ptr() { return _data; } |
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inline Namess_t* operator->() { return _data; } |
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inline Names_t& operator [] (_CORBA_ULong _i) { |
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return (*_data)[_i]; |
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} |
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Namess_t*& _data; |
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private: |
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Namess_t_out(); |
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Namess_t_out& operator=(const Namess_t_var&); |
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}; |
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struct Rule { |
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typedef _CORBA_ConstrType_Variable_Var<Rule> _var_type; |
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Names_t grippers; |
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Names_t handles; |
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::CORBA::Boolean link; |
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void operator>>= (cdrStream &) const; |
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void operator<<= (cdrStream &); |
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}; |
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typedef Rule::_var_type Rule_var; |
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typedef _CORBA_ConstrType_Variable_OUT_arg< Rule,Rule_var > Rule_out; |
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class Rules_var; |
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class Rules : public _CORBA_Unbounded_Sequence< Rule > { |
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public: |
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typedef Rules_var _var_type; |
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inline Rules() {} |
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inline Rules(const Rules& _s) |
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: _CORBA_Unbounded_Sequence< Rule > (_s) {} |
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inline Rules(_CORBA_ULong _max) |
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: _CORBA_Unbounded_Sequence< Rule > (_max) {} |
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inline Rules(_CORBA_ULong _max, _CORBA_ULong _len, Rule* _val, _CORBA_Boolean _rel=0) |
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: _CORBA_Unbounded_Sequence< Rule > (_max, _len, _val, _rel) {} |
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inline Rules& operator = (const Rules& _s) { |
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_CORBA_Unbounded_Sequence< Rule > ::operator=(_s); |
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return *this; |
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} |
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}; |
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class Rules_out; |
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class Rules_var { |
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public: |
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inline Rules_var() : _pd_seq(0) {} |
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inline Rules_var(Rules* _s) : _pd_seq(_s) {} |
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inline Rules_var(const Rules_var& _s) { |
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if (_s._pd_seq) _pd_seq = new Rules(*_s._pd_seq); |
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else _pd_seq = 0; |
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} |
