obstacle.impl.hh

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// Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL.
//
// This file is part of the hpp-corbaserver.
//
// This software is provided "as is" without warranty of any kind,
// either expressed or implied, including but not limited to the
// implied warranties of fitness for a particular purpose.
//
// See the COPYING file for more information.

#ifndef HPP_CORBASERVER_OBSTACLE_IMPL_HH
# define HPP_CORBASERVER_OBSTACLE_IMPL_HH
# include <map>
# include <string>

#include <hpp/fcl/data_types.h>

# include <hpp/core/problem-solver.hh>
# include <hpp/corbaserver/fwd.hh>
# include <hpp/corbaserver/obstacle-idl.hh>
# include <hpp/corbaserver/object-map.hh>

namespace hpp
{
  namespace corbaServer
  {
    namespace impl
    {
      class Obstacle : public virtual POA_hpp::corbaserver::Obstacle
      {
      public:
    Obstacle ();

        void setServer (ServerPlugin* server)
        {
          server_ = server;
        }

    virtual void loadObstacleModel (const char* filename,
                                                  const char* prefix);

        virtual void loadObstacleModelFromString
        (const char* urdfString, const char* prefix);

        virtual void loadPolyhedron (const char* name, const char* filename);

    virtual void removeObstacleFromJoint
    (const char* objectName, const char* jointName, Boolean collision,
     Boolean distance);

    virtual void removeObstacle (const char* objectName);

        virtual void cutObstacle (const char* objectName, const floatSeq& aabb);

    virtual void
    addObstacle (const char* polyhedronName, Boolean collision,
             Boolean distance);

    virtual void
    moveObstacle (const char* polyName, const Transform_ cfg);

    virtual void getObstaclePosition (const char* objectName,
                      Transform_ cfg);

    virtual Names_t* getObstacleNames (bool collision, bool distance);

    virtual void
    createPolyhedron (const char* polyhedronName);

    virtual void createBox
    (const char* boxName, Double x, Double y, Double z);

    virtual void
    createSphere (const char* name, Double radius);

    virtual void
    createCylinder (const char* name, Double radius, Double length);

    virtual ULong
    addPoint
    (const char* polyhedronName, Double x, Double y, Double z);

    virtual ULong
    addTriangle
    (const char* polyhedronName, ULong pt1, ULong pt2, ULong pt3);


      private:
        CollisionObjectPtr_t getObstacleByName (const char* name);

        ObjectMap objectMap_;

    ServerPlugin* server_;

    core::ProblemSolverPtr_t problemSolver();
      };

    } // end of namespace implementation.
  } // end of namespace corbaServer.
} // end of namespace hpp.

#endif