diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1883733bbb9302452b77318ccefce5d1b89afce9..10866526532bb2b29e149995a69d216229b7382f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -97,9 +97,7 @@ IF(NOT CLIENT_ONLY)
# }}}
# {{{ Set list of headers
- SET (${PROJECT_NAME}_HEADERS
- ${CMAKE_SOURCE_DIR}/include/gepetto/viewer/corba/server.hh
- ${CMAKE_SOURCE_DIR}/include/gepetto/viewer/corba/fwd.hh
+ LIST(APPEND ${PROJECT_NAME}_HEADERS
${CMAKE_SOURCE_DIR}/include/gepetto/gui/omniorb/url.hh
)
# }}}
diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
index 6bcde28abc701b502cd7194b531b09459bd669d6..4521bc43ad0e381806b91d482f45bd1dc90b5db6 100644
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
@@ -1,13 +1,9 @@
-FILE_PATTERNS = *.idl *.hh *.py *.idl *.dox
+FILE_PATTERNS = *.idl *.hh *.py *.idl
INPUT = @CMAKE_SOURCE_DIR@/include \
@CMAKE_SOURCE_DIR@/idl \
@CMAKE_SOURCE_DIR@/plugins \
- @CMAKE_SOURCE_DIR@/pyplugins \
@CMAKE_SOURCE_DIR@/src/gepetto\
@CMAKE_SOURCE_DIR@/doc
EXAMPLE_PATH = @CMAKE_SOURCE_DIR@/examples
-LAYOUT_FILE = @CMAKE_SOURCE_DIR@/doc/layout.xml
-
-TAGFILES += @QT_TAGFILES@
diff --git a/doc/cmake.dox b/doc/cmake.dox
deleted file mode 100644
index 1b9781e96c55766ec8528efd686698e141594263..0000000000000000000000000000000000000000
--- a/doc/cmake.dox
+++ /dev/null
@@ -1,70 +0,0 @@
-/**
-
-\defgroup gepetto_viewer_corba_cmake_macros CMake macros
-\{
-
-\brief
-
-Here are some details on how to build and install plugins with CMake.
-
-\par Get the macro.
-
-\code{.py}
-# Tells pkg-config to read qtversion and cmake_plugin from pkg config file.
-LIST(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES qtversion cmake_plugin)
-
-ADD_REQUIRED_DEPENDENCY("gepetto-viewer-corba")
-
-# Variable GEPETTO_VIEWER_CORBA_QTVERSION contains something like 4.8.1 or 5.2.1
-
-# Include macro GEPETTO_GUI_PLUGIN
-INCLUDE(${GEPETTO_VIEWER_CORBA_PREFIX}/${GEPETTO_VIEWER_CORBA_CMAKE_PLUGIN})
-\endcode
-
-\par Declare a C++ plugin:
-
-\code{.py}
-GEPETTO_GUI_PLUGIN(pluginskeleton
- # Use this option only if you write a plugin within
- # gepetto-viewer-corba package
- # INSIDE_GEPETTO_VIEWER_CORBA
-
- # Whether to use Qt4 or Qt5
- ${QT4}
-
- # List of headers that need not to be moced.
- HEADERS_NO_MOC
-
- # List of headers to be moced
- HEADERS
- plugin.hh
-
- # List of Qt forms
- FORMS
-
- # List of Qt resources
- RESOURCES
-
- # List of source files
- SOURCES
- plugin.cc
-
- # List of dependencies to be given to TARGET_LINK_LIBRARIES
- LINK_DEPENDENCIES
-
- # List of dependencies to be given to PKG_CONFIG_USE_DEPENDENCY
- PKG_CONFIG_DEPENDENCIES
- )
-\endcode
-
-\par Declare a Python plugin:
-
-\code{.py}
-#Â pythonfile refers to the path to .py file from a
-#Â path of PYTHONPATH
-GEPETTO_GUI_PYPLUGIN (pythonfile)
-\endcode
-
-\}
-
-*/
diff --git a/doc/footer.html b/doc/footer.html
deleted file mode 100644
index 5a2c5ccbaa9d02fb4215a4d188b8654b62cdef81..0000000000000000000000000000000000000000
--- a/doc/footer.html
+++ /dev/null
@@ -1,10 +0,0 @@
-<br><br>
-<hr>
-<center>
- <img src="$relpath$pictures/footer.jpg" height="100" alt="footer">
- <br>hpp-corbaserver library documentation</br>
-</center>
-<hr>
-</center>
-</body>
-</html>
diff --git a/doc/header.html b/doc/header.html
deleted file mode 100644
index 41c1d88fd7142431ffce46e7132ca3f3735ab8f0..0000000000000000000000000000000000000000
--- a/doc/header.html
+++ /dev/null
@@ -1,6 +0,0 @@
-<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
-<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8">
-<title>$title</title>
-<link href="$relpath$tabs.css" rel="stylesheet" type="text/css">
-<link href="$relpath$doxygen.css" rel="stylesheet" type="text/css">
-</head><body>
diff --git a/doc/main.hh b/doc/main.hh
index db31f10b2a38a9db94f58bc8257ddadfbeedeff2..068709872252dc9da01d8734eca5bec25a0c50c9 100644
--- a/doc/main.hh
+++ b/doc/main.hh
@@ -1,80 +1,23 @@
/**
-\mainpage Gepetto Viewer
+\mainpage CORBA interface of Gepetto Viewer
-This package provides a graphical user interface to visualize robots. There are
-two compatible interfaces to interact with the interface.
-\li the CORBA interface with Python and C++ clients.
-\li the graphical user interface.
+This package implements a CORBA interface to \ref gepetto_viewer_index_html "gepetto-viewer".
+Refers to its doc for further details on the interface itself.
-To start the interface, use
-\code{bash} gepetto-gui \endcode
+\par Basic usage
-To get some help on the command line options, use
-\code{bash} gepetto-gui --help \endcode
-
-To get command line completion for `gepetto-gui` command, see package
-https://github.com/humanoid-path-planner/hpp-tools.
-
-\section gepetto_gui_corba CORBA interface
-
-The IDL interface of the server is defined by gepetto::corbaserver::GraphicalInterface.
+The IDL interface of the viewer is defined by gepetto::corbaserver::GraphicalInterface.
+To create a client to the interface, you may use the following code.
\code{py}
-from gepetto.corbaserver import Client
-client = Client ()
-# open a new window
-client.gui.createWindow ("w")
+from gepetto.corbaserver import gui_client
+# Create a client to the GUI, a window name "w" and a group node "w".
+# dont_raise if the GUI is not available (in which case gui will be None).
+gui = gui_client(windowName = "w", dont_raise=True)
# refer to the idl interface to control gepetto-viewer.
\endcode
-\section gepetto_gui_ui Graphical user interface
-
-\par Configuration files
-
-The interface can be customized using a few setting files.
-See gepetto::gui::Settings::readSettingFile for more details on configuration files.
-
-To generate a new configuration use:
-\code{bash} gepetto-gui -c newConfigName -g \endcode
-
-To use the configuration *config*:
-\code{bash} gepetto-gui -c newConfigName \endcode
-
-\par Extending the interface
-
-There are two ways of extending the interface: Python and C++. Python
-plugins are easier to write than C++ plugins, but they do not offer
-full control of the interface (yet).
-
-See the \ref pluginlist for some examples.
-Building and installing plugins is made easy with \ref gepetto_viewer_corba_cmake_macros.
-
-- *Python plugins*
- See the documentation of gepetto::gui::PythonWidget for instructions
- and examples of Python plugin usage.
-
- The Python console is a good tool for debugging. The following variables
- are accessible:
- + \c mainWindow: gepetto::gui::MainWindow
- + \c osg: the widget responsible for the first created window (class gepetto::gui::OSGWidget)
-
-- *C++ Plugin*
- See documentation of gepetto::gui::PluginInterface, for details on how to write a plugin.
-
-\defgroup pluginlist List of available plugins
-
-This is the list of available plugins. See each plugin to know how to activate it.
-
-\defgroup plugin Plugin interfaces
-\{
-Interface of C++ and Python plugins.
-
- \defgroup plugin_cpp C++ Plugin API
- Descriptions of the available interfaces.
-
- \defgroup plugin_python Python plugin API
- These slots are available for Python scripting in plugins.
-\}
+Extra features can be found in gepetto.corbaserver.tools.