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inline ~Rules_var() { if (_pd_seq) delete _pd_seq; } |
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inline Rules_var& operator = (Rules* _s) { |
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if (_pd_seq) delete _pd_seq; |
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_pd_seq = _s; |
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return *this; |
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} |
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inline Rules_var& operator = (const Rules_var& _s) { |
| 247 |
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if (&_s != this) { |
| 248 |
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if (_s._pd_seq) { |
| 249 |
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if (!_pd_seq) _pd_seq = new Rules; |
| 250 |
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*_pd_seq = *_s._pd_seq; |
| 251 |
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} |
| 252 |
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else if (_pd_seq) { |
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delete _pd_seq; |
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_pd_seq = 0; |
| 255 |
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} |
| 256 |
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} |
| 257 |
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return *this; |
| 258 |
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} |
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inline Rule& operator [] (_CORBA_ULong _s) { |
| 260 |
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return (*_pd_seq)[_s]; |
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} |
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inline Rules* operator -> () { return _pd_seq; } |
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inline const Rules* operator -> () const { return _pd_seq; } |
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#if defined(__GNUG__) |
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✗ |
inline operator Rules& () const { return *_pd_seq; } |
| 269 |
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#else |
| 270 |
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inline operator const Rules& () const { return *_pd_seq; } |
| 271 |
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inline operator Rules& () { return *_pd_seq; } |
| 272 |
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#endif |
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✗ |
inline const Rules& in() const { return *_pd_seq; } |
| 275 |
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inline Rules& inout() { return *_pd_seq; } |
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inline Rules*& out() { |
| 277 |
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if (_pd_seq) { delete _pd_seq; _pd_seq = 0; } |
| 278 |
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return _pd_seq; |
| 279 |
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} |
| 280 |
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inline Rules* _retn() { Rules* tmp = _pd_seq; _pd_seq = 0; return tmp; } |
| 281 |
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| 282 |
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friend class Rules_out; |
| 283 |
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| 284 |
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private: |
| 285 |
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Rules* _pd_seq; |
| 286 |
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}; |
| 287 |
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| 288 |
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class Rules_out { |
