Introduction

This package implements a Corba server running hpp-wholebody-step package functions and the corresponding client.

The corba server part is compiled into library libhpp-wholebody-step-corba.so that implements the following class:

hpp::wholebodyStep::Server. The corba services provided by the library are described in interface
hpp::corbaserver::wholebody_step::Problem.

The client part is provided through python module hpp.corbaserver.wholebody_step

An executable called hpp-wholebody-step-server is installed. This executable runs

the corba server implemented by library libhpp-wholebody-step-corba.so, as well as
the corba server implemented in hpp-corbaserver.

See these package documentations for details.

How to communicate with the CORBA server

The easiest way is

to launch hpp-wholebody-step-server executable, open a python terminal and type:

     from hpp.corbaserver.wholebody_step.client import Client as WholebodyStepClient
     wcl = WholebodyStepClient ()

Then variable wcl contains a member problem that can send requests to the server. For instance

     wcl.problem.addStaticStabilityConstraints (q0)

How to embed a server in an application

Embedding the corba server into an application can be done by linking the application with libhpp-wholebody-step-corba.so in a similar way as hpp-corbaserver corba server. See documentation of classes hpp::corbaServer::Server and hpp::wholebodyStep::Server for details.