first commit

CMakeLists.txt

+# Copyright (c) 2012 CNRS
+# Author: Florent Lamiraux
+#
+# This file is part of hpp-rbprm-corba.
+# hpp-rbprm-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-rbprm-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-rbprm-corba.  If not, see
+# <http://www.gnu.org/licenses/>.
+
+# Requires at least CMake 2.6 to configure the package.
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+SET(CXX_DISABLE_WERROR true)
+
+INCLUDE(cmake/base.cmake)
+INCLUDE(cmake/idl.cmake)
+INCLUDE(cmake/python.cmake)
+
+SET(PROJECT_NAME hpp-rbprm-corba)
+SET(PROJECT_DESCRIPTION "Corba server for reachability based planning")
+SET(PROJECT_URL "")
+
+SET(CUSTOM_HEADER_DIR hpp/corbaserver/rbprm)
+
+SETUP_PROJECT ()
+
+SET(${PROJECT_NAME}_HEADERS
+  include/hpp/corbaserver/rbprm/server.hh
+  include/hpp/corbaserver/rbprm/fwd.hh
+)
+
+# Activate hpp-util logging if requested
+SET (HPP_DEBUG FALSE CACHE BOOL "trigger hpp-util debug output")
+IF (HPP_DEBUG)
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHPP_DEBUG")
+ENDIF()
+
+ADD_DOC_DEPENDENCY("hpp-core >= 3")
+ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 3")
+ADD_REQUIRED_DEPENDENCY("hpp-rbprm")
+ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
+
+PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
+ADD_SUBDIRECTORY(src)
+
+CONFIG_FILES (include/hpp/corbaserver/rbprm/doc.hh)
+
+SETUP_PROJECT_FINALIZE()
+

build/src/hpp/corbaserver/rbprm/__init__.py

+# DO NOT EDIT THIS FILE!
+#
+# Python module hpp.corbaserver.rbprm generated by omniidl
+
+import omniORB
+omniORB.updateModule("hpp.corbaserver.rbprm")
+
+# ** 1. Stub files contributing to this module
+import rbprmbuilder_idl
+
+# ** 2. Sub-modules
+
+# ** 3. End

doc/Doxyfile.extra.in

+TAGFILES = @HPP_CORE_DOXYGENDOCDIR@/hpp-core.doxytag=@HPP_CORE_DOXYGENDOCDIR@ \
+TAGFILES = @HPP_CORBASERVER_DOXYGENDOCDIR@/hpp-corbaserver.doxytag=@HPP_CORBASERVER_DOXYGENDOCDIR@ \
+	 @HPP_RBPRM_DOXYGENDOCDIR@/hpp-rbprm.doxytag=@HPP_RBPRM_DOXYGENDOCDIR@
+
+INPUT		= @CMAKE_SOURCE_DIR@/include \
+		  @CMAKE_BINARY_DIR@/include \
+		  @CMAKE_SOURCE_DIR@/idl \
+		  @CMAKE_SOURCE_DIR@/src/hpp/corbaserver/rbprm/rbprmbuilder.py \
+
+
+FILE_PATTERNS   = *.cc *.cpp \
+                  *.hh *.hxx \
+		  *.idl *.py

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

+// Copyright (c) 2015 CNRS
+// Author: Steve Tonneau
+//
+// 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_CORBA_ROBOT_IDL
+# define HPP_MANIPULATION_CORBA_ROBOT_IDL
+
+# include <hpp/corbaserver/common.idl>
+
+module hpp
+{
+  module corbaserver {
+  module rbprm {
+  interface RbprmBuilder
+  {
+    /// Create a Device for the ROM of the robot
+
+    /// The device automatically has an anchor joint called "base_joint" as
+    /// root joint.
+    /// \param romRobotName the name of the robot range of motion.
+    ///  Load robot model
+    /// \param rootJointType type of root joint among "anchor", "freeflyer",
+    /// "planar",
+    /// \param packageName Name of the ROS package containing the model,
+    /// \param modelName Name of the package containing the model
+    /// \param urdfSuffix suffix for urdf file,
+    ///
+    /// The ros url are built as follows:
+    /// "package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf"
+    /// "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"
+    ///
+    void loadRobotRomModel (in string romRobotName, in string rootJointType,
+             in string packageName, in string modelName,
+             in string urdfSuffix, in string srdfSuffix)
+      raises (Error);
+
+
+    /// Create a RbprmDevice for the robot of the robot
+
+    /// The device automatically has an anchor joint called "base_joint" as
+    /// root joint.
+    /// \param trunkRobotName the name of the robot trunk used for collision.
+    /// \param rootJointType type of root joint among "anchor", "freeflyer",
+    /// "planar",
+    /// \param packageName Name of the ROS package containing the model,
+    /// \param modelName Name of the package containing the model
+    /// \param urdfSuffix suffix for urdf file,
+    ///
+    /// The ros url are built as follows:
+    /// "package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf"
+    /// "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"
+    ///
+    void loadRobotCompleteModel (in string trunkRobotName, in string rootJointType,
+             in string packageName, in string modelName,
+             in string urdfSuffix, in string srdfSuffix)
+      raises (Error);
+  }; // interface Robot
+  }; // module rbprm
+  }; // module corbaserver
+}; // module hpp
+
+#endif // HPP_MANIPULATION_CORBA_ROBOT_IDL

