00001 // Copyright (C) 2008 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00002 00003 // Version: 1.0 00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00006 // URL: http://www.orocos.org/kdl 00007 00008 // This library is free software; you can redistribute it and/or 00009 // modify it under the terms of the GNU Lesser General Public 00010 // License as published by the Free Software Foundation; either 00011 // version 2.1 of the License, or (at your option) any later version. 00012 00013 // This library is distributed in the hope that it will be useful, 00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00016 // Lesser General Public License for more details. 00017 00018 // You should have received a copy of the GNU Lesser General Public 00019 // License along with this library; if not, write to the Free Software 00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00021 00022 #include "corbatoolkit.hpp" 00023 #include <rtt/types/Types.hpp> 00024 #include <rtt/transports/corba/CorbaTemplateProtocol.hpp> 00025 #include "CorbaEigenConversion.hpp" 00026 #include <rtt/types/TypekitPlugin.hpp> 00027 00028 using namespace RTT; 00029 using namespace RTT::types; 00030 using namespace RTT::corba; 00031 00032 namespace Eigen 00033 { 00034 namespace corba 00035 { 00036 00037 bool CorbaEigenPlugin::registerTransport(std::string name, TypeInfo* ti) 00038 { 00039 if ( name == "eigen_vector" ) 00040 return ti->addProtocol(ORO_CORBA_PROTOCOL_ID, new CorbaTemplateProtocol< Eigen::VectorXd >() ); 00041 if ( name == "eigen_matrix" ) 00042 return ti->addProtocol(ORO_CORBA_PROTOCOL_ID, new CorbaTemplateProtocol< Eigen::MatrixXd >() ); 00043 return false; 00044 } 00045 00046 std::string CorbaEigenPlugin::getTransportName() const { 00047 return "CORBA"; 00048 } 00049 std::string CorbaEigenPlugin::getTypekitName() const { 00050 return "Eigen"; 00051 } 00052 00053 std::string CorbaEigenPlugin::getName() const { 00054 return "eigen-corba-types"; 00055 } 00056 } 00057 } 00058 00059 ORO_TYPEKIT_PLUGIN( Eigen::corba::CorbaEigenPlugin) 00060