From 140edc472544086687e83281661b538cdd44483e Mon Sep 17 00:00:00 2001
From: Mathieu Geisert <mgeisert@laas.fr>
Date: Fri, 5 Dec 2014 15:11:24 +0100
Subject: [PATCH] Delete ~ files.
---
idl/sceneViewer.idl~ | 47 --
include/Graphics/corbaserver/client-cpp.hh~ | 83 ----
src/CMakeLists.txt~ | 118 -----
src/GraphicalInterface.cpp~ | 327 -------------
src/GraphicalInterface.hh~ | 96 ----
src/GraphicalInterface.impl.cpp~ | 510 --------------------
src/GraphicalInterface.impl.hh~ | 125 -----
src/client-cpp.cc~ | 185 -------
src/client-cpp.hh~ | 86 ----
src/erreur.txt~ | 253 ----------
src/fwd.hh~ | 38 --
src/hpp-corbaserver.cc~ | 24 -
src/sceneViewer.idl~ | 47 --
src/server-private.cc~ | 123 -----
src/server-private.hh~ | 63 ---
src/server.cc~ | 159 ------
src/server.hh~ | 100 ----
test/test-client-cpp.cc~ | 42 --
18 files changed, 2426 deletions(-)
delete mode 100644 idl/sceneViewer.idl~
delete mode 100644 include/Graphics/corbaserver/client-cpp.hh~
delete mode 100644 src/CMakeLists.txt~
delete mode 100644 src/GraphicalInterface.cpp~
delete mode 100644 src/GraphicalInterface.hh~
delete mode 100644 src/GraphicalInterface.impl.cpp~
delete mode 100644 src/GraphicalInterface.impl.hh~
delete mode 100644 src/client-cpp.cc~
delete mode 100644 src/client-cpp.hh~
delete mode 100644 src/erreur.txt~
delete mode 100644 src/fwd.hh~
delete mode 100644 src/hpp-corbaserver.cc~
delete mode 100644 src/sceneViewer.idl~
delete mode 100644 src/server-private.cc~
delete mode 100644 src/server-private.hh~
delete mode 100644 src/server.cc~
delete mode 100644 src/server.hh~
delete mode 100644 test/test-client-cpp.cc~
diff --git a/idl/sceneViewer.idl~ b/idl/sceneViewer.idl~
deleted file mode 100644
index fcb1e30..0000000
--- a/idl/sceneViewer.idl~
+++ /dev/null
@@ -1,47 +0,0 @@
-// file sceneViewer.idl
-module Graphics {
-module corbaserver {
-
- /// Corba exception travelling through the Corba channel
- exception Error
- {
- string msg;
- };
-
- interface sceneViewer {
- // Compute the sum of two real numbers.
- void createWindow(in string name) raises (Error);
- //void createWindow(in string name, in unsigned long x, in unsigned long y, in unsigned long width, in unsigned long height) raises (Error);
-
- void createScene(in string sceneName) raises (Error);
- void createSceneWithFloor(in string sceneName) raises (Error);
- void addSceneToWindow(in string sceneName, in string windowName) raises (Error);
-
- //void addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3, in string colorName) raises (Error);
- void addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3) raises (Error);
-
- void addCapsule(in string capsuleName, in float radius, in float height) raises (Error);
- //void addCapsule(in string capsuleName, in float radius, in float height, in string colorName) raises (Error);
-
- void addMesh(in string meshName, in string meshPath) raises (Error);
-
- void addCone(in string coneName, in float radius, in float height) raises (Error);
- //void addCone(in string coneName, in float radius, in float height, in string colorName) raises (Error);
-
- void addCylinder(in string cylinderName, in float radius, in float height) raises (Error);
- //void addCylinder(in string cylinderName, in float radius, in float height, in string colorName) raises (Error);
-
- void addSphere(in string sphereName, in float radius) raises (Error);
- //void addSphere(in string sphereName, in float radius, in string colorName) raises (Error);
-
- void createGroup(in string groupName) raises (Error);
- boolean addToGroup(in string nodeName, in string groupName) raises (Error);
-
- boolean applyConfiguration(in string nodeName, in float configuration) raises (Error);
-
- boolean setVisibility(in string nodeName, in string visibilityMode) raises (Error);
- boolean setWireFrameMode(in string nodeName, in string wireFrameMode) raises (Error);
- boolean setLightingMode(in string nodeName, in string lightingMode) raises (Error);
- };
-};
-};
diff --git a/include/Graphics/corbaserver/client-cpp.hh~ b/include/Graphics/corbaserver/client-cpp.hh~
deleted file mode 100644
index aab7dbd..0000000
--- a/include/Graphics/corbaserver/client-cpp.hh~
+++ /dev/null
@@ -1,83 +0,0 @@
-//
-// client-cpp.h
-// DynAndGraphics
-//
-// Created by Mathieu Geisert on 02/12/2014.
-// Copyright (c) 2014 Mathieu Geisert. All rights reserved.
