hpp-corbaserver  4.9.0
Corba server for Humanoid Path Planner applications
basic-server.hh
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1 // Copyright (C) 2019 CNRS-LAAS
2 // Author: Joseph Mirabel
3 //
4 // This file is part of the hpp-corbaserver.
5 //
6 // hpp-corbaserver is free software: you can redistribute
7 // it and/or modify it under the terms of the GNU Lesser General
8 // Public License as published by the Free Software Foundation, either
9 // version 3 of the License, or (at your option) any later version.
10 //
11 // hpp-corbaserver is distributed in the hope that it will be useful,
12 // but WITHOUT ANY WARRANTY; without even the implied warranty of
13 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 // GNU Lesser General Public License for more details.
15 //
16 // You should have received a copy of the GNU Lesser General Public
17 // License along with hpp-corbaserver. If not, see
18 // <http://www.gnu.org/licenses/>.
19 
20 #ifndef HPP_CORBASERVER_BASIC_SERVER_HH
21 # define HPP_CORBASERVER_BASIC_SERVER_HH
22 
23 # include <stdexcept>
24 
26 
27 namespace hpp {
28  namespace corbaServer {
29  class HPP_CORBASERVER_DLLAPI BasicServer: public ServerPlugin
30  {
31  public:
32  virtual ~ServerPlugin () {}
33 
35  virtual void startCorbaServer (const std::string& contextId,
36  const std::string& contextKind) = 0;
37 
38  virtual std::string name() const = 0;
39 
41  {
42  return problemSolverMap_->selected();
43  }
44 
46  {
47  return problemSolverMap_;
48  }
49 
52  {
53  problemSolverMap_ = psMap;
54  }
55 
56  protected:
57  ServerPlugin (bool multithread) : multithread_ (multithread) {}
58 
61  }; // class ServerPlugin
62  } // namespace corbaserver
63 } // namespace hpp
64 
65 #endif // HPP_CORBASERVER_SERVER_PLUGIN_HH
Definition: server-plugin.hh:44
void setProblemSolverMap(ProblemSolverMapPtr_t psMap)
Set planner that will be controlled by server.
Definition: basic-server.hh:51
ProblemSolverMapPtr_t problemSolverMap_
Definition: basic-server.hh:60
Implement CORBA interface ``Obstacle&#39;&#39;.
virtual ~ServerPlugin()
Definition: basic-server.hh:32
boost::shared_ptr< ProblemSolverMap > ProblemSolverMapPtr_t
Definition: fwd.hh:34
ProblemSolverMapPtr_t problemSolverMap() const
Definition: basic-server.hh:45
bool multithread_
Definition: basic-server.hh:59
ServerPlugin(bool multithread)
Definition: basic-server.hh:57
core::ProblemSolverPtr_t problemSolver() const
Definition: basic-server.hh:40
Definition: basic-server.hh:29