*/
diff --git a/doc/pictures/archi.fig b/doc/pictures/archi.fig
deleted file mode 100644
index 01444ae0d16de164c2200320091d36e7dbacaefc..0000000000000000000000000000000000000000
--- a/doc/pictures/archi.fig
+++ /dev/null
@@ -1,81 +0,0 @@
-#FIG 3.2
-Portrait
-Center
-Metric
-Letter
-100.00
-Single
--2
-1200 2
-6 7105 319 10699 967
-3 2 1 1 0 7 50 -1 -1 4.000 0 1 0 3
- 3 1 1.00 56.20 112.40
- 7105 658 8135 396 9128 967
- 0.000 -1.000 0.000
-4 0 0 50 -1 0 12 0.0000 4 180 1740 8959 574 dynamic library loading\001
--6
-6 7535 4772 9456 5019
-2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 1 0 2
- 3 1 1.00 56.20 112.40
- 7535 4991 9456 4991
-4 0 0 50 -1 0 12 0.0000 4 180 1815 7638 4907 compilation dependence\001
--6
-2 1 0 2 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
- 1351 1818 2192 1818
-2 1 0 2 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
- 1351 2064 2192 2064
-2 1 0 2 0 7 50 -1 -1 0.000 0 0 -1 0 0 3
- 2106 1724 2368 1923 2131 2136
-2 2 0 2 0 7 50 -1 -1 0.000 0 0 7 0 0 5
- 2397 4277 4293 4277 4293 4951 2397 4951 2397 4277
-2 2 0 2 0 7 50 -1 -1 0.000 0 0 7 0 0 5
- 2397 3176 4293 3176 4293 3851 2397 3851 2397 3176
-2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
- 2385 1687 4296 1687
-2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
- 3294 1687 3294 2493
-2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
- 2385 1950 3294 1950
-2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
- 2376 2221 3284 2221
-2 2 0 2 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
- 5291 2493 7211 2493 7211 1369 5291 1369 5291 2493
-2 1 0 1 0 7 50 -1 -1 4.000 0 0 -1 1 0 3
- 3 1 1.00 56.20 112.40
- 4293 3497 6213 3497 6213 2504
-2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 1 0 2
- 3 1 1.00 56.20 112.40
- 3343 2504 3343 3178
-2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 1 0 2
- 3 1 1.00 56.20 112.40
- 3343 3843 3343 4265
-2 2 0 2 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
- 2385 2493 4306 2493 4306 1369 2385 1369 2385 2493
-2 2 1 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 5
- 1998 949 4734 949 4734 5052 1998 5052 1998 949
-2 2 0 2 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
- 8826 2493 10746 2493 10746 1369 8826 1369 8826 2493
-2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
- 3 1 1.00 60.00 120.00
- 7212 1913 8824 1913
-2 2 1 1 0 7 50 -1 -1 4.000 0 0 -1 0 0 5
- 1835 769 7355 769 7355 5159 1835 5159 1835 769
-2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 1 0 2
- 3 1 1.00 60.00 120.00
- 5295 1919 4305 1919
-2 1 1 1 0 7 50 -1 -1 4.000 0 0 -1 0 1 3
- 3 1 1.00 60.00 120.00
- 4295 4609 9885 4609 9885 2499
-4 1 0 50 -1 0 14 0.0000 4 150 1080 3324 4694 KineoWorks\001
-4 0 0 50 -1 0 12 0.0000 4 90 480 2507 1865 server\001
-4 0 0 50 -1 0 12 0.0000 4 135 420 2507 2399 client\001
-4 0 0 50 -1 0 12 0.0000 4 180 735 2507 2146 clientHpp\001
-4 0 0 50 -1 0 14 0.0000 4 150 1215 2092 1202 Corba module\001
-4 1 0 50 -1 0 14 0.0000 4 195 1200 6162 1622 Kpp Interface\001
-4 1 0 50 -1 0 14 0.0000 4 150 1380 3256 1622 Corba Interface\001
-4 1 0 50 -1 0 14 0.0000 4 195 990 3294 3579 HPP library\001
-4 1 0 50 -1 0 14 0.0000 4 150 1560 9776 1622 KineoPathPlanner\001
-4 0 0 50 -1 0 12 0.0000 4 135 1215 7476 1793 initializeModule\001
-4 0 0 50 -1 0 12 0.0000 4 135 450 1376 1997 Corba\001
-4 0 0 50 -1 0 14 0.0000 4 150 1065 5012 1092 KPP module\001
-4 0 0 50 -1 0 12 0.0000 4 135 1350 4806 3406 send notifications\001
diff --git a/doc/pictures/archi.pdf b/doc/pictures/archi.pdf
deleted file mode 100644
index badaea5bf50bdaaa1d9a7a437b7f566db309cb12..0000000000000000000000000000000000000000
Binary files a/doc/pictures/archi.pdf and /dev/null differ
diff --git a/doc/pictures/archi.png b/doc/pictures/archi.png
deleted file mode 100644
index 582d75a0d0dd4aac8860c7408f8aebb95e659903..0000000000000000000000000000000000000000
Binary files a/doc/pictures/archi.png and /dev/null differ
diff --git a/doc/pictures/footer.jpg b/doc/pictures/footer.jpg
deleted file mode 100644
index 377681b20575b32c765e0ad9403723a0e3ea5c75..0000000000000000000000000000000000000000
Binary files a/doc/pictures/footer.jpg and /dev/null differ
diff --git a/idl/gepetto/viewer/graphical-interface.idl b/idl/gepetto/viewer/graphical-interface.idl
index 9755616fa0f016b3ed115c8c5dbfee696befad24..09f4fdcf9fce9fa43ad8d0188f015ec91eb3803f 100644
--- a/idl/gepetto/viewer/graphical-interface.idl
+++ b/idl/gepetto/viewer/graphical-interface.idl
@@ -21,7 +21,7 @@ typedef float Transform [7];
typedef float Vector2 [2];
typedef float Position [3];
typedef float Color [4];
-typedef unsigned long WindowID;
+typedef string WindowID;
typedef sequence <string> Names_t; /// Sequence of names
typedef sequence<float> floatSeq;
typedef sequence<Position> PositionSeq;
@@ -46,35 +46,38 @@ typedef sequence<Transform> TransformSeq;
/// \anchor idl_windows_and_scenes
/// \{
- /// Create a new window.
- /// \param input name : name of the new window.
- /// return the ID of the newly create window.
- unsigned long createWindow(in string name) raises (Error);
- unsigned long getWindowID (in string name) raises (Error);
+ /// Create a new window if it does not already exists.
+ /// \param name : name of the new window.
+ /// return the value provided as input argument.
+ WindowID createWindow(in string name) raises (Error);
+
+ /// \deprecated Line `windowId = gui.getWindowID(name)` can be replaced
+ /// by `windowId = name`.
+ WindowID getWindowID (in string name) raises (Error);
/// change the background color1
- /// \param input windowId : ID of the window
- /// \param input RGBAcolor : desired color
- boolean setBackgroundColor1(in unsigned long windowId,in Color RGBAcolor);
+ /// \param wid : ID of the window
+ /// \param RGBAcolor : desired color
+ boolean setBackgroundColor1(in WindowID wid,in Color RGBAcolor);
/// change the background color2
- /// \param input windowId : ID of the window
- /// \param input RGBAcolor : desired color
- boolean setBackgroundColor2(in unsigned long windowId,in Color RGBAcolor);
+ /// \param wid : ID of the window
+ /// \param RGBAcolor : desired color
+ boolean setBackgroundColor2(in WindowID wid,in Color RGBAcolor);
/// Create a group node.
- /// \param input sceneName : name of the group.
+ /// \param sceneName : name of the group.
void createScene(in string sceneName) raises (Error);
/// Create a group node and a GroudNode ("sceneName/floor") as child
- /// \param input sceneName : name of the group
+ /// \param sceneName : name of the group
void createSceneWithFloor(in string sceneName) raises (Error);
/// Add groupNode sceneName to the WindowManager windowName so
/// sceneName and all its children will be displayed in the window windowName.
- /// \param input sceneName : name of the groupNode.
- /// \param input windowId : ID of rhe window.
- boolean addSceneToWindow(in string sceneName, in unsigned long windowId) raises (Error);
+ /// \param sceneName : name of the groupNode.
+ /// \param wid : ID of rhe window.
+ boolean addSceneToWindow(in string sceneName, in WindowID wid) raises (Error);
/// \}
@@ -83,122 +86,114 @@ typedef sequence<Transform> TransformSeq;
/// \{
/// create a floor called floorName.
- /// \param input floorName : name of the floor.
+ /// \param floorName : name of the floor.
boolean addFloor(in string floorName) raises (Error);
/// create a box called boxName.
- /// \param input boxName : name of the box.
- /// \param input boxSize1 : lenght of the box (x axis).
- /// \param input boxSize2 : lenght of the box (y axis).
- /// \param input boxSize3 : lenght of the box (z axis).
- /// \param input RGBAcolor : Color of the box.
+ /// \param boxName : name of the box.
+ /// \param boxSize1 : lenght of the box (x axis).
+ /// \param boxSize2 : lenght of the box (y axis).
+ /// \param boxSize3 : lenght of the box (z axis).
+ /// \param RGBAcolor : Color of the box.
boolean addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3, in Color RGBAcolor) raises (Error);
/// create a box called CapsuleName.
- /// \param input CapsuleName : name of the capsule.
- /// \param input radius : radius of the capsule.
- /// \param input height : lenght of the segment that generates the capsule.
- /// \param input RGBAcolor : Color of the capsule.
- boolean addCapsule(in string capsuleName, in float radius, in float height, in Color RGBAcolorid) raises (Error);
+ /// \param name : name of the capsule.
+ /// \param radius : radius of the capsule.
+ /// \param height : lenght of the segment that generates the capsule.
+ /// \param RGBAcolor : Color of the capsule.
+ boolean addCapsule(in string name, in float radius, in float height, in Color RGBAcolor) raises (Error);
/// create a box called CapsuleName.
- /// \param input CapsuleName : name of the arrow.
- /// \param input radius : radius of the arrow
- /// \param input length : lenght of the arrow
- /// \param input RGBAcolor : Color of the capsule.