-//
-
-#ifndef __DynAndGraphics__clientCpp__
-#define __DynAndGraphics__clientCpp__
-
-#include <iostream>
-#include <omniORB4/CORBA.h>
-
-#include "../../../src/graphicalinterface.hh"
-
-
-namespace Graphics {
-namespace corbaServer {
-
-class ClientCpp
-{
-private:
- CORBA_ORB_var orb_;
- GraphicalInterface_var manager_;
-
-protected:
-
-public:
- // Default constructor
- ClientCpp();
- // Default destructor
- ~ClientCpp();
-
- /*void getNodeList();
-
- void setRate(CORBA::Long rate);
- void refresh();
-
- void createWindow(const char* windowNameCorba);
-
-
- //void createWindow(const char* name, CORBA::ULong x, CORBA::ULong y, CORBA::ULong width, CORBA::ULong height) ;
-
- void createScene(const char* sceneNameCorba) ;
- void createSceneWithFloor(const char* sceneNameCorba) ;
- void addSceneToWindow(const char* sceneNameCorba, const char* windowNameCorba) ;
-
-
- //void addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const char* colorName);
- void addBox(const char* boxNameCorba, float boxSize1, float boxSize2, float boxSize3) ;
-
- void addCapsule(const char* capsuleNameCorba, float radius, float height) ;
- //void addCapsule(const char* capsuleName, float radius, float height, const char* colorName);
-
- void addMesh(const char* meshNameCorba, const char* meshPathCorba) ;
-
- void addCone(const char* coneNameCorba, float radius, float height) ;
- //void addCone(const char* coneName, float radius, float height, const char* colorName);
-
- void addCylinder(const char* cylinderNameCorba, float radius, float height) ;
- //void addCylinder(const char* cylinderName, float radius, float height, const char* colorName);
-
- void addSphere(const char* sphereNameCorba, float radius) ;
- //void addSphere(const char* sphereName, float radius, const char* colorName);
-
- void addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba);
-
- void createGroup(const char* groupNameCorba) ;
- bool addToGroup(const char* nodeNameCorba, const char* groupNameCorba) ;
-
- bool applyConfiguration(const char* nodeNameCorba, const double* configuration) ;
-
- bool setVisibility(const char* nodeNameCorba, const char* visibilityModeCorba) ;
- bool setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba) ;
- bool setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba) ;*/
-
-}; //end of class ClientCpp
-
-} //end of namespace corbaserver
-} //end of namespace Graphics
-
-#endif // __DynAndGraphics__clientCpp__
diff --git a/src/CMakeLists.txt~ b/src/CMakeLists.txt~
deleted file mode 100644
index f900213..0000000
--- a/src/CMakeLists.txt~
+++ /dev/null
@@ -1,118 +0,0 @@
-# Copyright (c) 2014 LAAS-CNRS
-# Author: Mathieu Geisert
-#
-# This file is part of SceneViewer-corba.
-# SceneViewer-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.
-#
-# SceneViewer-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-corbaserver. If not, see
-# <http://www.gnu.org/licenses/>.
-
-SET(LIBRARY_NAME ${PROJECT_NAME})
-SET(IDL_SOURCES
- graphicalinterface
- )
-
-OMNIIDL_INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/idl)
-INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/src)
-FOREACH(IDL ${IDL_SOURCES})
- GENERATE_IDL_FILE (${IDL}
- ${CMAKE_SOURCE_DIR}/idl/Graphics/corbaserver)
-ENDFOREACH()
-
-ADD_LIBRARY(${LIBRARY_NAME}
- SHARED
- graphicalinterface.hh
- graphicalinterfaceSK.cc
- GraphicalInterface.impl.cpp
- GraphicalInterface.impl.hh
- server.hh
- server.cc
- server-private.cc
- server-private.hh
- client-cpp.cc
- client-cpp.hh
- se3.hpp
- ${CMAKE_CURRENT_BINARY_DIR}/Graphics/corbaserver/graphicalinterface_idl.py
-)
-
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} omniORB4)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} openscenegraph)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} openthreads)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} SceneViewer)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} urdfdom)
-#PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} eigen3)
-#PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} boost)
-
-INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
-
-# search for python
-FINDPYTHON()
-
-FOREACH (IDL ${IDL_SOURCES})
- ADD_CUSTOM_COMMAND(
- OUTPUT
- ${CMAKE_CURRENT_BINARY_DIR}/Graphics/corbaserver/${IDL}_idl.py
- COMMAND ${OMNIIDL}
- ARGS -bpython -Wbpackage="" -I${CMAKE_SOURCE_DIR}/idl
- ${CMAKE_SOURCE_DIR}/idl/Graphics/corbaserver/${IDL}.idl
- MAIN_DEPENDENCY
- ${CMAKE_SOURCE_DIR}/idl/Graphics/corbaserver/${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}/Graphics/corbaserver
- )
-ENDFOREACH()
-
-INSTALL(
- FILES
- ${CMAKE_CURRENT_SOURCE_DIR}/Graphics/__init__.py
- ${CMAKE_CURRENT_SOURCE_DIR}/Graphics/quaternion.py
- DESTINATION ${PYTHON_SITELIB}/Graphics
- )
-INSTALL(
- FILES
- ${CMAKE_CURRENT_SOURCE_DIR}/Graphics/corbaserver/__init__.py
- DESTINATION ${PYTHON_SITELIB}/Graphics/corbaserver
- )
-INSTALL(
- FILES
- ${CMAKE_CURRENT_SOURCE_DIR}/Graphics/corbaserver/client.py
- DESTINATION ${PYTHON_SITELIB}/Graphics/corbaserver
- )
-INSTALL(
- FILES
- ${CMAKE_SOURCE_DIR}/idl/Graphics/corbaserver/graphicalinterface.idl
- DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/idl/Graphics/corbaserver
-)
-
-# Standalone corba server
-ADD_EXECUTABLE (SceneViewercorbaserver SceneViewer-corbaserver.cc)
-TARGET_LINK_LIBRARIES(SceneViewercorbaserver ${LIBRARY_NAME})
-TARGET_LINK_LIBRARIES(SceneViewercorbaserver SceneViewer)
-TARGET_LINK_LIBRARIES(SceneViewercorbaserver urdfdom_model)
-TARGET_LINK_LIBRARIES(SceneViewercorbaserver ${Boost_LIBRARIES})
-
-
-ADD_EXECUTABLE (clientTest ../test/test-client-cpp.cc)
-TARGET_LINK_LIBRARIES(clientTest ${LIBRARY_NAME})
-TARGET_LINK_LIBRARIES(clientTest SceneViewer)
-TARGET_LINK_LIBRARIES(clientTest urdfdom_model)
-TARGET_LINK_LIBRARIES(clientTest ${Boost_LIBRARIES})
-#TARGET_LINK_LIBRARIES(clientTest eigen3)
-
-INSTALL (TARGETS hppcorbaserver DESTINATION bin)
-INSTALL (TARGETS clientTest DESTINATION bin)
diff --git a/src/GraphicalInterface.cpp~ b/src/GraphicalInterface.cpp~
deleted file mode 100644
index 4fbe588..0000000
--- a/src/GraphicalInterface.cpp~
+++ /dev/null
@@ -1,327 +0,0 @@
-//
-// GraphicalGroupOSG.h
-// DynAndGraphics
-//
-// Created by Justin Carpentier on 07/02/2014.