| 289 |
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public: |
| 290 |
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inline Rules_out(Rules*& _s) : _data(_s) { _data = 0; } |
| 291 |
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inline Rules_out(Rules_var& _s) |
| 292 |
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: _data(_s._pd_seq) { _s = (Rules*) 0; } |
| 293 |
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inline Rules_out(const Rules_out& _s) : _data(_s._data) {} |
| 294 |
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inline Rules_out& operator = (const Rules_out& _s) { |
| 295 |
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_data = _s._data; |
| 296 |
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return *this; |
| 297 |
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} |
| 298 |
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inline Rules_out& operator = (Rules* _s) { |
| 299 |
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_data = _s; |
| 300 |
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return *this; |
| 301 |
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} |
| 302 |
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inline operator Rules*&() { return _data; } |
| 303 |
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inline Rules*& ptr() { return _data; } |
| 304 |
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inline Rules* operator->() { return _data; } |
| 305 |
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| 306 |
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inline Rule& operator [] (_CORBA_ULong _i) { |
| 307 |
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return (*_data)[_i]; |
| 308 |
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} |
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| 311 |
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Rules*& _data; |
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| 314 |
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private: |
| 315 |
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Rules_out(); |
| 316 |
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Rules_out& operator=(const Rules_var&); |
| 317 |
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}; |
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| 319 |
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#ifndef __hpp_mcorbaserver_mmanipulation_mGraph__ |
| 320 |
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#define __hpp_mcorbaserver_mmanipulation_mGraph__ |
| 321 |
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class Graph; |
| 322 |
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class _objref_Graph; |
| 323 |
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class _impl_Graph; |
| 324 |
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| 325 |
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typedef _objref_Graph* Graph_ptr; |
| 326 |
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typedef Graph_ptr GraphRef; |
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| 328 |
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class Graph_Helper { |
| 329 |
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public: |
| 330 |
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typedef Graph_ptr _ptr_type; |
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| 332 |
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static _ptr_type _nil(); |
| 333 |
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static _CORBA_Boolean is_nil(_ptr_type); |
| 334 |
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static void release(_ptr_type); |
| 335 |