include/hpp/corbaserver/rbprm/doc.hh.in

+// Copyright (C) 2014 CNRS-LAAS
+// Author: Florent Lamiraux.
+//
+// This file is part of the 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 Lesser General 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/>.
+
+/// \mainpage
+///
+/// \section hpp_manipulation_corba_intro Introduction
+///
+/// This package implements a Corba server running hpp-manipulation
+/// package functions and the corresponding client.
+///
+/// The corba server part is compiled into library
+/// \c libhpp-manipulation-corba.so that implements the following
+/// class:
+///   \li hpp::manipulation::Server.
+/// The corba services provided by the library are described in interface
+///   \li hpp::corbaserver::manipulation::Graph.
+///   \li hpp::corbaserver::manipulation::Problem.
+///   \li hpp::corbaserver::manipulation::Robot.
+///
+/// The client part is provided through python module
+/// \c hpp.corbaserver.manipulation
+///
+/// An executable called \c hpp-manipulation-server is installed.
+/// This executable runs
+///   \li the corba server implemented by library
+///       \c libhpp-manipulation-corba.so, as well as
+///   \li the corba server implemented in \htmlonly<a class="el" href="@HPP_WHOLEBODY_STEP_CORBA_DOXYGENDOCDIR@/index.html">hpp-wholebody-step-corba</a>\endhtmlonly,
+///   \li the corba server implemented in \htmlonly<a class="el" href="@HPP_CORBASERVER_DOXYGENDOCDIR@/index.html">hpp-corbaserver</a>\endhtmlonly.
+///
+/// See these package documentations for details.
+///
+/// \section hpp_manipulation_corba_howto_communicate \
+/// How to communicate with the CORBA server
+///
+/// The easiest way is
+///
+///     to launch \c hpp-manipulation-server executable,
+///     open a python terminal and type:
+///     \code
+///     from hpp.corbaserver.manipulation import Client as ManipulationClient
+///     mcl = ManipulationClient ()
+///     \endcode
+/// Then variable mcl contains a member \c problem that can send
+/// requests to the server. For instance
+///
+///     \code
+///     mcl.problem.loadHumanoidModel ("hrp2_14", "freeflyer",
+///                                    "hrp2_14_description", "hrp2_14",
+///                                    "_capsule", "_capsule")
+///     \endcode
+///
+/// Some python classes are provided that embed corba clients and
+/// that forward corba resquest to the server side:
+///   \li manipulation.robot.Robot to load and handle a manipulation robot,
+///   \li manipulation.robot.HumanoidRobot to load and handle a manipulation
+///       robot, containing a humanoid robot at first place,
+///   \li manipulation.problem_solver.ProblemSolver to set and solve a
+///       manipulation planning problem.
+///   \li manipulation.constraint_graph.ConstraintGraph to initialize the
+///       graph of constraint.
+///
+/// \section hpp_manipulation_corba_how_to_embed \
+/// How to embed a server in an application
+///
+/// Embedding the corba server into an application can be done by linking the
+/// application with \c libhpp-manipulation-corba.so in a similar way as
+/// hpp-corbaserver corba server. See documentation of classes
+/// hpp::corbaServer::Server and hpp::manipulation::Server for details.

include/hpp/corbaserver/rbprm/fwd.hh

+// Copyright (C) 2014 CNRS-LAAS
+// Author: Florent Lamiraux.
+//
+// This file is part of the 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 Lesser General 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_CORBA_FWD_HH
+# define HPP_MANIPULATION_CORBA_FWD_HH
+
+# include <hpp/manipulation/fwd.hh>
+
+namespace hpp {
+  namespace manipulation {
+    namespace impl {
+      typedef manipulation::ProblemSolver ProblemSolver;
+      class Server;
+      typedef core::ConstraintSet ConstraintSet;
+      typedef core::ConstraintSetPtr_t ConstraintSetPtr_t;
+      typedef core::ConfigProjector ConfigProjector;
+      typedef core::ConfigProjectorPtr_t ConfigProjectorPtr_t;
+    } // namespace impl
+  } // namespace manipulation
+} // namespace hpp
+
+#endif // HPP_MANIPULATION_CORBA_FWD_HH

