device.idl

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// Copyright (c) 2020, LAAS-CNRS Airbus SAS
// Authors: Florent Lamiraux
//
// This file is part of hpp-manipulation-corba.
// hpp-manipulation-corba is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-manipulation-corba is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-manipulation-corba. If not, see <http://www.gnu.org/licenses/>.


#ifndef HPP_MANIPULATION_DEVICE_IDL
#define HPP_MANIPULATION_DEVICE_IDL

#include <hpp/common.idl>
#include <hpp/pinocchio_idl/robots.idl>

module hpp {
  module manipulation_idl {
    interface Handle {
      void setMask(in boolSeq mask) raises(Error);
      //* std::vector<bool> _mask(hpp::corbaServer::boolSeqToVector(mask, 6));
      //* getT()->mask(_mask);
    }; // interface Handle
    interface Device : pinocchio_idl::Device
    {
      Names_t getHandleNames() raises(Error);
      //-> handles.template getKeys < std::vector<std::string> >

      Handle getHandle (in string name) raises(Error);
      //-> handles.get
    }; // interface Device
  }; // module manipulation
}; // module hpp

//* #include <hpp/pinocchio_idl/robots.hh>
//* #include <hpp/manipulation/device.hh>
//* #include <hpp/manipulation/handle.hh>

#endif // HPP_MANIPULATION_DEVICE_IDL