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static void duplicate(_ptr_type); |
| 336 |
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static void marshalObjRef(_ptr_type, cdrStream&); |
| 337 |
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static _ptr_type unmarshalObjRef(cdrStream&); |
| 338 |
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}; |
| 339 |
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| 340 |
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typedef _CORBA_ObjRef_Var<_objref_Graph, Graph_Helper> Graph_var; |
| 341 |
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typedef _CORBA_ObjRef_OUT_arg<_objref_Graph,Graph_Helper > Graph_out; |
| 342 |
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| 343 |
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#endif |
| 344 |
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| 345 |
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// interface Graph |
| 346 |
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class Graph { |
| 347 |
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public: |
| 348 |
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// Declarations for this interface type. |
| 349 |
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typedef Graph_ptr _ptr_type; |
| 350 |
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typedef Graph_var _var_type; |
| 351 |
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| 352 |
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static _ptr_type _duplicate(_ptr_type); |
| 353 |
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static _ptr_type _narrow(::CORBA::Object_ptr); |
| 354 |
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static _ptr_type _unchecked_narrow(::CORBA::Object_ptr); |
| 355 |
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| 356 |
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static _ptr_type _nil(); |
| 357 |
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| 358 |
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static inline void _marshalObjRef(_ptr_type, cdrStream&); |
| 359 |
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| 360 |
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✗ |
static inline _ptr_type _unmarshalObjRef(cdrStream& s) { |
| 361 |
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✗ |
omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s); |
| 362 |
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✗ |
if (o) |
| 363 |
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✗ |
return (_ptr_type) o->_ptrToObjRef(_PD_repoId); |
| 364 |
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else |
| 365 |
|
✗ |
return _nil(); |
| 366 |
|
|
} |
| 367 |
|
|
|
| 368 |
|
|
static inline _ptr_type _fromObjRef(omniObjRef* o) { |
| 369 |
|
|
if (o) |
| 370 |
|
|
return (_ptr_type) o->_ptrToObjRef(_PD_repoId); |
| 371 |
|
|
else |
| 372 |
|
|
return _nil(); |
| 373 |
|
|
} |
| 374 |
|
|
|
| 375 |
|
|
static _core_attr const char* _PD_repoId; |
| 376 |
|
|
|
| 377 |
|
|
// Other IDL defined within this scope. |
| 378 |
|
|
|
| 379 |
|
|
}; |
| 380 |
|
|
|
| 381 |
|
|
class _objref_Graph : |
| 382 |
|
|
public virtual ::CORBA::Object, |
| 383 |
|
|
public virtual omniObjRef |
| 384 |
|
|
{ |
| 385 |
|
|
public: |
| 386 |
|
|
// IDL operations |
| 387 |
|
|
::CORBA::Long createGraph(const char* graphName); |
| 388 |
|
|
void deleteGraph(const char* graphName); |
| 389 |
|
|
void selectGraph(const char* graphName); |
| 390 |
|
|
void createSubGraph(const char* subgraphName); |
| 391 |
|
|
void setTargetNodeList(::hpp::ID graphId, const ::hpp::IDseq& nodes); |
| 392 |
|
|
::CORBA::Long createNode(::CORBA::Long graphId, const char* nodeName, ::CORBA::Boolean waypoint, ::CORBA::Long priority); |