-// Copyright (c) 2014 Justin Carpentier. All rights reserved.
-//
-
-#include <iostream>
-#include "GraphicalInterface.hh"
-
-namespace Graphics {
-
- GraphicalInterface::GraphicalInterface() :
- windowManagers_(), nodes_(), groupNodes_()
- {
- return;
- }
-
- GraphicalInterfacePtr_t GraphicalInterface::create()
- {
- GraphicalInterfacePtr_t shared_ptr(new GraphicalInterface());
- return shared_ptr;
- }
-
- osgVector4 GraphicalInterface::getColor(CORBA::char* colorName)
- {
- if (colorName == "blue")
- return osgVector4(0.f, 0.f, 1.f, 1.f);
- else if (colorName == "green")
- return osgVector4(0.f, 1.f, 0.f, 1.f);
- else if (colorName == "red")
- return osgVector4(1.f, 0.f, 0.f, 1.f);
- else if (colorName == "white")
- return osgVector4(1.f, 1.f, 1.f, 1.f);
- else
- return osgVector4(0.f, 0.f, 0.f, 1.f);
- }
-
- VisibilityMode GraphicalInterface::getVisibility(CORBA::char* visibilityName)
- {
- if (visibilityName == "OFF")
- return VISIBILITY_OFF;
- else if (visibilityName == "ALWAYS_ON_TOP")
- return ALWAYS_ON_TOP;
- else
- return VISIBILITY_ON;
- }
-
- WireFrameMode GraphicalInterface::getWire(CORBA::char* wireName)
- {
- if (wireName == "WIREFRAME")
- return WIREFRAME;
- else if (wireName == "FILL_AND_WIREFRAME")
- return FILL_AND_WIREFRAME;
- else
- return FILL;
- }
-
- LightingMode GraphicalInterface::getLight(CORBA::char* lightName)
- {
- if (lightName == "OFF")
- return LIGHT_INFLUENCE_OFF;
- else
- return LIGHT_INFLUENCE_ON;
- }
-
- std::string GraphicalInterface::parentName(CORBA::char* name)
- {
- std::string Name(name);
- std::string::iterator parentNameIt;
- for (std::string::iterator i = Name.end() ; (*i) != char('/') && i != Name.begin() ; i--) {
- parentNameIt = i;
- }
- parentNameIt--;
-
- std::string parentName;
- for (std::string::iterator i = Name.begin(); i != parentNameIt; i++ ) {
- parentName.push_back(*i);
- }
-
- return parentName;
- }
-
- void GraphicalInterface::initParent(CORBA::char* nodeName, NodePtr_t node)
- {
- GroupNodePtr_t groupNode = groupNodes_[GraphicalInterface::parentName(nodeName)];
- if ( groupNode ) {
- groupNode->addChild(node);
- }
- }
-
- void GraphicalInterface::addNode(const std::string &nodeName, NodePtr_t node)
- {
- nodes_[nodeName] = node;
- }
-
- void GraphicalInterface::addGroup(const std::string &groupName, GroupNodePtr_t group)
- {
- groupNodes_[groupName] = group;
- nodes_[groupName] = group;
- }
-
-
-//Public functions
-
- void GraphicalInterface::createWindow(CORBA::char* windowNameCorba)
- throw (Error)
- {
- std::string windowName(windowNameCorba);
- WindowManagerPtr_t newWindow = WindowManager::create();
- windowManagers_[name] = newWindow;
- }
-
- /*void GraphicalInterface::createWindow(CORBA::char* name, const unsigned int& x, const unsigned int& y, const unsigned int& width, const unsigned int& height)
- throw (Error)
- {
- WindowManagerPtr_t newWindow = WindowManager::create(x, y, width, height);
- windowManagers_[name] = newWindow;
- }*/
-
- void GraphicalInterface::createScene(CORBA::char* sceneNameCorba)
- throw (Error)
- {
- std::string sceneName(sceneNameCorba);
- GroupNodePtr_t mainNode = GroupNode::create(sceneName);
- addGroup(sceneName, mainNode);
- }
-
- void GraphicalInterface::createSceneWithFloor(CORBA::char* sceneNameCorba)
- throw (Error)
- {
- std::string sceneName(sceneNameCorba);
- GroupNodePtr_t mainNode = GroupNode::create(sceneName);
- addGroup(sceneName, mainNode);
- std::string floorName = sceneName + "/floor";
- LeafNodeGroundPtr_t floor = LeafNodeGround::create(floorName);
- addNode(floorName, floor);
- mainNode->addChild(floor);
- }
-
- void GraphicalInterface::addSceneToWindow(CORBA::char* sceneNameCorba,CORBA::char* windowNameCorba)
- throw (Error)
- {
- std::string sceneName(sceneNameCorba);
- std::string windowName(windowNameCorba);
- windowManagers_[windowName]->addNode(groupNodes_[sceneName]);
- }
-
- /*void GraphicalInterface::addBox(CORBA::char* boxName, CORBA::Float boxSize1, CORBA::Float boxSize2, CORBA::Float boxSize3, CORBA::char* colorName)
- throw (Error)
- {
- osgVector4 color = getColor(colorName);
- LeafNodeBoxPtr_t box = LeafNodeBox::create(boxName, osgVector3(boxSize1, boxSize2, boxSize3), color);
- GraphicalInterface::initParent(boxName, box);
- addNode(boxName, box);
- }*/
-
- void GraphicalInterface::addBox(CORBA::char* boxNameCorba, CORBA::Float boxSize1, CORBA::Float boxSize2, CORBA::Float boxSize3)
- throw (Error)
- {
- std::string boxName(boxNameCorba);