- boolean addArrow(in string arrowName, in float radius, in float length, in Color RGBAcolorid) raises (Error);
+ /// \param name : name of the arrow.
+ /// \param radius : radius of the arrow
+ /// \param length : lenght of the arrow
+ /// \param RGBAcolor : Color of the capsule.
+ boolean addArrow(in string name, in float radius, in float length, in Color RGBAcolor) raises (Error);
- boolean addRod(in string rodName, in Color RGBAcolorid, in float radius, in float totalLength,in short maxCapsule) raises (Error);
+ boolean addRod(in string rodName, in Color RGBAcolor, in float radius, in float totalLength,in short maxCapsule) raises (Error);
/// resize the capsule CapsuleName.
- /// \param input CapsuleName : name of the capsule.
- /// \param input height : lenght of the segment that generates the capsule.
+ /// \param CapsuleName : name of the capsule.
+ /// \param height : lenght of the segment that generates the capsule.
boolean resizeCapsule(in string capsuleName,in float height) raises (Error);
boolean resizeArrow(in string capsuleName,in float radius, in float length) raises (Error);
/// create a node to display a mesh (works for .dae, .obj and some other formats)
- /// \param input meshName : name of the new meshNode.
- /// \param input meshPath : full path to the mesh file.
+ /// \param meshName : name of the new meshNode.
+ /// \param meshPath : full path to the mesh file.
boolean addMesh(in string meshName, in string meshPath) raises (Error);
/// Remove light sources from mesh
- /// \param input meshName : name of the new meshNode.
+ /// \param meshName : name of the new meshNode.
void removeLightSources(in string meshName) raises (Error);
- /// create a node to display a mesh (works for .dae, .obj and some other formats)
- /// \param input meshName : name of the new meshNode.
- /// \param input meshPath : full path to the mesh file.
- boolean addCone(in string coneName, in float radius, in float height, in Color RGBAcolor) raises (Error);
-
- /// create a Cyllinder called cylinderName
- /// \param input cylinderName : name of the cylinder.
- /// \param input radius : radius of the cylinder.
- /// \param input height : lenght of the cylinder.
- /// \param input RGBAcolor : color of the cylinder.
+ /// create a Cone
+ boolean addCone(in string name, in float radius, in float height, in Color RGBAcolor) raises (Error);
+
+ /// create a Cylinder
boolean addCylinder(in string cylinderName, in float radius, in float height, in Color RGBAcolor) raises (Error);
- /// create a sphere called sphereName
- /// \param input sphereName : name of the sphere.
- /// \param input radius : radius of the sphere.
- /// \param input RGBAcolor : color of the sphere.
+ /// create a Sphere
boolean addSphere(in string sphereName, in float radius, in Color RGBAcolor) raises (Error);
- /// create a light called lightName
- /// \param input lightName : name of the light.
- /// \param input radius : radius of the bulb showing the light.
- /// \param input RGBAcolor : color of the light.
+ /// create a light
+ /// \param lightName : name of the light.
+ /// \param wid : ID of the window.
+ /// \param radius : radius of the bulb showing the light.
+ /// \param RGBAcolor : color of the light.
boolean addLight(in string lightName, in WindowID wid, in float radius, in Color RGBAcolor) raises (Error);
/// create a line called lineName.
- /// \param input lineName : name of the line.
- /// \param input pos1 : position one extremity of the line.
- /// \param input pos2 : position the other extremity of the line.
- /// \param input RGBAcolor : color of the line.
+ /// \param lineName : name of the line.
+ /// \param pos1 : position one extremity of the line.
+ /// \param pos2 : position the other extremity of the line.
+ /// \param RGBAcolor : color of the line.
boolean addLine(in string lineName, in Position pos1, in Position pos2, in Color RGBAcolor) raises (Error);
/// change starting point position of a line.
- /// \param input lineName : name of the line.
- /// \param input pos1 : position of the first extremity of the line.
+ /// \param lineName : name of the line.
+ /// \param pos1 : position of the first extremity of the line.
boolean setLineStartPoint(in string lineName, in Position pos1) raises (Error);
/// change terminal point position of a line.
- /// \param input lineName : name of the line.
- /// \param input pos2 : position of the second extremity of the line.
+ /// \param lineName : name of the line.
+ /// \param pos2 : position of the second extremity of the line.
boolean setLineEndPoint(in string lineName, in Position pos2) raises (Error);
/// change extremity positions of a line.
- /// \param input lineName : name of the line.
- /// \param input pos1 : position one extremity of the line.
- /// \param input pos2 : position of the second extremity of the line.
+ /// \param lineName : name of the line.
+ /// \param pos1 : position one extremity of the line.
+ /// \param pos2 : position of the second extremity of the line.
boolean setLineExtremalPoints(in string lineName, in Position pos1, in Position pos2) raises (Error);
/// create a curve called curveName.
/// The curve is the graph of the piecewise linear interpolation between each consecutive pos.
- /// \param input lineName : name of the line.
- /// \param input pos : waypoints of the curve.
- /// \param input RGBAcolor : color of the line.
- boolean addCurve(in string curveName, in PositionSeq pos, in Color RGBAcolor) raises (Error);
+ /// \param name : name of the line.
+ /// \param pos : waypoints of the curve.
+ /// \param RGBAcolor : color of the line.
+ boolean addCurve(in string name, in PositionSeq pos, in Color RGBAcolor) raises (Error);
/// set points of a curve called curveName.
- /// \param input lineName : name of the line.
- /// \param input pos : waypoints of the curve.
- boolean setCurvePoints(in string curveName, in PositionSeq pos) raises (Error);
+ /// \param name : name of the line.
+ /// \param pos : waypoints of the curve.
+ boolean setCurvePoints(in string name, in PositionSeq pos) raises (Error);
/// \param mode The list of possible GL modes is provided in
/// gepetto::viewer::WindowsManager::setCurveMode.
/// From the GL modes, remove "GL_" and put it lower case.
- boolean setCurveMode (in string curveName, in string mode) raises (Error);
+ boolean setCurveMode (in string name, in string mode) raises (Error);
boolean setCurvePointsSubset (in string curveName, in long first, in long count) raises (Error);
boolean setCurveLineWidth (in string curveName, in float width) raises (Error);
/// create a four vertices face called faceName.
- /// \param input faceName : name of the face.
- /// \param input pos1, pos2, pos3, pos4 : position of the vertices.
- /// \param input RGBAcolor : color of the face.
+ /// \param faceName : name of the face.
+ /// \param pos1, pos2, pos3, pos4 : position of the vertices.
+ /// \param RGBAcolor : color of the face.
boolean addSquareFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Position pos4, in Color RGBAcolor) raises (Error);
/// Set a texture to a face
@@ -208,37 +203,37 @@ typedef sequence<Transform> TransformSeq;
boolean setTexture (in string nodeName, in string filename) raises (Error);
/// create a three vertices face called faceName.
- /// \param input faceName : name of the face.
- /// \param input pos1, pos2, pos3 : position of the vertices.
- /// \param input RGBAcolor : color of the face.
+ /// \param faceName : name of the face.
+ /// \param pos1, pos2, pos3 : position of the vertices.
+ /// \param RGBAcolor : color of the face.
boolean addTriangleFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Color RGBAcolor) raises (Error);
// Add a sphere with xyz axis
// The colors are x=red, y=green, z=blue (xyz=RGB)
- // \param input nodeName : name of the node
- // \param input RGBAcolor : color of the sphere
- // \param input radius : radius of the sphere
- // \param input sizeAxis : size of the axis (proportionnaly to the sphere radius, size axis = 1 -> axis are radius*4 in length and radius/4 in radius)
+ // \param nodeName : name of the node
+ // \param RGBAcolor : color of the sphere
+ // \param radius : radius of the sphere
+ // \param sizeAxis : size of the axis (proportionnaly to the sphere radius, size axis = 1 -> axis are radius*4 in length and radius/4 in radius)
boolean addXYZaxis(in string nodeName, in Color RGBAcolor,in float radius,in float sizeAxis) raises(Error);
// Add an empty roadmap to the scene
- // \param input nameCorba : name of the roadmap
- // \param input RGBAcolorNode : color of the sphere
- // \param input radius : radius of the sphere
- // \param input sizeAxis :size of the axis (proportionnaly to the sphere radius, size axis = 1 -> axis are radius*4 in length and radius/4 in radius)
- // \param input RGBAcolorEdge : color of the edges
+ // \param nameCorba : name of the roadmap
+ // \param RGBAcolorNode : color of the sphere
+ // \param radius : radius of the sphere
+ // \param sizeAxis :size of the axis (proportionnaly to the sphere radius, size axis = 1 -> axis are radius*4 in length and radius/4 in radius)
+ // \param RGBAcolorEdge : color of the edges
boolean createRoadmap(in string nameCorba,in Color RGBAcolorNode, in float radius, in float sizeAxis, in Color RGBAcolorEdge) raises(Error);
// Add an edge to the roadmap
- // \param input nameRoadmap : name of the roadmap
- // \param input posFrom : position of the beginning of the edge
- // \param input posTo : position of the end of the edge (not oriented edge, order doesn't matter)
+ // \param nameRoadmap : name of the roadmap
+ // \param posFrom : position of the beginning of the edge
+ // \param posTo : position of the end of the edge (not oriented edge, order doesn't matter)
boolean addEdgeToRoadmap(in string nameRoadmap, in Position posFrom, in Position posTo)raises(Error);
// Add a node to the roadmap
- // \param input nameRoadmap : name of the roadmap
- // \param input configuration : configuration of the node
+ // \param nameRoadmap : name of the roadmap
+ // \param configuration : configuration of the node
boolean addNodeToRoadmap(in string nameRoadmap, in Transform configuration)raises(Error);
/// Create a node from an urdf file
@@ -282,7 +277,7 @@ typedef sequence<Transform> TransformSeq;
raises (Error);
/// create a groupNode called groupName
- /// \param input groupName : name of the group.