| 393 |
|
|
::CORBA::Long createEdge(::CORBA::Long nodeFromId, ::CORBA::Long nodeToId, const char* edgeName, ::CORBA::Long weight, ::CORBA::Long isInNodeId); |
| 394 |
|
|
void setContainingNode(::hpp::ID edgeId, ::hpp::ID nodeId); |
| 395 |
|
|
char* getContainingNode(::hpp::ID edgeId); |
| 396 |
|
|
::CORBA::Long createWaypointEdge(::CORBA::Long nodeFromId, ::CORBA::Long nodeToId, const char* edgeName, ::CORBA::Long number, ::CORBA::Long weight, ::CORBA::Long isInNode); |
| 397 |
|
|
::CORBA::Long getWaypoint(::CORBA::Long edgeId, ::CORBA::Long index, ::hpp::ID& nodeId); |
| 398 |
|
|
void setWaypoint(::hpp::ID waypointEdgeId, ::CORBA::Long index, ::hpp::ID edgeId, ::hpp::ID nodeId); |
| 399 |
|
|
void getGraph(::hpp::GraphComp_out graph, ::hpp::GraphElements_out elmts); |
| 400 |
|
|
void getEdgeStat(::hpp::ID edgeId, ::hpp::Names_t_out reasons, ::hpp::intSeq_out freqs); |
| 401 |
|
|
::CORBA::Long getFrequencyOfNodeInRoadmap(::hpp::ID nodeId, ::hpp::intSeq_out freqPerConnectedComponent); |
| 402 |
|
|
::CORBA::Boolean getConfigProjectorStats(::hpp::ID elmt, ::hpp::ConfigProjStat& config, ::hpp::ConfigProjStat& path); |
| 403 |
|
|
::CORBA::Long createLevelSetEdge(::CORBA::Long nodeFromId, ::CORBA::Long nodeToId, const char* edgeName, ::CORBA::Long weight, ::hpp::ID isInNodeId); |
| 404 |
|
|
void addLevelSetFoliation(::CORBA::Long edgeId, const ::hpp::Names_t& condNC, const ::hpp::Names_t& paramNC); |
| 405 |
|
|
void resetConstraints(::CORBA::Long graphComponentId); |
| 406 |
|
|
void setNumericalConstraints(::CORBA::Long graphComponentId, const ::hpp::Names_t& constraintNames); |
| 407 |
|
|
void addNumericalConstraints(::CORBA::Long graphComponentId, const ::hpp::Names_t& constraintNames); |
| 408 |
|
|
void getNumericalConstraints(::CORBA::Long graphComponentId, ::hpp::Names_t_out constraintNames); |
| 409 |
|
|
void setNumericalConstraintsForPath(::CORBA::Long nodeId, const ::hpp::Names_t& constraintNames); |
| 410 |
|
|
void addNumericalConstraintsForPath(::CORBA::Long nodeId, const ::hpp::Names_t& constraintNames); |
| 411 |
|
|
void removeCollisionPairFromEdge(::hpp::ID edgeId, const char* joint1, const char* joint2); |
| 412 |
|
|
void getNode(const ::hpp::floatSeq& dofArray, ::hpp::ID& nodeId); |
| 413 |
|
|
::CORBA::Boolean applyNodeConstraints(::hpp::ID idComp, const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError); |
| 414 |
|
|
::CORBA::Boolean applyEdgeLeafConstraints(::hpp::ID idedge, const ::hpp::floatSeq& qleaf, const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError); |
| 415 |
|
|
::CORBA::Boolean generateTargetConfig(::hpp::ID IDedge, const ::hpp::floatSeq& qleaf, const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError); |
| 416 |
|
|
::CORBA::Boolean getConfigErrorForNode(::hpp::ID nodeId, const ::hpp::floatSeq& config, ::hpp::floatSeq_out errorVector); |
| 417 |
|
|
::CORBA::Boolean getConfigErrorForEdge(::hpp::ID EdgeId, const ::hpp::floatSeq& config, ::hpp::floatSeq_out errorVector); |
| 418 |
|
|
::CORBA::Boolean getConfigErrorForEdgeLeaf(::hpp::ID EdgeId, const ::hpp::floatSeq& leafConfig, const ::hpp::floatSeq& config, ::hpp::floatSeq_out errorVector); |
| 419 |
|
|
::CORBA::Boolean getConfigErrorForEdgeTarget(::hpp::ID EdgeId, const ::hpp::floatSeq& leafConfig, const ::hpp::floatSeq& config, ::hpp::floatSeq_out errorVector); |
| 420 |
|
|
void displayNodeConstraints(::hpp::ID nodeId, ::CORBA::String_out constraints); |
| 421 |
|
|
void displayEdgeTargetConstraints(::hpp::ID edgeId, ::CORBA::String_out constraints); |
| 422 |
|
|
void displayEdgeConstraints(::hpp::ID edgeId, ::CORBA::String_out constraints); |
| 423 |
|
|
void getNodesConnectedByEdge(::hpp::ID edgeId, ::CORBA::String_out from, ::CORBA::String_out to); |