- LeafNodeBoxPtr_t box = LeafNodeBox::create(boxName, osgVector3(boxSize1, boxSize2, boxSize3));
- GraphicalInterface::initParent(boxName, box);
- addNode(boxName, box);
- }
-
- void GraphicalInterface::addCapsule(CORBA::char* capsuleNameCorba, CORBA::Float radius, CORBA::Float height)
- throw (Error)
- {
- std::string capsuleName(capsuleNameCorba);
- LeafNodeCapsulePtr_t capsule = LeafNodeCapsule::create(capsuleName, radius, height);
- GraphicalInterface::initParent(capsuleName, capsule);
- addNode(capsuleName, capsule);
- }
-
- /*void GraphicalInterface::addCapsule(CORBA::char* capsuleName, CORBA::Float radius, CORBA::Float height, CORBA::char* colorName)
- throw (Error)
- {
- osgVector4 color = getColor(colorName);
- LeafNodeCapsulePtr_t capsule = LeafNodeCapsule::create(capsuleName, radius, height, color);
- GraphicalInterface::initParent(capsuleName, capsule);
- addNode(capsuleName, capsule);
- }*/
-
- void GraphicalInterface::addMesh(CORBA::char* meshNameCorba, CORBA::char* meshPathCorba)
- throw (Error)
- {
- std::string meshName(meshNameCorba);
- std::string meshPath(meshPathCorba);
- LeafNodeColladaPtr_t mesh = LeafNodeCollada::create(meshName, meshPath);
- GraphicalInterface::initParent(meshName, mesh);
- addNode(meshName, mesh);
- }
-
- void GraphicalInterface::addCone(CORBA::char* coneNameCorba, CORBA::Float radius, CORBA::Float height)
- throw (Error)
- {
- std::string coneName(coneNameCorba);
- LeafNodeConePtr_t cone = LeafNodeCone::create(coneName, radius, height);
- GraphicalInterface::initParent(coneName, cone);
- addNode(coneName, cone);
- }
-
- /*void GraphicalInterface::addCone(CORBA::char* coneName, CORBA::Float radius, CORBA::Float height, CORBA::char* colorName)
- throw (Error)
- {
- osgVector4 color = getColor(colorName);
- LeafNodeConePtr_t cone = LeafNodeCone::create(coneName, radius, height, color);
- GraphicalInterface::initParent(coneName, cone);
- addNode(coneName, cone);
- }*/
-
- void GraphicalInterface::addCylinder(CORBA::char* cylinderNameCorba, CORBA::Float radius, CORBA::Float height)
- throw (Error)
- {
- std::string cylinderName(cylinderNameCorba);
- LeafNodeCylinderPtr_t cylinder = LeafNodeCylinder::create(cylinderName, radius, height);
- GraphicalInterface::initParent(cylinderName, cylinder);
- addNode(cylinderName, cylinder);
- }
-
- /*void GraphicalInterface::addCylinder(CORBA::char* cylinderName, CORBA::Float radius, CORBA::Float height, CORBA::char* colorName)
- throw (Error)
- {
- osgVector4 color = getColor(colorName);
- LeafNodeCylinderPtr_t cylinder = LeafNodeCylinder::create(cylinderName, radius, height);
- GraphicalInterface::initParent(cylinderName, cylinder);
- addNode(cylinderName, cylinder);
-
- }*/
-
- void GraphicalInterface::addSphere(CORBA::char* sphereNameCorba, CORBA::Float radius)
- throw (Error)
- {
- std::string sphereName(sphereNameCorba);
- LeafNodeSpherePtr_t sphere = LeafNodeSphere::create(sphereName, radius);
- GraphicalInterface::initParent(sphereName, sphere);
- addNode(sphereName, sphere);
- }
-
- /*void GraphicalInterface::addSphere(CORBA::char* sphereName, CORBA::Float radius, CORBA::char* colorName)
- throw (Error)
- {
- osgVector4 color = getColor(colorName);
- LeafNodeSpherePtr_t sphere = LeafNodeSphere::create(sphereName, radius);
- GraphicalInterface::initParent(sphereName, sphere);
- addNode(sphereName, sphere);
- }*/
-
- void GraphicalInterface::createGroup(CORBA::char* groupNameCorba)
- throw (Error)
- {
- std::string groupName(groupNameCorba);
- GroupNodePtr_t groupNode = GroupNode::create(groupName);
- GraphicalInterface::initParent(groupName, groupNode);
- addGroup(groupName, groupNode);
- }
-
- CORBA::boolean GraphicalInterface::addToGroup(CORBA::char* nodeNameCorba, CORBA::char* groupNameCorba)
- throw (Error)
- {
- std::string nodeName(nodeNameCorba);
- std::stirng groupName(groupNameCorba);
- NodePtr_t node = nodes_[nodeName];
- GroupNodePtr_t group = groupNodes_[groupName];
- if (!node || !group) {
- return false;
- }
- else {
- group->addChild(node);
- return true;
- }
- }
-
- CORBA::boolean GraphicalInterface::applyConfiguration(CORBA::char* nodeNameCorba, CORBA::Float configuration)
- throw (Error)
- {
- std::string nodeName(nodeNameCorba);
- NodePtr_t node = nodes_[nodeName];
- if (!node)
- return false;
- //node->applyConfiguration(configuration);
- return true;
- }
-
- CORBA::boolean GraphicalInterface::setVisibility(CORBA::char* nodeNameCorba, CORBA::char* visibilityModeCorba)
- throw (Error)