+ /// \param groupName : name of the group.
boolean createGroup(in string groupName) raises (Error);
/// \}
@@ -300,15 +295,11 @@ typedef sequence<Transform> TransformSeq;
/// are deleted recursively.
void deleteNode (in string nodeName, in boolean all) raises (Error);
- /// Print names of nodes on the SceneViewer-corbaserver terminal
- /// and return them in an array
- /// \return the list of node names contained in the scene
+ /// Returns the name of all the nodes.
Names_t getNodeList() raises (Error);
- /// Print names of a group nodes on the SceneViewer-corbaserver terminal
- /// and return them in an array
- /// \param input name : name of the new window.
- /// \return the list of node names contained in the group
+ /// Returns the name of the Group nodes contained in a group
+ /// \param group : name of the group.
Names_t getGroupNodeList(in string group) raises (Error);
/// Get the list of group (i.e. scene) nodes
@@ -318,13 +309,13 @@ typedef sequence<Transform> TransformSeq;
Names_t getWindowList() raises (Error);
/// set a node as child to a group node.
- /// \param input nodeName : name of the child node.
- /// \param input groupName : name of the mother node (=group node).
+ /// \param nodeName : name of the child node.
+ /// \param groupName : name of the mother node (=group node).
boolean addToGroup(in string nodeName, in string groupName) raises (Error);
/// remove the node from the child list of a group node.
- /// \param input nodeName : name of the child node.
- /// \param input groupName : name of the mother node (=group node).
+ /// \param nodeName : name of the child node.
+ /// \param groupName : name of the mother node (=group node).
boolean removeFromGroup(in string nodeName, in string groupName) raises (Error);
/// \}
@@ -334,8 +325,8 @@ typedef sequence<Transform> TransformSeq;
/// \{
/// Set a new configuration to a node. THIS CONFIGURATION WILL AFFECTIVE ONLY AFTER CALLING REFRESH FUNCTION!!!
- /// \param input nodeName : name of the node.
- /// \param input configuration : Float[7] new configuration.
+ /// \param nodeName : name of the node.
+ /// \param configuration : Float[7] new configuration.
boolean applyConfiguration(in string nodeName, in Transform configuration) raises (Error);
/// Same as \ref applyConfiguration on a list of node name and configuration.
@@ -351,7 +342,7 @@ typedef sequence<Transform> TransformSeq;
void setRefreshIsSynchronous (in boolean synchonous) raises (Error);
/// Return the Position + Quaternion orientation of an object in the global frame
- /// \param input nodeName : name of the node.
+ /// \param nodeName : name of the node.
/// \return a length 7 array
Transform getNodeGlobalTransform(in string nodeName) raises (Error);
@@ -363,51 +354,51 @@ typedef sequence<Transform> TransformSeq;
/// Add Landmark at the center of a node
/// The colors are x=red, y=green, z=blue (xyz=RGB).
- /// \param input nodeName : name of the node
- /// \param input size : lenght of axises.
+ /// \param nodeName : name of the node
+ /// \param size : lenght of axises.
boolean addLandmark(in string nodeName, in float size) raises (Error);
/// delete Landmark of a node.
- /// \param input nodeName : name of the node
+ /// \param nodeName : name of the node
boolean deleteLandmark(in string nodeName) raises (Error);
/// get the static transform of the node
- /// \param input nodeName : name of the node
+ /// \param nodeName : name of the node
Transform getStaticTransform(in string nodeName) raises (Error);
/// set the static transform of the node
- /// \param input nodeName : name of the node
- /// \param input configuration : static configuration of the node
+ /// \param nodeName : name of the node
+ /// \param configuration : static configuration of the node
boolean setStaticTransform(in string nodeName, in Transform configuration) raises (Error);
/// Change the visibility of a node. If this node is a group node, visibility mode will be apply to all children.
- /// \param input nodeName : name of the node.
- /// \param input visibilityMode : visibility mode can be "ON", "OFF" or "ALWAYS_ON_TOP".
+ /// \param nodeName : name of the node.
+ /// \param visibilityMode : visibility mode can be "ON", "OFF" or "ALWAYS_ON_TOP".
boolean setVisibility(in string nodeName, in string visibilityMode) raises (Error);
- /// Change the scale of a node.
- /// \param input nodeName : name of the node.
- /// \param input scale : new scale
+ /// Change the scale of a node.
+ /// \param nodeName : name of the node.
+ /// \param scale : new scale
boolean setScale(in string nodeName, in Position scale) raises (Error);
- /// Change the color of a node.
- /// \param input nodeName : name of the node.
- /// \param input color : new color
+ /// Change the color of a node.
+ /// \param nodeName : name of the node.
+ /// \param color : new color
boolean setColor(in string nodeName, in Color scale) raises (Error);
/// Change wireframe mode of a node. If this node is a group node, wireframe mode will be apply to all children.
- /// \param input nodeName : name of the node.
- /// \param input wireframeMode : wiredframe mode can be "FILL", "WIREFRAME" or "FILL_AND_WIREFRAME".
+ /// \param nodeName : name of the node.
+ /// \param wireframeMode : wiredframe mode can be "FILL", "WIREFRAME" or "FILL_AND_WIREFRAME".
boolean setWireFrameMode(in string nodeName, in string wireFrameMode) raises (Error);
/// Change lighting mode of a node. If this node is a group node, lighting mode will be apply to all children.
- /// \param input nodeName : name of the node.
- /// \param input lightingMode : lighting mode can be "ON" or "OFF".
+ /// \param nodeName : name of the node.
+ /// \param lightingMode : lighting mode can be "ON" or "OFF".
boolean setLightingMode(in string nodeName, in string lightingMode) raises (Error);
/// Change the highlight status
- /// \param input nodeName : name of the node.
- /// \param input state : 0 for off, 1 or 2 for other things.
+ /// \param nodeName : name of the node.
+ /// \param state : 0 for off, 1 or 2 for other things.
boolean setHighlight (in string nodeName, in long state) raises (Error);
Names_t getPropertyNames(in string nodeName) raises (Error);
@@ -439,15 +430,15 @@ typedef sequence<Transform> TransformSeq;
/// \name Export of scenes to images or to blender
/// \anchor idl_export_of_scenes_to_images_or_to_blender
- /// See \ref gepetto.gui.Plugin
+ /// See \ref gepetto.gui.blenderexport.Plugin
/// \{
void captureFrame (in WindowID wid, in string imageFilename) raises (Error);
/// Start capturing a window into image files.
- /// \param windowId the ID of the window
+ /// \param wid the ID of the window
/// \param filename, extension image files will be
- /// '<filename>_<sequence_number>.<extension>'
+ /// `<filename>_<sequence_number>.<extension>`
///
/// To make a movie from the sequence of images, you can run:
/// \code{.sh}
@@ -457,11 +448,11 @@ typedef sequence<Transform> TransformSeq;
/// - \c libx264 is not installed by default. On ubuntu 12.04,
/// it is part of the package \c libavcodec-extra-53.
/// - \c yuv420p is required only to enable support for old media players.
- boolean startCapture (in unsigned long windowId, in string filename,
+ boolean startCapture (in WindowID wid, in string filename,
in string extension) raises (Error);
/// Stop the running capture of a window.
- boolean stopCapture (in unsigned long windowId) raises (Error);
+ boolean stopCapture (in WindowID wid) raises (Error);
/// Configure the capture of node transformation in YAML format
/// \param filename file where to write.