include/hpp/corbaserver/rbprm/server.hh

+// Copyright (C) 2014 CNRS-LAAS
+// Author: Florent Lamiraux.
+//
+// This file is part of the 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 Lesser General 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_RBPRM_CORBA_SERVER_HH
+# define HPP_RBPRM_CORBA_SERVER_HH
+
+# include <hpp/corba/template/server.hh>
+# include <hpp/corbaserver/rbprm/fwd.hh>
+# include <hpp/corbaserver/rbprm/config.hh>
+
+namespace hpp {
+  namespace rbprm {
+    namespace impl {
+      class RbprmBuilder;
+    }
+    class HPP_RBPRM_CORBA_DLLAPI Server
+    {
+    public:
+      Server (int argc, char *argv[], bool multiThread = false,
+          const std::string& poaName = "child");
+      ~Server ();
+      /// Set planner that will be controlled by server
+      void setProblemSolver (hpp::core::ProblemSolverPtr_t problemSolver);
+
+      /// Start corba server
+
+      /// Call hpp::corba::Server <impl::Problem>::startCorbaServer
+      void startCorbaServer(const std::string& contextId,
+                const std::string& contextKind,
+                const std::string& objectId);
+    private:
+      corba::Server <impl::RbprmBuilder>* rbprmBuilder_;
+    }; // class Server
+  } // namespace rbprm
+} // namespace hpp
+
+#endif // HPP_RBPRM_CORBA_SERVER_HH

src/CMakeLists.txt

+# Copyright (c) 2012 CNRS
+# Author: Florent Lamiraux
+#
+# This file is part of hpp-rbprm-corba.
+# hpp-rbprm-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-rbprm-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-rbprm-corba.  If not, see
+# <http://www.gnu.org/licenses/>.
+
+SET(LIBRARY_NAME ${PROJECT_NAME})
+SET(IDL_SOURCES
+	rbprmbuilder
+)
+
+SET(HPP_CORBASERVER_IDL_SOURCES
+  common
+)
+
+OMNIIDL_INCLUDE_DIRECTORIES(
+  ${HPP_CORBASERVER_DATAROOTDIR}/idl ${CMAKE_SOURCE_DIR}/idl
+  )
+
+INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/src)
+FOREACH(IDL ${IDL_SOURCES})
+  GENERATE_IDL_FILE (${IDL}
+    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
+    )
+ENDFOREACH()
+
+FOREACH(IDL ${HPP_CORBASERVER_IDL_SOURCES})
+  GENERATE_IDL_FILE (${IDL}
+    ${HPP_CORBASERVER_DATAROOTDIR}/idl/hpp/corbaserver
+    )
+ENDFOREACH()
+
+ADD_LIBRARY(${LIBRARY_NAME} SHARED
+  common.hh
+  commonSK.cc
+	rbprmbuilder.hh
+	rbprmbuilderSK.cc
+	rbprmbuilder.impl.cc
+	rbprmbuilder.impl.hh
+	server.cc
+	${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/rbprmbuilder_idl.py
+	${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/common_idl.py
+)
+
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-rbprm)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-model-urdf)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-corbaserver)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} omniORB4)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-rbprm)
+
+INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
+
+# search for python
+FINDPYTHON()
+
+# Generate and install python code for each idl file
+FOREACH (IDL ${IDL_SOURCES})
+  ADD_CUSTOM_COMMAND(
+    OUTPUT
+    ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/${IDL}_idl.py
+    COMMAND ${OMNIIDL}
+    ARGS -bpython -Wbpackage="" -I${CMAKE_SOURCE_DIR}/idl
+    -I${HPP_CORBASERVER_DATAROOTDIR}/idl
+    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm/${IDL}.idl
+    MAIN_DEPENDENCY
+    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm/${IDL}.idl
+    )
+  SET_SOURCE_FILES_PROPERTIES(
+    ${CMAKE_CURRENT_BINARY_DIR}/${IDL}_idl.py
+    GENERATED=ON
+    )
+  INSTALL(
+    FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/${IDL}_idl.py
+    DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm
+    )
+ENDFOREACH()
+
+# Generate and install python code for each dependency idl file
+FOREACH (IDL ${HPP_CORBASERVER_IDL_SOURCES})
+  ADD_CUSTOM_COMMAND(
+    OUTPUT
+    ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/${IDL}_idl.py
+    COMMAND ${OMNIIDL}
+    ARGS -bpython -Wbpackage=""
+    -I${HPP_CORBASERVER_DATAROOTDIR}/idl
+    ${HPP_CORBASERVER_DATAROOTDIR}/idl/hpp/corbaserver/${IDL}.idl
+    MAIN_DEPENDENCY
+    ${HPP_CORBASERVER_DATAROOTDIR}/idl/hpp/corbaserver/${IDL}.idl
+    )
+  SET_SOURCE_FILES_PROPERTIES(
+    ${CMAKE_CURRENT_BINARY_DIR}/${IDL}_idl.py
+    GENERATED=ON
+    )
+  INSTALL(
+    FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/${IDL}_idl.py
+    DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm
+    )
+ENDFOREACH()
+
+INSTALL(
+  FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/__init__.py
+  DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm
+  )
+INSTALL(
+  FILES
+	${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/client.py
+	${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/rbprmbuilder.py
+  DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm
+  )
+
+# Stand alone corba server
+ADD_EXECUTABLE (hpp-rbprm-server hpp-rbprm-corba.cc)
+TARGET_LINK_LIBRARIES (hpp-rbprm-server ${LIBRARY_NAME} hpp-rbprm)
+PKG_CONFIG_USE_DEPENDENCY(hpp-rbprm-server hpp-model-urdf)
+
+INSTALL (TARGETS hpp-rbprm-server DESTINATION ${CMAKE_INSTALL_BINDIR})