- {
- std::string nodeName(nodeNameCorba);
- std::string visibilityMode(visibilityModeCorba);
- VisibilityMode visibility = getVisibility(visibilityMode);
- NodePtr_t node = nodes_[nodeName];
- if (!node)
- return false;
- node->setVisibilityMode(visibility);
- return true;
- }
-
- CORBA::boolean GraphicalInterface::setWireFrameMode(CORBA::char* nodeNameCorba, CORBA::char* wireFrameModeCorba)
- throw (Error)
- {
- std::string nodeName(nodeNameCorba);
- std::string wireFrameMode(wireFrameModeCorba);
- WireFrameMode wire = getWire(wireFrameMode);
- NodePtr_t node = nodes_[nodeName];
- if (!node)
- return false;
- node->setWireFrameMode(wire);
- return true;
- }
-
- CORBA::boolean GraphicalInterface::setLightingMode(CORBA::char* nodeNameCorba, CORBA::char* lightingModeCorba)
- throw (Error)
- {
- std::string nodeName(nodeNameCorba);
- std::string lightingMode(lightingModeCorba);
- LightingMode light = getLight(lightingMode);
- NodePtr_t node = nodes_[nodeName];
- if (!node)
- return false;
- node->setLightingMode(light);
- return true;
- }
-
-
-}
diff --git a/src/GraphicalInterface.hh~ b/src/GraphicalInterface.hh~
deleted file mode 100644
index 431722a..0000000
--- a/src/GraphicalInterface.hh~
+++ /dev/null
@@ -1,96 +0,0 @@
-//
-// GraphicalObjectOSG.h
-// DynAndGraphics
-//
-// Created by Justin Carpentier on 06/02/2014.
-// Copyright (c) 2014 Justin Carpentier. All rights reserved.
-//
-
-#ifndef __DynAndGraphics__GraphicalInterface__
-#define __DynAndGraphics__GraphicalInterface__
-
-#include "../../SceneViewer/WindowManager.h"
-#include "../../SceneViewer/Node.h"
-#include "../../SceneViewer/GroupNode.h"
-#include "../../SceneViewer/LeafNodeBox.h"
-#include "../../SceneViewer/LeafNodeCapsule.h"
-#include "../../SceneViewer/LeafNodeCone.h"
-#include "../../SceneViewer/LeafNodeCylinder.h"
-#include "../../SceneViewer/LeafNodeLine.h"
-#include "../../SceneViewer/LeafNodeSphere.h"
-#include "../../SceneViewer/macros.h"
-#include "../../SceneViewer/configOSG.h"
-#include "../../SceneViewer/LeafNodeGround.h"
-#include "../../SceneViewer/LeafNodeCollada.h"
-#include "../idl/sceneViewer.hh"
-
-namespace Graphics {
-
- DEF_CLASS_SMART_PTR(GraphicalInterface)
-
-
- class GraphicalInterface : public virtual POA_Graphics::sceneViewer
- {
- private:
- std::map<std::string, WindowManagerPtr_t> windowManagers_;
- std::map<std::string, NodePtr_t> nodes_;
- std::map<std::string, GroupNodePtr_t> groupNodes_;
-
- static osgVector4 getColor(const std::string& colorName);
- static std::string parentName(const std::string& name);
- static VisibilityMode getVisibility(const std::string& visibilityName);
- static WireFrameMode getWire(const std::string& wireName);
- static LightingMode getLight(const std::string& lightName);
- void initParent(const std::string& nodeName, NodePtr_t node);
- void addNode(const std::string& nodeName, NodePtr_t node);
- void addGroup(const std::string& groupName, GroupNodePtr_t group);
-
- protected:
- /**
- \brief Default constructor
- */
- GraphicalInterface ();
-
- public:
- /** Static method which create a new box defined by the half_axis vector
- */
- static GraphicalInterfacePtr_t create();
-
- virtual void createWindow(CORBA::char* windowNameCorba) throw (Error);
- //virtual void createWindow(CORBA::char* name, CORBA::ULong x, CORBA::ULong y, CORBA::ULong width, CORBA::ULong height) throw (Error);
-
- virtual void createScene(CORBA::char* sceneNameCorba) throw (Error);
- virtual void createSceneWithFloor(CORBA::char* sceneNameCorba) throw (Error);
- virtual void addSceneToWindow(CORBA::char* sceneNameCorba, CORBA::char* windowNameCorba) throw (Error);
-
- //virtual void addBox(CORBA::char* boxName, CORBA::Float boxSize1, CORBA::Float boxSize2, CORBA::Float boxSize3, CORBA::char* colorName);
- virtual void addBox(CORBA::char* boxNameCorba, CORBA::Float boxSize1, CORBA::Float boxSize2, CORBA::Float boxSize3) throw (Error);
-
- virtual void addCapsule(CORBA::char* capsuleNameCorba, CORBA::Float radius, CORBA::Float height) throw (Error);
- //virtual void addCapsule(CORBA::char* capsuleName, CORBA::Float radius, CORBA::Float height, CORBA::char* colorName);
-
- virtual void addMesh(CORBA::char* meshNameCorba, CORBA::char* meshPathCorba) throw (Error);
-
- virtual void addCone(CORBA::char* coneNameCorba, CORBA::Float radius, CORBA::Float height) throw (Error);
- //virtual void addCone(CORBA::char* coneName, CORBA::Float radius, CORBA::Float height, CORBA::char* colorName);