@@ -486,7 +477,7 @@ typedef sequence<Transform> TransformSeq;
boolean writeNodeFile (in string nodeName, in string filename) raises (Error);
/// Write the nodes contained in the window to filename
- boolean writeWindowFile (in unsigned long windowId, in string filename) raises (Error);
+ boolean writeWindowFile (in WindowID wid, in string filename) raises (Error);
/// \}
@@ -495,31 +486,31 @@ typedef sequence<Transform> TransformSeq;
/// \{
/// Attach the camera to the Node nodeName in the WindowManager
- /// pointed by windowId
+ /// pointed by wid
/// If already attached, detach from the other node
- /// \param input nodeName : name of the node
- /// \param input windowId : ID of the window
- boolean attachCameraToNode(in string nodeName, in unsigned long windowId) raises (Error);
+ /// \param nodeName : name of the node
+ /// \param wid : ID of the window
+ boolean attachCameraToNode(in string nodeName, in WindowID wid) raises (Error);
- /// Detach the camera of WindowManager pointed by windowId
+ /// Detach the camera of WindowManager pointed by wid
/// from any node
- /// \param input windowId : ID of the window
- boolean detachCamera(in unsigned long windowId) raises (Error);
+ /// \param wid : ID of the window
+ boolean detachCamera(in WindowID wid) raises (Error);
/// get the matrix transform of the current position of the camera
/// Camera frame convention (OpenSceneGraph): looking through the optic axis as a photographer,
/// axis are: X -> right, Y -> up, Z -> behind
/// It corresponds to Hartley and Zisserman's frame convention with a 180° rotation around the Y axis
- /// \param input windowId : ID of the window
- Transform getCameraTransform(in unsigned long windowId) raises (Error);
+ /// \param wid : ID of the window
+ Transform getCameraTransform(in WindowID wid) raises (Error);
/// set the matrix transform of the current camera
/// Camera frame convention (OpenSceneGraph): looking through the optic axis as a photographer,
/// axis are: X -> right, Y -> up, Z -> behind
/// It corresponds to Hartley and Zisserman's frame convention with a 180° rotation around the Y axis
- /// \param input windowId : ID of the window
- /// \param input configuration : the desired configuration of the camera
- boolean setCameraTransform(in unsigned long windowId,in Transform configuration) raises (Error);
+ /// \param wid : ID of the window
+ /// \param configuration : the desired configuration of the camera
+ boolean setCameraTransform(in WindowID wid, in Transform configuration) raises (Error);
// register a Node callback
boolean registerNodeCallback (in NodeCallback cb) raises (Error);
diff --git a/include/gepetto/viewer/corba/fwd.hh b/include/gepetto/viewer/corba/fwd.hh
deleted file mode 100644
index 55fe502328e3b48c746d8ab2ba4c30482a44e90f..0000000000000000000000000000000000000000
--- a/include/gepetto/viewer/corba/fwd.hh
+++ /dev/null
@@ -1,38 +0,0 @@
-// Copyright (C) 2014 LAAS-CNRS.
-//
-// This file is part of the SceneViewer-corba.
-//
-// 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 SCENEVIEWER_CORBASERVER_FWD_HH
-# define SCENEVIEWER_CORBASERVER_FWD_HH
-
-//FIXME: should be replaced by CORBA base types forward declarations.
-# include <omniORB4/CORBA.h>
-
-namespace gepetto {
- namespace viewer {
- namespace corba {
- class Server;
-
- namespace impl
- {
- using CORBA::Boolean;
- using CORBA::Double;
- using CORBA::Short;
- using CORBA::SystemException;
- using CORBA::ULong;
- using CORBA::UShort;
-
- class GraphicalInterface;
- class Server;
- } // end of namespace impl
- } // end of namespace corba.
- } // end of namespace viewer.
-} // end of namespace gepetto.
-
-#endif //! SCENEVIEWER_CORBASERVER_FWD_HH
diff --git a/plugins/omniorbserver/omniorbthread.cc b/plugins/omniorbserver/omniorbthread.cc
index dcc2cb99c6cd9bbfdd9f516dd8217a719adf2f7a..99d7794ed9f60c6dd95360c0a0aca478c492b55b 100644
--- a/plugins/omniorbserver/omniorbthread.cc
+++ b/plugins/omniorbserver/omniorbthread.cc
@@ -16,7 +16,7 @@
#include "omniorbthread.hh"
-#include <gepetto/viewer/corba/server.hh>
+#include "../../src/server.hh"
#include <QDebug>
#include <gepetto/gui/mainwindow.hh>
diff --git a/plugins/omniorbserver/omniorbthread.hh b/plugins/omniorbserver/omniorbthread.hh
index 2259ad6cfc6888e7c02192b0255f4bf77b2279ea..4af713859100ac4a94024d0a29aa8488ab17c19e 100644
--- a/plugins/omniorbserver/omniorbthread.hh
+++ b/plugins/omniorbserver/omniorbthread.hh
@@ -25,7 +25,7 @@
#include <QElapsedTimer>
#include "gepetto/gui/fwd.hh"
-#include "gepetto/viewer/corba/fwd.hh"
+#include "../../src/server.hh"
class ViewerServerProcess : public QThread
{
diff --git a/plugins/omniorbserver/plugin.cc b/plugins/omniorbserver/plugin.cc
index eb369462f6141d8cbd6d9e923250a90e4f6f8454..f92ffd7aef87bc9b408b0a24096122026a809439 100644
--- a/plugins/omniorbserver/plugin.cc
+++ b/plugins/omniorbserver/plugin.cc
@@ -18,12 +18,14 @@
#include <plugin.hh>
+#include <omniORB4/CORBA.h>
+
#include <gepetto/gui/mainwindow.hh>
#include <gepetto/gui/settings.hh>
#include <gepetto/gui/safeapplication.hh>
-#include <gepetto/viewer/corba/server.hh>
#include <omniorbthread.hh>
+#include "../../src/server.hh"
using namespace gepetto::gui;
diff --git a/src/conversions.hh b/src/conversions.hh
index 82a4738f3d54ea4833c99bb4ce4729deeea8c2da..3e72a9ef876d7d3fc899acb860afc99da8fa218a 100644
--- a/src/conversions.hh
+++ b/src/conversions.hh
@@ -12,7 +12,12 @@ namespace gepetto {
namespace viewer {
namespace corba {
namespace impl {
- typedef GraphicalInterface::WindowID WindowID;
+ using CORBA::Boolean;
+ using CORBA::Double;
+ using CORBA::Short;
+ using CORBA::SystemException;
+ using CORBA::ULong;
+ using CORBA::UShort;
template <typename Input, typename Output>
void to (const Input& in, Output& out) {
@@ -44,8 +49,8 @@ namespace gepetto {
enum ArgType { STRING, STRING_LIST, OUT_STRING_LIST, COLOR,
TRANSFORM, TRANSFORM_SEQ, POSITION, POSITION_SEQ,
- FLOAT, SHORT, LONG, WINDOW_ID, BOOL, VOID,
- GLMODE, VECTOR2
+ FLOAT, SHORT, LONG, BOOL, VOID,
+ GLMODE, VECTOR2, WINDOW_ID = STRING
};
template <int what> struct traits {};
@@ -138,13 +143,6 @@ namespace gepetto {
static int op (const In_t& in) { return in; }
static Ret_t ret (Out_t in) { return in; }
};
- template <> struct traits<WINDOW_ID> {
- typedef WindowsManager::WindowID Out_t;
- typedef const WindowID In_t;
- typedef WindowID Ret_t;
- static Out_t op (In_t & in) { return in; }
- static Ret_t ret (Out_t in) { return in; }
- };
template <> struct traits<BOOL> {
typedef bool In_t;
typedef In_t Out_t;
diff --git a/src/gepetto/corbaserver/client.py b/src/gepetto/corbaserver/client.py
index 7a60631f906fd68515e24d73dd03310b88f3b077..2d0439a22cdc6c9082f218338e1add5661445e29 100644
--- a/src/gepetto/corbaserver/client.py
+++ b/src/gepetto/corbaserver/client.py
@@ -83,12 +83,7 @@ def gui_client(window_name = None, dont_raise = False, url = None, host = None,
print("Check whether gepetto-gui is properly started.")
return
if window_name is not None:
- if window_name in gui.getWindowList():
- window_id = gui.getWindowID(window_name)
- else:
- window_id = gui.createWindow(window_name)
- #TODO Should we return the window ID ?
- #Â I think it is useless at it is almost never used.