| 424 |
|
|
void display(const char* filename); |
| 425 |
|
|
void getHistogramValue(::hpp::ID edgeId, ::hpp::floatSeq_out freq, ::hpp::floatSeqSeq_out values); |
| 426 |
|
|
void setShort(::hpp::ID edgeId, ::CORBA::Boolean isShort); |
| 427 |
|
|
::CORBA::Boolean isShort(::hpp::ID edgeId); |
| 428 |
|
|
::CORBA::Long autoBuild(const char* graphName, const ::hpp::Names_t& grippers, const ::hpp::Names_t& objects, const ::hpp::corbaserver::manipulation::Namess_t& handlesPerObject, const ::hpp::corbaserver::manipulation::Namess_t& contactsPerObject, const ::hpp::Names_t& envNames, const ::hpp::corbaserver::manipulation::Rules& rulesList); |
| 429 |
|
|
void setWeight(::hpp::ID edgeID, ::CORBA::Long weight); |
| 430 |
|
|
::CORBA::Long getWeight(::hpp::ID edgeID); |
| 431 |
|
|
char* getName(::hpp::ID elmtID); |
| 432 |
|
|
void initialize(); |
| 433 |
|
|
void getRelativeMotionMatrix(::hpp::ID edgeID, ::hpp::intSeqSeq_out matrix); |
| 434 |
|
|
void setSecurityMarginForEdge(::hpp::ID edgeID, const char* joint1, const char* joint2, ::CORBA::Double margin); |
| 435 |
|
|
void getSecurityMarginMatrixForEdge(::hpp::ID edgeID, ::hpp::floatSeqSeq_out margin); |
| 436 |
|
|
|
| 437 |
|
|
// Constructors |
| 438 |
|
✗ |
inline _objref_Graph() { _PR_setobj(0); } // nil |
| 439 |
|
|
_objref_Graph(omniIOR*, omniIdentity*); |
| 440 |
|
|
|
| 441 |
|
|
protected: |
| 442 |
|
|
virtual ~_objref_Graph(); |
| 443 |
|
|
|
| 444 |
|
|
|
| 445 |
|
|
private: |
| 446 |
|
|
virtual void* _ptrToObjRef(const char*); |
| 447 |
|
|
|
| 448 |
|
|
_objref_Graph(const _objref_Graph&); |
| 449 |
|
|
_objref_Graph& operator = (const _objref_Graph&); |
| 450 |
|
|
// not implemented |
| 451 |
|
|
|
| 452 |
|
|
friend class Graph; |
| 453 |
|
|
}; |
| 454 |
|
|
|
| 455 |
|
|
class _pof_Graph : public _OMNI_NS(proxyObjectFactory) { |
| 456 |
|
|
public: |
| 457 |
|
✗ |
inline _pof_Graph() : _OMNI_NS(proxyObjectFactory)(Graph::_PD_repoId) {} |
| 458 |
|
|
virtual ~_pof_Graph(); |
| 459 |
|
|
|
| 460 |
|
|
virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*); |
| 461 |
|
|
virtual _CORBA_Boolean is_a(const char*) const; |
| 462 |
|
|
}; |
| 463 |
|
|
|
| 464 |
|
|
class _impl_Graph : |
| 465 |
|
|
public virtual omniServant |
| 466 |
|
|
{ |
| 467 |
|
|
public: |
| 468 |
|
|
virtual ~_impl_Graph(); |
| 469 |
|
|
|
| 470 |
|
|
virtual ::CORBA::Long createGraph(const char* graphName) = 0; |
| 471 |
|
|
virtual void deleteGraph(const char* graphName) = 0; |
| 472 |
|
|
virtual void selectGraph(const char* graphName) = 0; |
| 473 |
|
|
virtual void createSubGraph(const char* subgraphName) = 0; |
| 474 |
|
|
virtual void setTargetNodeList(::hpp::ID graphId, const ::hpp::IDseq& nodes) = 0; |
| 475 |
|
|
virtual ::CORBA::Long createNode(::CORBA::Long graphId, const char* nodeName, ::CORBA::Boolean waypoint, ::CORBA::Long priority) = 0; |
| 476 |
|
|
virtual ::CORBA::Long createEdge(::CORBA::Long nodeFromId, ::CORBA::Long nodeToId, const char* edgeName, ::CORBA::Long weight, ::CORBA::Long isInNodeId) = 0; |
| 477 |
|
|
virtual void setContainingNode(::hpp::ID edgeId, ::hpp::ID nodeId) = 0; |
| 478 |
|
|
virtual char* getContainingNode(::hpp::ID edgeId) = 0; |
| 479 |
|
|
virtual ::CORBA::Long createWaypointEdge(::CORBA::Long nodeFromId, ::CORBA::Long nodeToId, const char* edgeName, ::CORBA::Long number, ::CORBA::Long weight, ::CORBA::Long isInNode) = 0; |
| 480 |
|
|
virtual ::CORBA::Long getWaypoint(::CORBA::Long edgeId, ::CORBA::Long index, ::hpp::ID& nodeId) = 0; |
| 481 |
|
|
virtual void setWaypoint(::hpp::ID waypointEdgeId, ::CORBA::Long index, ::hpp::ID edgeId, ::hpp::ID nodeId) = 0; |
| 482 |
|
|
virtual void getGraph(::hpp::GraphComp_out graph, ::hpp::GraphElements_out elmts) = 0; |
| 483 |
|
|