-
- virtual void addCylinder(CORBA::char* cylinderNameCorba, CORBA::Float radius, CORBA::Float height) throw (Error);
- //virtual void addCylinder(CORBA::char* cylinderName, CORBA::Float radius, CORBA::Float height, CORBA::char* colorName);
-
- virtual void addSphere(CORBA::char* sphereNameCorba, CORBA::Float radius) throw (Error);
- //virtual void addSphere(CORBA::char* sphereName, CORBA::Float radius, CORBA::char* colorName);
-
- virtual void createGroup(CORBA::char* groupNameCorba) throw (Error);
- virtual CORBA::boolean addToGroup(CORBA::char* nodeNameCorba, CORBA::char* groupNameCorba) throw (Error);
-
- virtual CORBA::boolean applyConfiguration(CORBA::char* nodeNameCorba, CORBA::Float configuration) throw (Error);
-
- virtual CORBA::boolean setVisibility(CORBA::char* nodeNameCorba, CORBA::char* visibilityModeCorba) throw (Error);
- virtual CORBA::boolean setWireFrameMode(CORBA::char* nodeNameCorba, CORBA::char* wireFrameModeCorba) throw (Error);
- virtual CORBA::boolean setLightingMode(CORBA::char* nodeNameCorba, CORBA::char* lightingModeCorba) throw (Error);
-
- };
-
-} /* namespace Graphics */
-
-#endif /* defined(__DynAndGraphics__GraphicalInterface__) */
diff --git a/src/GraphicalInterface.impl.cpp~ b/src/GraphicalInterface.impl.cpp~
deleted file mode 100644
index fd44b2d..0000000
--- a/src/GraphicalInterface.impl.cpp~
+++ /dev/null
@@ -1,510 +0,0 @@
-//
-// GraphicalInterface.impl.cc
-// Corbaserver for SceneViewer
-//
-// Created by Mathieu Geisert on November 2014.
-// Copyright (c) 2014 Mathieu Geisert. All rights reserved.
-//
-
-#include "GraphicalInterface.impl.hh"
-
-namespace Graphics {
-namespace corbaServer {
-namespace impl {
-
-GraphicalInterface::GraphicalInterface(corbaServer::Server* server) :
- windowManagers_(), nodes_(), groupNodes_(), server_(server), mtx_(), rate_(20), newNodeConfigurations_()
-{
-}
-
-osgVector4 GraphicalInterface::getColor(const std::string& colorName)
-{
- if (colorName == "blue")
- return osgVector4(0.f, 0.f, 1.f, 1.f);
- else if (colorName == "green")
- return osgVector4(0.f, 1.f, 0.f, 1.f);
- else if (colorName == "red")
- return osgVector4(1.f, 0.f, 0.f, 1.f);
- else if (colorName == "white")
- return osgVector4(1.f, 1.f, 1.f, 1.f);
- else
- return osgVector4(0.f, 0.f, 0.f, 1.f);
-}
-
-VisibilityMode GraphicalInterface::getVisibility(const std::string& visibilityName)
-{
- if (visibilityName == "OFF")
- return VISIBILITY_OFF;
- else if (visibilityName == "ALWAYS_ON_TOP")
- return ALWAYS_ON_TOP;
- else if (visibilityName == "ON")
- return VISIBILITY_ON;
- else {
- std::cout << "Visibility mode not known, visibility mode can be \"ON\",\"OFF\" or \"ALWAYS_ON_TOP\"." << std::endl;
- std::cout << "Visibility mode set to default = \"ON\"." << std::endl;
- return VISIBILITY_ON;
- }
-}
-
-WireFrameMode GraphicalInterface::getWire(const std::string& wireName)
-{
- if (wireName == "WIREFRAME")
- return WIREFRAME;
- else if (wireName == "FILL_AND_WIREFRAME")
- return FILL_AND_WIREFRAME;
- else if (wireName == "FILL")
- return FILL;
- else {
- std::cout << "Wire mode not known, wire mode can be \"FILL\",\"WIREFRAME\" or \"FILL_AND_WIREFRAME\"." << std::endl;
- std::cout << "Wire mode set to default = \"FILL\"." << std::endl;
- return FILL;
- }
-}
-
-LightingMode GraphicalInterface::getLight(const std::string& lightName)
-{
- if (lightName == "OFF")
- return LIGHT_INFLUENCE_OFF;
- else if (lightName == "ON")
- return LIGHT_INFLUENCE_ON;
- else {
- std::cout << "Lighting mode not known, lighting mode can be \"ON\" or \"OFF\"." << std::endl;
- std::cout << "Lighting mode set to default = \"ON\"." << std::endl;
- return LIGHT_INFLUENCE_ON;
- }
-}
-
-std::string GraphicalInterface::parentName(const std::string& name)
-{
- std::string Name(name);
- std::string::iterator parentNameIt;
- for (std::string::iterator i = Name.end() ; (*i) != char('/') && i != Name.begin() ; i--) {
- parentNameIt = i;
- }
- parentNameIt--;
-
- std::string parentName;
- for (std::string::iterator i = Name.begin(); i != parentNameIt; i++ ) {
- parentName.push_back(*i);
- }
-
- return parentName;
-}
-
-void GraphicalInterface::initParent(const std::string& nodeName, NodePtr_t node)
-{
- GroupNodePtr_t groupNode = groupNodes_[GraphicalInterface::parentName(nodeName)];
- if ( groupNode ) {
- groupNode->addChild(node);
- }
-}
-
-void GraphicalInterface::addNode(const std::string& nodeName, NodePtr_t node)
-{
- nodes_[nodeName] = node;
-}
-