+ gui.createWindow(window_name)
return gui
def _initWithNameService (orb, urlNameService):
diff --git a/src/gepetto/corbaserver/tools.py b/src/gepetto/corbaserver/tools.py
index 1c84b319680941f0ca7e76b642f1bae2e795b222..986e4468f59ac2600eb083d0b4d8d99e470b04ae 100644
--- a/src/gepetto/corbaserver/tools.py
+++ b/src/gepetto/corbaserver/tools.py
@@ -162,6 +162,10 @@ class Vector6:
## - Vector6.linF
## - Vector6.angF
## \param groupName name of an **existing** group
+ ## \param angFactor the norm of the angular part of the vector is divided by
+ ## this value
+ ## \param linFactor the norm of the linear part of the vector is divided by
+ ## this value
def __init__ (self, groupName, angFactor = pi, linFactor = 1.):
self.name = groupName
##Â The Linear part
diff --git a/src/graphical-interface.impl.cpp b/src/graphical-interface.impl.cpp
index 7a316a4a5f63717fecaee29ab82e49153e09d287..f9517a21e5e942a1e6fa27656442fe90dee81657 100644
--- a/src/graphical-interface.impl.cpp
+++ b/src/graphical-interface.impl.cpp
@@ -57,27 +57,27 @@ namespace gepetto {
#define WRITE_OP_ARGS_6(T0,T1,T2,T3,T4,T5) WRITE_OP_ARGS_5(T0,T1,T2,T3,T4), WRITE_OP_ARG(T5,5)
#define BIND_TO_WINDOWS_MANAGER_0(Ret, Func ) \
- WRITE_RET_T(Ret) GraphicalInterface::Func ( ) throw (Error) \
+ WRITE_RET_T(Ret) GraphicalInterface::Func ( ) \
{ \
try { \
- WRITE_RET_OP(Ret)( windowsManager_->Func ( )); \
+ WRITE_RET_OP(Ret)( windowsManager_->Func ( )); \
} catch (const std::exception& exc) { \
throw Error (exc.what ()); \
} \
}
-#define BIND_TO_WINDOWS_MANAGER_1(Ret, Func, T0) \
- WRITE_RET_T(Ret) GraphicalInterface::Func (WRITE_INPUT_ARGS_1(T0)) throw (Error) \
+#define BIND_TO_WINDOWS_MANAGER_1(Ret, Func, T0) \
+ WRITE_RET_T(Ret) GraphicalInterface::Func (WRITE_INPUT_ARGS_1(T0)) \
{ \
try { \
- WRITE_RET_OP(Ret)( windowsManager_->Func ( WRITE_OP_ARGS_1(T0) )); \
+ WRITE_RET_OP(Ret)( windowsManager_->Func ( WRITE_OP_ARGS_1(T0) )); \
} catch (const std::exception& exc) { \
throw Error (exc.what ()); \
} \
}
#define BIND_TO_WINDOWS_MANAGER_2(Ret, Func, T0, T1) \
- WRITE_RET_T(Ret) GraphicalInterface::Func (WRITE_INPUT_ARGS_2(T0, T1)) throw (Error) \
+ WRITE_RET_T(Ret) GraphicalInterface::Func (WRITE_INPUT_ARGS_2(T0, T1)) \
{ \
try { \
WRITE_RET_OP(Ret)( windowsManager_->Func ( WRITE_OP_ARGS_2(T0, T1) ));\
@@ -86,8 +86,8 @@ namespace gepetto {
} \
}
-#define BIND_TO_WINDOWS_MANAGER_3(Ret, Func, T0, T1, T2) \
- WRITE_RET_T(Ret) GraphicalInterface::Func (WRITE_INPUT_ARGS_3(T0, T1, T2)) throw (Error) \
+#define BIND_TO_WINDOWS_MANAGER_3(Ret, Func, T0, T1, T2) \
+ WRITE_RET_T(Ret) GraphicalInterface::Func (WRITE_INPUT_ARGS_3(T0, T1, T2)) \
{ \
try { \
WRITE_RET_OP(Ret)( windowsManager_->Func ( WRITE_OP_ARGS_3(T0, T1, T2) ));\
@@ -96,8 +96,8 @@ namespace gepetto {
} \
}
-#define BIND_TO_WINDOWS_MANAGER_4(Ret, Func, T0, T1, T2, T3) \
- WRITE_RET_T(Ret) GraphicalInterface::Func (WRITE_INPUT_ARGS_4(T0, T1, T2, T3)) throw (Error) \
+#define BIND_TO_WINDOWS_MANAGER_4(Ret, Func, T0, T1, T2, T3) \
+ WRITE_RET_T(Ret) GraphicalInterface::Func (WRITE_INPUT_ARGS_4(T0, T1, T2, T3)) \
{ \
try { \
WRITE_RET_OP(Ret)( windowsManager_->Func ( WRITE_OP_ARGS_4(T0, T1, T2, T3) ));\
@@ -106,8 +106,8 @@ namespace gepetto {
} \
}
-#define BIND_TO_WINDOWS_MANAGER_5(Ret, Func, T0, T1, T2, T3, T4) \
- WRITE_RET_T(Ret) GraphicalInterface::Func (WRITE_INPUT_ARGS_5(T0, T1, T2, T3, T4)) throw (Error) \
+#define BIND_TO_WINDOWS_MANAGER_5(Ret, Func, T0, T1, T2, T3, T4) \
+ WRITE_RET_T(Ret) GraphicalInterface::Func (WRITE_INPUT_ARGS_5(T0, T1, T2, T3, T4)) \
{ \
try { \
WRITE_RET_OP(Ret)( windowsManager_->Func ( WRITE_OP_ARGS_5(T0, T1, T2, T3, T4) ));\
@@ -116,8 +116,8 @@ namespace gepetto {
} \
}
-#define BIND_TO_WINDOWS_MANAGER_6(Ret, Func, T0,T1,T2,T3,T4,T5) \
- WRITE_RET_T(Ret) GraphicalInterface::Func (WRITE_INPUT_ARGS_6(T0,T1,T2,T3,T4,T5)) throw (Error) \
+#define BIND_TO_WINDOWS_MANAGER_6(Ret, Func, T0,T1,T2,T3,T4,T5) \
+ WRITE_RET_T(Ret) GraphicalInterface::Func (WRITE_INPUT_ARGS_6(T0,T1,T2,T3,T4,T5)) \
{ \
try { \
WRITE_RET_OP(Ret)( windowsManager_->Func ( WRITE_OP_ARGS_6(T0,T1,T2,T3,T4,T5) ));\
@@ -315,7 +315,7 @@ namespace gepetto {
BIND_TO_WINDOWS_MANAGER_2(VOID,callVoidProperty,STRING,STRING)
// ------------- Callbacks -------------------- //
- bool GraphicalInterface::registerNodeCallback (NodeCallback_ptr _cb) throw (Error)
+ bool GraphicalInterface::registerNodeCallback (NodeCallback_ptr _cb)
{
corbaserver::NodeCallback_var cb(corbaserver::NodeCallback::_duplicate(_cb));
new NodeCallback (qparent_, cb);
diff --git a/src/graphical-interface.impl.hh b/src/graphical-interface.impl.hh
index 393aae5494e0d6708ae18db8e755ed8abcb64427..6531ffdabce732ed80723d9e0859c9f761872c3c 100644
--- a/src/graphical-interface.impl.hh
+++ b/src/graphical-interface.impl.hh
@@ -11,7 +11,7 @@
#include <omniORB4/CORBA.h>
-#include "gepetto/viewer/corba/server.hh"
+#include "server.hh"
#include "gepetto/viewer/corba/graphical-interface.hh"
namespace gepetto {
@@ -30,8 +30,6 @@ private:
typedef gepetto::gui::WindowsManager::value_type value_type;
public:
- typedef CORBA::ULong WindowID;
-
/**
\brief Default constructor
*/
@@ -42,148 +40,145 @@ public:
qparent_ = parent;
}
- virtual Names_t* getNodeList() throw (Error);
- virtual Names_t* getGroupNodeList(const char* group) throw (Error);
- virtual Names_t* getSceneList() throw (Error);
- virtual Names_t* getWindowList() throw (Error);
+ virtual Names_t* getNodeList();
+ virtual Names_t* getGroupNodeList(const char* group);
+ virtual Names_t* getSceneList();
+ virtual Names_t* getWindowList();
- virtual void refresh() throw (Error);
- virtual void setRefreshIsSynchronous(bool synchronous) throw (Error);
+ virtual void refresh();
+ virtual void setRefreshIsSynchronous(bool synchronous);
- virtual WindowID createWindow(const char* windowNameCorba) throw (Error);
- virtual WindowID getWindowID (const char* windowNameCorba) throw (Error);
+ virtual char* createWindow(const char* windowNameCorba);
+ virtual char* getWindowID (const char* windowNameCorba);
- virtual void createScene(const char* sceneNameCorba) throw (Error);
- virtual void createSceneWithFloor(const char* sceneNameCorba) throw (Error);
- virtual bool addSceneToWindow(const char* sceneNameCorba, const WindowID windowId) throw (Error);
+ virtual void createScene(const char* sceneNameCorba);
+ virtual void createSceneWithFloor(const char* sceneNameCorba);
+ virtual bool addSceneToWindow(const char* sceneNameCorba, const char* windowId);
- virtual bool attachCameraToNode(const char* nodeName, const WindowID windowId) throw (Error);
- virtual bool detachCamera(const WindowID windowId) throw (Error);
+ virtual bool attachCameraToNode(const char* nodeName, const char* windowId);
+ virtual bool detachCamera(const char* windowId);
- virtual bool nodeExists(const char* nodeName) throw (Error);
+ virtual bool nodeExists(const char* nodeName);
- virtual bool addFloor(const char* floorName) throw (Error);
+ virtual bool addFloor(const char* floorName);
- virtual bool addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const Color color) throw (Error);
+ virtual bool addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const Color color);
- virtual bool addCapsule(const char* capsuleName, float radius, float height, const Color color) throw (Error);
+ virtual bool addCapsule(const char* capsuleName, float radius, float height, const Color color);
- virtual bool addArrow (const char* arrowNameCorba, float radius, float length,const Color colorCorba) throw (Error);
+ virtual bool addArrow (const char* arrowNameCorba, float radius, float length,const Color colorCorba);
- virtual bool addRod (const char* rodNameCorba, const Color colorCorba, const float radius, const float length,short maxCapsule) throw (Error);
+ virtual bool addRod (const char* rodNameCorba, const Color colorCorba, const float radius, const float length,short maxCapsule);
- virtual bool resizeCapsule(const char* capsuleNameCorba, float newHeight) throw(Error);
+ virtual bool resizeCapsule(const char* capsuleNameCorba, float newHeight);
- virtual bool resizeArrow(const char* arrowNameCorba ,float newRadius, float newLength) throw(Error);
+ virtual bool resizeArrow(const char* arrowNameCorba ,float newRadius, float newLength);
- virtual bool addMesh(const char* meshNameCorba, const char* meshPathCorba) throw (Error);
+ virtual bool addMesh(const char* meshNameCorba, const char* meshPathCorba);
- virtual void removeLightSources (const char* meshNameCorba) throw (Error);
+ virtual void removeLightSources (const char* meshNameCorba);
- virtual bool addCone(const char* coneName, float radius, float height, const Color color) throw (Error);
+ virtual bool addCone(const char* coneName, float radius, float height, const Color color);
- virtual bool addCylinder(const char* cylinderName, float radius, float height, const Color color) throw (Error);