virtual void getEdgeStat(::hpp::ID edgeId, ::hpp::Names_t_out reasons, ::hpp::intSeq_out freqs) = 0; |
| 484 |
|
|
virtual ::CORBA::Long getFrequencyOfNodeInRoadmap(::hpp::ID nodeId, ::hpp::intSeq_out freqPerConnectedComponent) = 0; |
| 485 |
|
|
virtual ::CORBA::Boolean getConfigProjectorStats(::hpp::ID elmt, ::hpp::ConfigProjStat& config, ::hpp::ConfigProjStat& path) = 0; |
| 486 |
|
|
virtual ::CORBA::Long createLevelSetEdge(::CORBA::Long nodeFromId, ::CORBA::Long nodeToId, const char* edgeName, ::CORBA::Long weight, ::hpp::ID isInNodeId) = 0; |
| 487 |
|
|
virtual void addLevelSetFoliation(::CORBA::Long edgeId, const ::hpp::Names_t& condNC, const ::hpp::Names_t& paramNC) = 0; |
| 488 |
|
|
virtual void resetConstraints(::CORBA::Long graphComponentId) = 0; |
| 489 |
|
|
virtual void setNumericalConstraints(::CORBA::Long graphComponentId, const ::hpp::Names_t& constraintNames) = 0; |
| 490 |
|
|
virtual void addNumericalConstraints(::CORBA::Long graphComponentId, const ::hpp::Names_t& constraintNames) = 0; |
| 491 |
|
|
virtual void getNumericalConstraints(::CORBA::Long graphComponentId, ::hpp::Names_t_out constraintNames) = 0; |
| 492 |
|
|
virtual void setNumericalConstraintsForPath(::CORBA::Long nodeId, const ::hpp::Names_t& constraintNames) = 0; |
| 493 |
|
|
virtual void addNumericalConstraintsForPath(::CORBA::Long nodeId, const ::hpp::Names_t& constraintNames) = 0; |
| 494 |
|
|
virtual void removeCollisionPairFromEdge(::hpp::ID edgeId, const char* joint1, const char* joint2) = 0; |
| 495 |
|
|
virtual void getNode(const ::hpp::floatSeq& dofArray, ::hpp::ID& nodeId) = 0; |
| 496 |
|
|
virtual ::CORBA::Boolean applyNodeConstraints(::hpp::ID idComp, const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0; |
| 497 |
|
|
virtual ::CORBA::Boolean applyEdgeLeafConstraints(::hpp::ID idedge, const ::hpp::floatSeq& qleaf, const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0; |
| 498 |
|
|
virtual ::CORBA::Boolean generateTargetConfig(::hpp::ID IDedge, const ::hpp::floatSeq& qleaf, const ::hpp::floatSeq& input, ::hpp::floatSeq_out output, ::CORBA::Double& residualError) = 0; |
| 499 |
|
|
virtual ::CORBA::Boolean getConfigErrorForNode(::hpp::ID nodeId, const ::hpp::floatSeq& config, ::hpp::floatSeq_out errorVector) = 0; |
| 500 |
|
|
virtual ::CORBA::Boolean getConfigErrorForEdge(::hpp::ID EdgeId, const ::hpp::floatSeq& config, ::hpp::floatSeq_out errorVector) = 0; |
| 501 |
|
|
virtual ::CORBA::Boolean getConfigErrorForEdgeLeaf(::hpp::ID EdgeId, const ::hpp::floatSeq& leafConfig, const ::hpp::floatSeq& config, ::hpp::floatSeq_out errorVector) = 0; |
| 502 |
|
|
virtual ::CORBA::Boolean getConfigErrorForEdgeTarget(::hpp::ID EdgeId, const ::hpp::floatSeq& leafConfig, const ::hpp::floatSeq& config, ::hpp::floatSeq_out errorVector) = 0; |
| 503 |
|
|
virtual void displayNodeConstraints(::hpp::ID nodeId, ::CORBA::String_out constraints) = 0; |
| 504 |
|
|
virtual void displayEdgeTargetConstraints(::hpp::ID edgeId, ::CORBA::String_out constraints) = 0; |
| 505 |
|
|
virtual void displayEdgeConstraints(::hpp::ID edgeId, ::CORBA::String_out constraints) = 0; |
| 506 |
|
|
virtual void getNodesConnectedByEdge(::hpp::ID edgeId, ::CORBA::String_out from, ::CORBA::String_out to) = 0; |
| 507 |
|
|
virtual void display(const char* filename) = 0; |
| 508 |
|
|
virtual void getHistogramValue(::hpp::ID edgeId, ::hpp::floatSeq_out freq, ::hpp::floatSeqSeq_out values) = 0; |
| 509 |
|
|
virtual void setShort(::hpp::ID edgeId, ::CORBA::Boolean isShort) = 0; |
| 510 |
|
|
virtual ::CORBA::Boolean isShort(::hpp::ID edgeId) = 0; |
| 511 |
|
|