-void GraphicalInterface::addGroup(const std::string& groupName, GroupNodePtr_t group)
-{
- groupNodes_[groupName] = group;
- nodes_[groupName] = group;
-}
-
-void GraphicalInterface::threadRefreshing(WindowManagerPtr_t window)
-{
- while (1)
- {
- mtx_.lock();
- window->frame();
- mtx_.unlock();
- boost::this_thread::sleep(boost::posix_time::milliseconds(rate_));
- }
-}
-
-osgQuat GraphicalInterface::corbaConfToOsgQuat(const double* configurationCorba)
-{
- // configurationCorba = trans (x, y, z), quat(w, x, y, z)
- // osgQuat = quat(x, y, z, w)
- return osgQuat(configurationCorba[4], configurationCorba[5], configurationCorba[6], configurationCorba[3]);
-}
-
-osgVector3 GraphicalInterface::corbaConfToOsgVec3(const double* configurationCorba)
-{
- return osgVector3(configurationCorba[0], configurationCorba[1], configurationCorba[2]);
-}
-
-
-//Public functions
-
-bool GraphicalInterface::setRate(CORBA::Long rate)
-{
- if ( rate <= 0 ) {
- std::cout << "You should specify a positive rate" << std::endl;
- return false;
- }
- else {
- rate_ = rate;
- return true;
- }
-}
-
-bool GraphicalInterface::createWindow(const char* windowNameCorba)
-{
- std::string windowName(windowNameCorba);
- if ( windowManagers_.find(windowName) != windowManagers_.end()) {
- std::cout << "You need to chose an other name, \"" << windowName << "\" already exist." << std::endl;
- return false;
- }
- else {
- WindowManagerPtr_t newWindow = WindowManager::create();
- windowManagers_[windowName] = newWindow;
- boost::thread refreshThread(boost::bind(&GraphicalInterface::threadRefreshing, this, newWindow));
- return true;
- }
-}
-
-void GraphicalInterface::refresh()
-{
- mtx_.lock();
- //refresh scene with the new configuration
- for (std::list<NodeConfiguration>::iterator it = newNodeConfigurations_.begin() ; it != newNodeConfigurations_.end() ; it++ ) {
- (*it).node->applyConfiguration((*it).position, (*it).quat);
- }
- mtx_.unlock();
- newNodeConfigurations_.clear();
-}
-
-/*void GraphicalInterface::createWindow(const char* name, const unsigned int& x, const unsigned int& y, const unsigned int& width, const unsigned int& height)
-
- {
- WindowManagerPtr_t newWindow = WindowManager::create(x, y, width, height);
- windowManagers_[name] = newWindow;
- }*/
-
-bool GraphicalInterface::createScene(const char* sceneNameCorba)
-{
- std::string sceneName(sceneNameCorba);
- if (nodes_.find(sceneName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << sceneName << "\" already exist." << std::endl;
- return false;
- }
- else {
- GroupNodePtr_t mainNode = GroupNode::create(sceneName);
- addGroup(sceneName, mainNode);
- return true;
- }
-}
-
-bool GraphicalInterface::createSceneWithFloor(const char* sceneNameCorba)
-
-{
- std::string sceneName(sceneNameCorba);
- if (nodes_.find(sceneName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << sceneName << "\" already exist." << std::endl;
- return false;
- }
- else {
- GroupNodePtr_t mainNode = GroupNode::create(sceneName);
- addGroup(sceneName, mainNode);
- std::string floorName = sceneName + "/floor";
- LeafNodeGroundPtr_t floor = LeafNodeGround::create(floorName);
- addNode(floorName, floor);
- mainNode->addChild(floor);
- return true;
- }
-}
-
-bool GraphicalInterface::addSceneToWindow(const char* sceneNameCorba,const char* windowNameCorba)
-
-{
- std::string sceneName(sceneNameCorba);
- std::string windowName(windowNameCorba);
- if (windowManagers_.find(windowName) != windowManagers_.end() && groupNodes_.find(sceneName) != groupNodes_.end() ) {
- windowManagers_[windowName]->addNode(groupNodes_[sceneName]);
- return true;
- }
- else {
- std::cout << "Window name \"" << windowName << "\" and/or scene name \"" << sceneName << "\" doesn't exist." << std::endl;
- return false;
- }
-}
-
-/*void GraphicalInterface::addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const char* colorName)
-
- {
- osgVector4 color = getColor(colorName);
- LeafNodeBoxPtr_t box = LeafNodeBox::create(boxName, osgVector3(boxSize1, boxSize2, boxSize3), color);
- GraphicalInterface::initParent(boxName, box);
- addNode(boxName, box);
- }*/
-
-bool GraphicalInterface::addBox(const char* boxNameCorba, const float boxSize1, const float boxSize2, const float boxSize3)
-
-{
- std::string boxName(boxNameCorba);
- if (nodes_.find(boxName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << boxName << "\" already exist." << std::endl;
- return false;
- }
- else {