+ virtual bool addCylinder(const char* cylinderName, float radius, float height, const Color color);
- virtual bool addSphere(const char* sphereName, float radius, const Color color) throw (Error);
+ virtual bool addSphere(const char* sphereName, float radius, const Color color);
- virtual bool addLight(const char* lightName, const WindowID windowId, float radius, const Color color) throw (Error);
+ virtual bool addLight(const char* lightName, const char* windowId, float radius, const Color color);
- virtual bool addLine(const char* lineName, const value_type* pos1, const value_type* pos2, const Color color) throw (Error);
- virtual bool setLineStartPoint(const char* lineName, const value_type* pos1) throw (Error);
- virtual bool setLineEndPoint(const char* lineName, const value_type* pos1) throw (Error);
- virtual bool setLineExtremalPoints(const char* lineName, const value_type* pos1, const value_type* pos2) throw (Error);
+ virtual bool addLine(const char* lineName, const value_type* pos1, const value_type* pos2, const Color color);
+ virtual bool setLineStartPoint(const char* lineName, const value_type* pos1);
+ virtual bool setLineEndPoint(const char* lineName, const value_type* pos1);
+ virtual bool setLineExtremalPoints(const char* lineName, const value_type* pos1, const value_type* pos2);
- virtual bool addCurve(const char* curveName, const PositionSeq& pos, const Color color) throw (Error);
- virtual bool setCurvePoints(const char* curveName, const PositionSeq& pos) throw (Error);
+ virtual bool addCurve(const char* curveName, const PositionSeq& pos, const Color color);
+ virtual bool setCurvePoints(const char* curveName, const PositionSeq& pos);
- virtual bool setCurveMode(const char* curveName, const char* modeName) throw (Error);
- virtual bool setCurvePointsSubset(const char* curveName, CORBA::Long first, CORBA::Long count) throw (Error);
- virtual bool setCurveLineWidth(const char* curveName, const float width) throw (Error);
+ virtual bool setCurveMode(const char* curveName, const char* modeName);
+ virtual bool setCurvePointsSubset(const char* curveName, CORBA::Long first, CORBA::Long count);
+ virtual bool setCurveLineWidth(const char* curveName, const float width);
- virtual bool addSquareFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* pos4, const Color color) throw (Error);
- virtual bool setTexture (const char* nodeName, const char* filename) throw (Error);
- virtual bool addTriangleFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const Color color) throw (Error);
+ virtual bool addSquareFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* pos4, const Color color);
+ virtual bool setTexture (const char* nodeName, const char* filename);
+ virtual bool addTriangleFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const Color color);
- virtual bool addXYZaxis (const char* nodeNameCorba, const Color colorCorba, float radius, float sizeAxis) throw (Error);
+ virtual bool addXYZaxis (const char* nodeNameCorba, const Color colorCorba, float radius, float sizeAxis);
- virtual bool createRoadmap(const char* nameCorba,const Color colorNodeCorba, float radius, float sizeAxis, const Color colorEdgeCorba) throw(Error);
+ virtual bool createRoadmap(const char* nameCorba,const Color colorNodeCorba, float radius, float sizeAxis, const Color colorEdgeCorba);
- virtual bool addEdgeToRoadmap(const char* nameRoadmap, const value_type* posFrom, const value_type* posTo) throw(Error);
+ virtual bool addEdgeToRoadmap(const char* nameRoadmap, const value_type* posFrom, const value_type* posTo);
- virtual bool addNodeToRoadmap(const char* nameRoadmap, const value_type* configuration) throw(Error);
+ virtual bool addNodeToRoadmap(const char* nameRoadmap, const value_type* configuration);
- virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba)
- throw (Error);
+ virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba);
virtual bool addUrdfCollision (const char* urdfNameCorba,
- const char* urdfPathCorba)
- throw (Error);
+ const char* urdfPathCorba);
virtual void addUrdfObjects (const char* urdfNameCorba,
const char* urdfPathCorba,
- bool visual)
- throw (Error);
-
- virtual bool createGroup(const char* groupNameCorba) throw (Error);
- virtual bool addToGroup(const char* nodeNameCorba, const char* groupNameCorba) throw (Error);
- virtual bool removeFromGroup (const char* nodeNameCorba,const char* groupNameCorba) throw (Error);
-
- virtual bool applyConfiguration(const char* nodeNameCorba, const value_type* configuration) throw (Error);
- virtual bool applyConfigurations(const Names_t& nodeNameCorba, const TransformSeq& configuration) throw (Error);
-
- virtual bool addLandmark(const char* nodeNameCorba, float size) throw (Error);
- virtual bool deleteLandmark(const char* nodeNameCorba) throw (Error);
-
- virtual Transform_slice* getStaticTransform (const char* nodeName) throw (Error);
- virtual bool setStaticTransform (const char* nodeName, const Transform transform) throw (Error);
-
- virtual bool setVisibility(const char* nodeNameCorba, const char* visibilityModeCorba) throw (Error);
- virtual bool setScale(const char* nodeNameCorba, const value_type* scale)throw (Error);
- virtual bool setColor(const char* nodeNameCorba, const Color color) throw (Error);
- virtual bool setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba) throw (Error);
- virtual bool setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba) throw (Error);
- virtual bool setHighlight(const char* nodeNameCorba, ::CORBA::Long state) throw (Error);
-
- virtual void captureFrame (const WindowID windowId, const char* filename) throw (Error);
- virtual bool startCapture (const WindowID windowId, const char* filename,
- const char* extension) throw (Error);
- virtual bool stopCapture (const WindowID windowId) throw (Error);
- virtual bool setCaptureTransform (const char* filename, const Names_t& nodename) throw (Error);
- virtual void captureTransformOnRefresh (bool autoCapture) throw (Error);
- virtual void captureTransform () throw (Error);
- virtual bool writeBlenderScript (const char* filename, const Names_t& nodeNames) throw (Error);
- virtual bool writeNodeFile (const char* nodename, const char* filename) throw (Error);
- virtual bool writeWindowFile (const WindowID windowId, const char* filename) throw (Error);
-
- virtual Transform_slice* getNodeGlobalTransform(const char* nodeName) throw (Error);
- virtual void deleteNode (const char* nodeName, bool all) throw (Error);
- virtual bool setBackgroundColor1(const WindowID windowId,const Color colorCorba) throw (Error);
- virtual bool setBackgroundColor2(const WindowID windowId,const Color colorCorba) throw (Error);
- virtual Transform_slice* getCameraTransform(const WindowID windowId) throw (Error);
- virtual bool setCameraTransform(const WindowID windowId, const value_type *configurationCorba)throw (Error);
+ bool visual);
+
+ virtual bool createGroup(const char* groupNameCorba);
+ virtual bool addToGroup(const char* nodeNameCorba, const char* groupNameCorba);
+ virtual bool removeFromGroup (const char* nodeNameCorba,const char* groupNameCorba);
+
+ virtual bool applyConfiguration(const char* nodeNameCorba, const value_type* configuration);
+ virtual bool applyConfigurations(const Names_t& nodeNameCorba, const TransformSeq& configuration);
+
+ virtual bool addLandmark(const char* nodeNameCorba, float size);
+ virtual bool deleteLandmark(const char* nodeNameCorba);
+
+ virtual Transform_slice* getStaticTransform (const char* nodeName);
+ virtual bool setStaticTransform (const char* nodeName, const Transform transform);
+
+ virtual bool setVisibility(const char* nodeNameCorba, const char* visibilityModeCorba);
+ virtual bool setScale(const char* nodeNameCorba, const value_type* scale);
+ virtual bool setColor(const char* nodeNameCorba, const Color color);
+ virtual bool setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba);
+ virtual bool setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba);
+ virtual bool setHighlight(const char* nodeNameCorba, ::CORBA::Long state);
+
+ virtual void captureFrame (const char* windowId, const char* filename);
+ virtual bool startCapture (const char* windowId, const char* filename,
+ const char* extension);
+ virtual bool stopCapture (const char* windowId);
+ virtual bool setCaptureTransform (const char* filename, const Names_t& nodename);
+ virtual void captureTransformOnRefresh (bool autoCapture);
+ virtual void captureTransform ();
+ virtual bool writeBlenderScript (const char* filename, const Names_t& nodeNames);
+ virtual bool writeNodeFile (const char* nodename, const char* filename);
+ virtual bool writeWindowFile (const char* windowId, const char* filename);
+
+ virtual Transform_slice* getNodeGlobalTransform(const char* nodeName);
+ virtual void deleteNode (const char* nodeName, bool all);
+ virtual bool setBackgroundColor1(const char* windowId,const Color colorCorba);
