PathPlannerSVC_impl.h
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1 // -*-C++-*-
7 #ifndef PATHPLANNERSVC_IMPL_H
8 #define PATHPLANNERSVC_IMPL_H
9 
10 #include <rtm/RTC.h>
11 #include <map>
12 #include <hrpCorba/PathPlanner.hh>
13 #include <hrpPlanner/PathPlanner.h>
14 
15 /*
16  * Example class implementing IDL interface OpenHRP::PathPlanner
17  */
19  : public virtual POA_OpenHRP::PathPlanner,
20  public virtual PortableServer::RefCountServantBase
21 {
22 private:
23  // Make sure all instances are built on the heap by making the
24  // destructor non-public
25  //virtual ~OpenHRP_PathPlannerSVC_impl();
26 
31 
35  std::string nameServer_;
36 
37 public:
38  // standard constructor
41 
42  // attributes and operations
43  void stopPlanning();
44  void getRoadmap(OpenHRP::PathPlanner::Roadmap_out graph);
45  void clearRoadmap();
46  void getMobilityNames(OpenHRP::StringSequence_out mobilities);
47  void getOptimizerNames(OpenHRP::StringSequence_out optimizers);
48  void setRobotName(const char* model);
49  void setAlgorithmName(const char* algorithm);
50  bool setMobilityName(const char* mobility);
51  void getAlgorithmNames(OpenHRP::StringSequence_out algos);
52  bool getProperties(const char* alg, OpenHRP::StringSequence_out props, OpenHRP::StringSequence_out defaults);
53  void initPlanner();
54  void setStartPosition(CORBA::Double x, CORBA::Double y, CORBA::Double theta);
55  void setGoalPosition(CORBA::Double x, CORBA::Double y, CORBA::Double theta);
56  void setProperties(const OpenHRP::PathPlanner::Property& properites);
57  CORBA::Boolean calcPath();
58  void getPath(OpenHRP::PathPlanner::PointArray_out path);
59  CORBA::Boolean optimize(const char *optimizer);
60  void registerIntersectionCheckPair(const char* char1, const char* name1, const char* char2, const char* name2, CORBA::Double tolerance);
61  void registerCharacter(const char* name, OpenHRP::BodyInfo_ptr cInfo);
62  void registerCharacterByURL(const char* name, const char* url);
63  void setCharacterPosition(const char* character,
64  const OpenHRP::DblSequence& pos);
65  void initSimulation();
66  void setNameServer(std::string nameServer) {nameServer_ = nameServer;}
67 
68 };
69 
70 
71 
72 #endif // PATHPLANNERSVC_IMPL_H
73 
74 
void registerCharacterByURL(const char *name, const char *url)
void setRobotName(const char *model)
void setCharacterPosition(const char *character, const OpenHRP::DblSequence &pos)
CORBA::Boolean optimize(const char *optimizer)
* x
Definition: IceUtils.h:98
void getAlgorithmNames(OpenHRP::StringSequence_out algos)
void setStartPosition(CORBA::Double x, CORBA::Double y, CORBA::Double theta)
png_infop png_charpp name
Definition: png.h:2382
void getPath(OpenHRP::PathPlanner::PointArray_out path)
bool setMobilityName(const char *mobility)
void setProperties(const OpenHRP::PathPlanner::Property &properites)
void getRoadmap(OpenHRP::PathPlanner::Roadmap_out graph)
void setAlgorithmName(const char *algorithm)
void setGoalPosition(CORBA::Double x, CORBA::Double y, CORBA::Double theta)
PathEngine::PathPlanner * path_
void getOptimizerNames(OpenHRP::StringSequence_out optimizers)
bool getProperties(const char *alg, OpenHRP::StringSequence_out props, OpenHRP::StringSequence_out defaults)
void registerIntersectionCheckPair(const char *char1, const char *name1, const char *char2, const char *name2, CORBA::Double tolerance)
void registerCharacter(const char *name, OpenHRP::BodyInfo_ptr cInfo)
* y
Definition: IceUtils.h:97
void getMobilityNames(OpenHRP::StringSequence_out mobilities)
void setNameServer(std::string nameServer)


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:04