src/fwd.hh

+// Copyright (c) 2012 CNRS
+// Author: 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_CORBA_FWD_HH
+# define HPP_MANIPULATION_CORBA_FWD_HH
+
+namespace hpp {
+  namespace manipulation {
+    namespace corba {
+    }
+  }
+}
+#endif // HPP_MANIPULATION_CORBA_FWD_HH

src/hpp-rbprm-corba.cc

+// Copyright (c) 2012 CNRS
+// Author: 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/>.
+
+#include <hpp/corbaserver/server.hh>
+#include <hpp/corbaserver/rbprm/server.hh>
+#include <hpp/core/problem-solver.hh>
+
+typedef hpp::rbprm::Server RbprmServer;
+typedef hpp::corbaServer::Server CorbaServer;
+
+int main (int argc, char* argv [])
+{
+  hpp::core::ProblemSolverPtr_t problemSolver (hpp::core::ProblemSolver::create());
+
+  CorbaServer corbaServer (problemSolver, argc,
+			   const_cast<const char**> (argv), true);
+  RbprmServer rbprmServer (argc, argv, true, "rbprmChild");
+  rbprmServer.setProblemSolver (problemSolver);
+
+  corbaServer.startCorbaServer ();
+  rbprmServer.startCorbaServer ("hpp", "corbaserver",
+                "rbprm");
+  corbaServer.processRequest(true);
+}

src/hpp/corbaserver/rbprm/__init__.py

+import omniORB
+omniORB.updateModule("hpp.corbaserver.rbprm")
+
+import rbprmbuilder_idl
+
+from client import Client
+

src/hpp/corbaserver/rbprm/client.py

+#!/usr/bin/env python
+#
+# Copyright (c) 2014 CNRS
+# Author: Steve Tonneau
+#
+# This file is part of hpp-rbprm-corba.
+# hpp-rbprm-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-rbprm-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/>.
+
+from omniORB import CORBA
+import CosNaming
+
+from hpp.corbaserver.rbprm import RbprmBuilder
+
+class CorbaError(Exception):
+    """
+    Raised when a CORBA error occurs.
+    """
+    def __init__(self, value):
+        self.value = value
+    def __str__(self):
+        return repr(self.value)
+
+class Client:
+  """
+  Connect and create clients for hpp-rbprm library.
+  """
+  def __init__(self):
+    """
+    Initialize CORBA and create default clients.
+    """
+    import sys
+    self.orb = CORBA.ORB_init (sys.argv, CORBA.ORB_ID)
+    obj = self.orb.resolve_initial_references("NameService")
+    self.rootContext = obj._narrow(CosNaming.NamingContext)
+    if self.rootContext is None:
+        raise CorbaError ('failed to narrow the root context')
+
+    # client of Rbprm interface
+    name = [CosNaming.NameComponent ("hpp", "corbaserver"),
+            CosNaming.NameComponent ("rbprm", "rbprmbuilder")]
+
+    try:
+        obj = self.rootContext.resolve (name)
+    except CosNaming.NamingContext.NotFound, ex:
+        raise CorbaError ('failed to find rbprm service.')
+    try:
+        client = obj._narrow (RbprmBuilder)
+    except KeyError:
+        raise CorbaError ('invalid service name rbprm')
+
+    if client is None:
+      # This happens when stubs from client and server are not synchronized.
+        raise CorbaError (
+            'failed to narrow client for service rbprm')