virtual ::CORBA::Long autoBuild(const char* graphName, const ::hpp::Names_t& grippers, const ::hpp::Names_t& objects, const ::hpp::corbaserver::manipulation::Namess_t& handlesPerObject, const ::hpp::corbaserver::manipulation::Namess_t& contactsPerObject, const ::hpp::Names_t& envNames, const ::hpp::corbaserver::manipulation::Rules& rulesList) = 0; |
| 512 |
|
|
virtual void setWeight(::hpp::ID edgeID, ::CORBA::Long weight) = 0; |
| 513 |
|
|
virtual ::CORBA::Long getWeight(::hpp::ID edgeID) = 0; |
| 514 |
|
|
virtual char* getName(::hpp::ID elmtID) = 0; |
| 515 |
|
|
virtual void initialize() = 0; |
| 516 |
|
|
virtual void getRelativeMotionMatrix(::hpp::ID edgeID, ::hpp::intSeqSeq_out matrix) = 0; |
| 517 |
|
|
virtual void setSecurityMarginForEdge(::hpp::ID edgeID, const char* joint1, const char* joint2, ::CORBA::Double margin) = 0; |
| 518 |
|
|
virtual void getSecurityMarginMatrixForEdge(::hpp::ID edgeID, ::hpp::floatSeqSeq_out margin) = 0; |
| 519 |
|
|
|
| 520 |
|
|
public: // Really protected, workaround for xlC |
| 521 |
|
|
virtual _CORBA_Boolean _dispatch(omniCallHandle&); |
| 522 |
|
|
|
| 523 |
|
|
private: |
| 524 |
|
|
virtual void* _ptrToInterface(const char*); |
| 525 |
|
|
virtual const char* _mostDerivedRepoId(); |
| 526 |
|
|
|
| 527 |
|
|
}; |
| 528 |
|
|
|
| 529 |
|
|
|
| 530 |
|
|
_CORBA_MODULE_END |
| 531 |
|
|
|
| 532 |
|
|
_CORBA_MODULE_END |
| 533 |
|
|
|
| 534 |
|
|
_CORBA_MODULE_END |
| 535 |
|
|
|
| 536 |
|
|
|
| 537 |
|
|
|
| 538 |
|
|
_CORBA_MODULE POA_hpp |
| 539 |
|
|
_CORBA_MODULE_BEG |
| 540 |
|
|
|
| 541 |
|
|
_CORBA_MODULE corbaserver |
| 542 |
|
|
_CORBA_MODULE_BEG |
| 543 |
|
|
|
| 544 |
|
|
_CORBA_MODULE manipulation |
| 545 |
|
|
_CORBA_MODULE_BEG |
| 546 |
|
|
|
| 547 |
|
|
class Graph : |
| 548 |
|
|
public virtual hpp::corbaserver::manipulation::_impl_Graph, |
| 549 |
|
|
public virtual ::PortableServer::ServantBase |
| 550 |
|
|
{ |
| 551 |
|
|
public: |
| 552 |
|
|
virtual ~Graph(); |
| 553 |
|
|
|
| 554 |
|
✗ |
inline ::hpp::corbaserver::manipulation::Graph_ptr _this() { |
| 555 |
|
✗ |
return (::hpp::corbaserver::manipulation::Graph_ptr) _do_this(::hpp::corbaserver::manipulation::Graph::_PD_repoId); |
| 556 |
|
|
} |
| 557 |
|
|
}; |
| 558 |
|
|
|
| 559 |
|
|
_CORBA_MODULE_END |
| 560 |
|
|
|
| 561 |
|
|
_CORBA_MODULE_END |
| 562 |
|
|
|
| 563 |
|
|
_CORBA_MODULE_END |
| 564 |
|
|
|
| 565 |
|
|
|
| 566 |
|
|
|
| 567 |
|
|
_CORBA_MODULE OBV_hpp |
| 568 |
|
|
_CORBA_MODULE_BEG |
| 569 |
|
|
|
| 570 |
|
|
_CORBA_MODULE corbaserver |
| 571 |
|
|
_CORBA_MODULE_BEG |
| 572 |
|
|
|
| 573 |
|
|
_CORBA_MODULE manipulation |
| 574 |
|
|
_CORBA_MODULE_BEG |
| 575 |
|
|
|
| 576 |
|
|
_CORBA_MODULE_END |
| 577 |
|
|
|
| 578 |
|
|
_CORBA_MODULE_END |
| 579 |
|
|
|
| 580 |
|
|
_CORBA_MODULE_END |
| 581 |
|
|
|
| 582 |
|
|
|
| 583 |
|
|
|
| 584 |
|
|
|
| 585 |
|
|
|
| 586 |
|
|
#undef _core_attr |
| 587 |
|
|
#undef _dyn_attr |
| 588 |
|
|
|
| 589 |
|
|
|
| 590 |
|
|
|
| 591 |
|
|
inline void |
| 592 |
|
✗ |
hpp::corbaserver::manipulation::Graph::_marshalObjRef(::hpp::corbaserver::manipulation::Graph_ptr obj, cdrStream& s) { |
| 593 |
|
✗ |
omniObjRef::_marshal(obj->_PR_getobj(),s); |
| 594 |
|
|
} |
| 595 |
|
|
|
| 596 |
|
|
|
| 597 |
|
|
|
| 598 |
|
|
#ifdef USE_stub_in_nt_dll_NOT_DEFINED_graph |
| 599 |
|
|
# undef USE_stub_in_nt_dll |
| 600 |
|
|
# undef USE_stub_in_nt_dll_NOT_DEFINED_graph |
| 601 |
|
|
#endif |
| 602 |
|
|
#ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_graph |
| 603 |
|
|
# undef USE_core_stub_in_nt_dll |
| 604 |
|
|
# undef USE_core_stub_in_nt_dll_NOT_DEFINED_graph |
| 605 |
|
|
#endif |
| 606 |
|
|
#ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_graph |
| 607 |
|
|
# undef USE_dyn_stub_in_nt_dll |
| 608 |
|
|
# undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_graph |
| 609 |
|
|
#endif |
| 610 |
|
|
|
| 611 |
|
|
#endif // __graph_hh__ |
| 612 |
|
|
|
| 613 |
|
|
|