+ virtual bool setBackgroundColor2(const char* windowId,const Color colorCorba);
+ virtual Transform_slice* getCameraTransform(const char* windowId);
+ virtual bool setCameraTransform(const char* windowId, const value_type *configurationCorba);
// ------------- Properties -------------------- //
- virtual Names_t* getPropertyNames(const char* nodeName) throw (Error);
- virtual Names_t* getPropertyTypes(const char* nodeName) throw (Error);
- virtual char* getStringProperty(const char* nodeName, const char* propName) throw (Error);
- virtual void setStringProperty(const char* nodeName, const char* propName, const char* value) throw (Error);
- virtual Color_slice* getColorProperty(const char* nodeName, const char* propName) throw (Error);
- virtual void setColorProperty(const char* nodeName, const char* propName, const Color value) throw (Error);
- virtual Position_slice* getVector3Property(const char* nodeName, const char* propName) throw (Error);
- virtual void setVector3Property(const char* nodeName, const char* propName, const Position value) throw (Error);
- virtual Position_slice* getVector2Property(const char* nodeName, const char* propName) throw (Error);
- virtual void setVector2Property(const char* nodeName, const char* propName, const Position value) throw (Error);
- virtual float getFloatProperty(const char* nodeName, const char* propName) throw (Error);
- virtual void setFloatProperty(const char* nodeName, const char* propName, float value) throw (Error);
- virtual bool getBoolProperty(const char* nodeName, const char* propName) throw (Error);
- virtual void setBoolProperty(const char* nodeName, const char* propName, bool value) throw (Error);
- virtual CORBA::Long getIntProperty(const char* nodeName, const char* propName) throw (Error);
- virtual void setIntProperty(const char* nodeName, const char* propName, CORBA::Long value) throw (Error);
- virtual void callVoidProperty(const char* nodeName, const char* propName) throw (Error);
+ virtual Names_t* getPropertyNames(const char* nodeName);
+ virtual Names_t* getPropertyTypes(const char* nodeName);
+ virtual char* getStringProperty(const char* nodeName, const char* propName);
+ virtual void setStringProperty(const char* nodeName, const char* propName, const char* value);
+ virtual Color_slice* getColorProperty(const char* nodeName, const char* propName);
+ virtual void setColorProperty(const char* nodeName, const char* propName, const Color value);
+ virtual Position_slice* getVector3Property(const char* nodeName, const char* propName);
+ virtual void setVector3Property(const char* nodeName, const char* propName, const Position value);
+ virtual Position_slice* getVector2Property(const char* nodeName, const char* propName);
+ virtual void setVector2Property(const char* nodeName, const char* propName, const Position value);
+ virtual float getFloatProperty(const char* nodeName, const char* propName);
+ virtual void setFloatProperty(const char* nodeName, const char* propName, float value);
+ virtual bool getBoolProperty(const char* nodeName, const char* propName);
+ virtual void setBoolProperty(const char* nodeName, const char* propName, bool value);
+ virtual CORBA::Long getIntProperty(const char* nodeName, const char* propName);
+ virtual void setIntProperty(const char* nodeName, const char* propName, CORBA::Long value);
+ virtual void callVoidProperty(const char* nodeName, const char* propName);
// ------------- Callbacks -------------------- //
- bool registerNodeCallback (NodeCallback_ptr cb) throw (Error);
+ bool registerNodeCallback (NodeCallback_ptr cb);
}; // end of class
} /* namespace impl */
diff --git a/src/server-private.cc b/src/server-private.cc
index ed69113d9c0bb7fd37e1255392f6f8ff07f0f4e8..7664b2d6b2a6406c69e2766f4cb220bc8abd44aa 100644
--- a/src/server-private.cc
+++ b/src/server-private.cc
@@ -8,12 +8,12 @@
//
// See the COPYING file for more information.
+#include "server-private.hh"
+
#include <iostream>
#include <stdexcept>
#include "graphical-interface.impl.hh"
-#include "server-private.hh"
-#include "gepetto/viewer/corba/fwd.hh"
namespace gepetto {
namespace viewer {
@@ -33,7 +33,8 @@ namespace gepetto {
Server::~Server ()
{
- delete graphicalInterfaceServantid_;
+ //TODO for a reason I do not understand, this SEGV.
+ //delete graphicalInterfaceServantid_;
}
void
@@ -44,7 +45,8 @@ namespace gepetto {
void Server::deactivateAndDestroyServers()
{
- poa_->deactivate_object(*graphicalInterfaceServantid_);
+ //TODO for a reason I do not understand, this SEGV.
+ //poa_->deactivate_object(*graphicalInterfaceServantid_);
}
void Server::createContext ()
diff --git a/src/server-private.hh b/src/server-private.hh
index 4859c11dd8beb301721695115a733285fe937d64..514b6c340d2f5721b388c338959e0f903b66f193 100644
--- a/src/server-private.hh
+++ b/src/server-private.hh
@@ -11,8 +11,9 @@
#ifndef SCENEVIEWER_CORBASERVER_SERVER_PRIVATE_HH
# define SCENEVIEWER_CORBASERVER_SERVER_PRIVATE_HH
+# include <omniORB4/CORBA.h>
+
# include "graphical-interface.impl.hh"
-# include "gepetto/viewer/corba/fwd.hh"
namespace gepetto {
namespace viewer {
diff --git a/src/server.cc b/src/server.cc
index 83503818275b6711f3b4df89c9715c8cf2c35e37..f3dab8d3f7a83ef1bf5765005926c1f999cc2168 100644
--- a/src/server.cc
+++ b/src/server.cc
@@ -13,7 +13,7 @@
#include <iostream>
#include <stdexcept>
-#include "gepetto/viewer/corba/server.hh"
+#include "server.hh"
#include "server-private.hh"
namespace gepetto {
@@ -26,20 +26,6 @@ namespace gepetto {
using CORBA::PolicyList;
using omniORB::fatalException;
- //namespace
- //{
- /// \brief Forward logging messages to hpp logging mechanism.
- /// If debug is disabled, CORBA logging will be disabled too.
- ///
- /// Tracing has to be enabled in your ``omniORB.cfg'' to use this
- /// feature.
- /// See ``omniORB configuration and API'' > ``Tracing options''
- /// section of omniORB manual for more information.
- //void logFunction (const char* msg);
-
- //} // end of anonymous namespace.
-
-
Server::Server(WindowsManagerPtr_t wm, int argc, const char *argv[],
bool inMultiThread, bool useNameService)
: windowsManager_ (wm)
@@ -54,7 +40,6 @@ namespace gepetto {
private_->qparent (parent);
}
- /// \brief Shutdown CORBA server
Server::~Server()
{
private_->deactivateAndDestroyServers();
@@ -147,7 +132,6 @@ namespace gepetto {
pman->activate();
}
- /// \brief If CORBA requests are pending, process them
int Server::processRequest (bool loop)
{
if (loop)
diff --git a/include/gepetto/viewer/corba/server.hh b/src/server.hh
similarity index 69%
rename from include/gepetto/viewer/corba/server.hh
rename to src/server.hh
index bc97f8ec976540d88b70d8703c83c9935b7c15ed..94724fd14c21b0a2f6fa1d29aeeba0ebd92b9200 100644
--- a/include/gepetto/viewer/corba/server.hh
+++ b/src/server.hh
@@ -11,7 +11,7 @@
#ifndef SCENEVIEWER_CORBASERVER_SERVER_HH
# define SCENEVIEWER_CORBASERVER_SERVER_HH
-#include "gepetto/viewer/corba/fwd.hh"
+#include <gepetto/viewer/corba/config.hh>
#include <gepetto/gui/windows-manager.hh>
class QObject;
@@ -22,35 +22,26 @@ namespace gepetto {
using gepetto::gui::WindowsManager;
using gepetto::gui::WindowsManagerPtr_t;
- /// Implementation of Hpp module Corba server.
-
- /// This class initializes the Corba server and starts the following Corba interface implementations.
- /// \li hpp::Robot: to build a model::Device and to insert it in a core::ProblemSolver object,
- /// \li hpp::Obstacle: to build obstacles and insert them in a core::ProblemSolver object,
- /// \li hpp::Problem: to define a path planning problem and solve it.
-
- /// To use this object, call the constructor
-
- /// \code
- /// int argc=1;
- /// char *argv[1] = {"program"};
- /// core::ProblemSolverPtr_t problemSolver = new core::ProblemSolver;
- /// Server server(problemSolver, argc, argv, isMultiThread);
- /// \endcode
- /// where \c isMultiThread specifies whether the server should process
- /// requests using multi-thread policy of not.
-
- /// After starting a name server and configuring your Corba implementation,
- /// start the servers.
- /// \code
- /// server.startCorbaServer();
- /// \endcode
- /// Then, enter in the loop that handle the Corba requests
- /// \code
- /// server.processRequest(true);
- /// \endcode
- /// You can then send request to the servers.
- class /*SCENEVIEWER_CORBASERVER_DLLAPI*/ Server
+ // Foward declarations
+ namespace impl
+ {
+ class Server;
+ class GraphicalInterface;
+ } // end of namespace impl
+
+ /// Implementation of Gepetto Viewer Corba server.
+ ///
+ /// To use this object, call the constructor
+ /// \code
+ /// int argc=1;
+ /// char *argv[1] = {"program"};
+ /// Server server(windowsManager, argc, argv);
+ /// server.startCorbaServer();
+ /// // The next line will run indefinitely.
+ /// server.processRequest(true);
+ /// \endcode
+ /// You can then send request to the servers.
+ class GEPETTO_VIEWER_CORBA_DLLAPI Server
{
public:
/// Constructor