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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__robot_hh__ |
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#define pp_manipulation_corba_idl__robot_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_robot |
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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_robot |
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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_robot |
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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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#ifndef __hpp_mcorbaserver_mmanipulation_mRobot__ |
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#define __hpp_mcorbaserver_mmanipulation_mRobot__ |
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class Robot; |
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class _objref_Robot; |
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class _impl_Robot; |
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typedef _objref_Robot* Robot_ptr; |
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typedef Robot_ptr RobotRef; |
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class Robot_Helper { |
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public: |
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typedef Robot_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_Robot, Robot_Helper> Robot_var; |
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typedef _CORBA_ObjRef_OUT_arg<_objref_Robot,Robot_Helper > Robot_out; |
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#endif |
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// interface Robot |
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class Robot { |
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public: |
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// Declarations for this interface type. |
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typedef Robot_ptr _ptr_type; |
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typedef Robot_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_Robot : |
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public virtual ::CORBA::Object, |
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public virtual omniObjRef |
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{ |
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public: |
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// IDL operations |
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void insertRobotModel(const char* robotName, const char* rootJointType, const char* urdfname, const char* srdfname); |
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void insertRobotModelOnFrame(const char* robotName, const char* frameName, const char* rootJointType, const char* urdfname, const char* srdfname); |
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void insertRobotModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString); |
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void insertRobotModelOnFrameFromString(const char* robotName, const char* frameName, const char* rootJointType, const char* urdfString, const char* srdfString); |
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void insertRobotSRDFModel(const char* robotName, const char* srdfPath); |
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void insertRobotSRDFModelFromString(const char* robotName, const char* srdfString); |
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void insertHumanoidModel(const char* robotName, const char* rootJointType, const char* urdfname, const char* srdfname); |
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void insertHumanoidModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString); |
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void loadEnvironmentModel(const char* urdfName, const char* srdfName, const char* prefix); |
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Transform__slice* getRootJointPosition(const char* robotName); |
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void setRootJointPosition(const char* robotName, const ::hpp::Transform_ position); |
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void addGripper(const char* linkName, const char* gripperName, const ::hpp::Transform_ handlePositioninJoint, ::CORBA::Double clearance); |
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void addHandle(const char* linkName, const char* handleName, const ::hpp::Transform_ localPosition, ::CORBA::Double clearance, const ::hpp::boolSeq& mask); |
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char* getGripperPositionInJoint(const char* gripperName, ::hpp::Transform_ position); |
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char* getHandlePositionInJoint(const char* handleName, ::hpp::Transform_ position); |
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void setHandlePositionInJoint(const char* handleName, const ::hpp::Transform_ position); |
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// Constructors |
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inline _objref_Robot() { _PR_setobj(0); } // nil |
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_objref_Robot(omniIOR*, omniIdentity*); |
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protected: |
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virtual ~_objref_Robot(); |
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private: |
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virtual void* _ptrToObjRef(const char*); |
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_objref_Robot(const _objref_Robot&); |
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_objref_Robot& operator = (const _objref_Robot&); |
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// not implemented |
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friend class Robot; |
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}; |
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class _pof_Robot : public _OMNI_NS(proxyObjectFactory) { |
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public: |
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inline _pof_Robot() : _OMNI_NS(proxyObjectFactory)(Robot::_PD_repoId) {} |
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virtual ~_pof_Robot(); |
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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_Robot : |
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public virtual omniServant |
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{ |
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public: |
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virtual ~_impl_Robot(); |
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virtual void insertRobotModel(const char* robotName, const char* rootJointType, const char* urdfname, const char* srdfname) = 0; |
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virtual void insertRobotModelOnFrame(const char* robotName, const char* frameName, const char* rootJointType, const char* urdfname, const char* srdfname) = 0; |
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virtual void insertRobotModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString) = 0; |
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virtual void insertRobotModelOnFrameFromString(const char* robotName, const char* frameName, const char* rootJointType, const char* urdfString, const char* srdfString) = 0; |
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virtual void insertRobotSRDFModel(const char* robotName, const char* srdfPath) = 0; |
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virtual void insertRobotSRDFModelFromString(const char* robotName, const char* srdfString) = 0; |
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virtual void insertHumanoidModel(const char* robotName, const char* rootJointType, const char* urdfname, const char* srdfname) = 0; |
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virtual void insertHumanoidModelFromString(const char* robotName, const char* rootJointType, const char* urdfString, const char* srdfString) = 0; |
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virtual void loadEnvironmentModel(const char* urdfName, const char* srdfName, const char* prefix) = 0; |
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virtual Transform__slice* getRootJointPosition(const char* robotName) = 0; |
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virtual void setRootJointPosition(const char* robotName, const ::hpp::Transform_ position) = 0; |
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virtual void addGripper(const char* linkName, const char* gripperName, const ::hpp::Transform_ handlePositioninJoint, ::CORBA::Double clearance) = 0; |
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virtual void addHandle(const char* linkName, const char* handleName, const ::hpp::Transform_ localPosition, ::CORBA::Double clearance, const ::hpp::boolSeq& mask) = 0; |
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virtual char* getGripperPositionInJoint(const char* gripperName, ::hpp::Transform_ position) = 0; |
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virtual char* getHandlePositionInJoint(const char* handleName, ::hpp::Transform_ position) = 0; |
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virtual void setHandlePositionInJoint(const char* handleName, const ::hpp::Transform_ position) = 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_END |
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_CORBA_MODULE_END |
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_CORBA_MODULE_END |
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_CORBA_MODULE POA_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 Robot : |
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public virtual hpp::corbaserver::manipulation::_impl_Robot, |
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public virtual ::PortableServer::ServantBase |
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{ |
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public: |
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virtual ~Robot(); |
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inline ::hpp::corbaserver::manipulation::Robot_ptr _this() { |
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return (::hpp::corbaserver::manipulation::Robot_ptr) _do_this(::hpp::corbaserver::manipulation::Robot::_PD_repoId); |
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} |
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}; |
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_CORBA_MODULE_END |
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_CORBA_MODULE_END |
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_CORBA_MODULE_END |
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_CORBA_MODULE OBV_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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_CORBA_MODULE_END |
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_CORBA_MODULE_END |
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_CORBA_MODULE_END |
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#undef _core_attr |
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#undef _dyn_attr |
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inline void |
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hpp::corbaserver::manipulation::Robot::_marshalObjRef(::hpp::corbaserver::manipulation::Robot_ptr obj, cdrStream& s) { |
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omniObjRef::_marshal(obj->_PR_getobj(),s); |
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} |
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#ifdef USE_stub_in_nt_dll_NOT_DEFINED_robot |
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# undef USE_stub_in_nt_dll |
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# undef USE_stub_in_nt_dll_NOT_DEFINED_robot |
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#endif |
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#ifdef USE_core_stub_in_nt_dll_NOT_DEFINED_robot |
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# undef USE_core_stub_in_nt_dll |
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# undef USE_core_stub_in_nt_dll_NOT_DEFINED_robot |
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#endif |
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#ifdef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot |
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# undef USE_dyn_stub_in_nt_dll |
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# undef USE_dyn_stub_in_nt_dll_NOT_DEFINED_robot |
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#endif |
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#endif // __robot_hh__ |
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