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 "CorbaKDLConversion.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 KDL 00033 { 00034 namespace Corba 00035 { 00036 00037 bool CorbaKDLPlugin::registerTransport(std::string name, TypeInfo* ti) 00038 { 00039 if ( name == "KDL.Vector" ) 00040 return ti->addProtocol(ORO_CORBA_PROTOCOL_ID, new CorbaTemplateProtocol< KDL::Vector >() ); 00041 if ( name == "KDL.Rotation" ) 00042 return ti->addProtocol(ORO_CORBA_PROTOCOL_ID, new CorbaTemplateProtocol< KDL::Rotation >() ); 00043 if ( name == "KDL.Frame" ) 00044 return ti->addProtocol(ORO_CORBA_PROTOCOL_ID, new CorbaTemplateProtocol< KDL::Frame >() ); 00045 if ( name == "KDL.Wrench" ) 00046 return ti->addProtocol(ORO_CORBA_PROTOCOL_ID, new CorbaTemplateProtocol< KDL::Wrench >() ); 00047 if ( name == "KDL.Twist" ) 00048 return ti->addProtocol(ORO_CORBA_PROTOCOL_ID, new CorbaTemplateProtocol< KDL::Twist >() ); 00049 return false; 00050 } 00051 00052 std::string CorbaKDLPlugin::getTransportName() const { 00053 return "CORBA"; 00054 } 00055 std::string CorbaKDLPlugin::getTypekitName() const { 00056 return "KDL"; 00057 } 00058 00059 std::string CorbaKDLPlugin::getName() const { 00060 return "kdl-corba-types"; 00061 } 00062 } 00063 } 00064 00065 ORO_TYPEKIT_PLUGIN( KDL::Corba::CorbaKDLPlugin)