- LeafNodeBoxPtr_t box = LeafNodeBox::create(boxName, osgVector3(boxSize1, boxSize2, boxSize3));
- GraphicalInterface::initParent(boxName, box);
- addNode(boxName, box);
- return true;
- }
-}
-
-bool GraphicalInterface::addCapsule(const char* capsuleNameCorba, const float radius, const float height)
-
-{
- const std::string capsuleName(capsuleNameCorba);
- if (nodes_.find(capsuleName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << capsuleName << "\" already exist." << std::endl;
- return false;
- }
- else {
- LeafNodeCapsulePtr_t capsule = LeafNodeCapsule::create(capsuleName, radius, height);
- GraphicalInterface::initParent(capsuleName, capsule);
- addNode(capsuleName, capsule);
- return true;
- }
-}
-
-/*void GraphicalInterface::addCapsule(const char* capsuleName, const float radius, const float height, const char* colorName)
-
- {
- osgVector4 color = getColor(colorName);
- LeafNodeCapsulePtr_t capsule = LeafNodeCapsule::create(capsuleName, radius, height, color);
- GraphicalInterface::initParent(capsuleName, capsule);
- addNode(capsuleName, capsule);
- }*/
-
-bool GraphicalInterface::addMesh(const char* meshNameCorba, const char* meshPathCorba)
-
-{
- std::string meshName(meshNameCorba);
- std::string meshPath(meshPathCorba);
- if (nodes_.find(meshName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << meshName << "\" already exist." << std::endl;
- return false;
- }
- else {
- try {
- LeafNodeColladaPtr_t mesh = LeafNodeCollada::create(meshName, meshPath);
- GraphicalInterface::initParent(meshName, mesh);
- addNode(meshName, mesh);
- return true;
- } catch (const std::exception& exc) {
- std::cout << "Mesh \"" << meshPath << "\" not found." << std::endl;
- return false;
- }
- }
-}
-
-bool GraphicalInterface::addCone(const char* coneNameCorba, const float radius, const float height)
-
-{
- std::string coneName(coneNameCorba);
- if (nodes_.find(coneName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << coneName << "\" already exist." << std::endl;
- return false;
- }
- else {
- LeafNodeConePtr_t cone = LeafNodeCone::create(coneName, radius, height);
- GraphicalInterface::initParent(coneName, cone);
- addNode(coneName, cone);
- return true;
- }
-}
-
-/*void GraphicalInterface::addCone(const char* coneName, const float radius, const float height, const char* colorName)
-
- {
- osgVector4 color = getColor(colorName);
- LeafNodeConePtr_t cone = LeafNodeCone::create(coneName, radius, height, color);
- GraphicalInterface::initParent(coneName, cone);
- addNode(coneName, cone);
- }*/
-
-bool GraphicalInterface::addCylinder(const char* cylinderNameCorba, const float radius, const float height)
-
-{
- std::string cylinderName(cylinderNameCorba);
- if (nodes_.find(cylinderName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << cylinderName << "\" already exist." << std::endl;
- return false;
- }
- else {
- LeafNodeCylinderPtr_t cylinder = LeafNodeCylinder::create(cylinderName, radius, height);
- GraphicalInterface::initParent(cylinderName, cylinder);
- addNode(cylinderName, cylinder);
- return true;
- }
-}
-
-/*void GraphicalInterface::addCylinder(const char* cylinderName, const float radius, const float height, const char* colorName)
-
- {
- osgVector4 color = getColor(colorName);
- LeafNodeCylinderPtr_t cylinder = LeafNodeCylinder::create(cylinderName, radius, height);
- GraphicalInterface::initParent(cylinderName, cylinder);
- addNode(cylinderName, cylinder);
-
- }*/
-
-bool GraphicalInterface::addSphere(const char* sphereNameCorba, const float radius)
-
-{
- std::string sphereName(sphereNameCorba);
- if (nodes_.find(sphereName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << sphereName << "\" already exist." << std::endl;
- return false;
- }
- else {
- LeafNodeSpherePtr_t sphere = LeafNodeSphere::create(sphereName, radius);
- GraphicalInterface::initParent(sphereName, sphere);
- addNode(sphereName, sphere);
- return true;
- }
-}
-
-void GraphicalInterface::getNodeList()
-{
- std::cout << "List of Nodes :" << std::endl;
- for (std::map<std::string, NodePtr_t>::iterator it=nodes_.begin(); it!=nodes_.end(); ++it)
- std::cout << " " << it->first << std::endl;
- std::cout << "List of GroupNodes :" << std::endl;
- for (std::map<std::string, GroupNodePtr_t>::iterator it=groupNodes_.begin(); it!=groupNodes_.end(); ++it)
- std::cout << " " << it->first << std::endl;
-}
-
-void GraphicalInterface::getWindowList()
-{
- std::cout << "List of Windows :" << std::endl;
- for (std::map<std::string, WindowManagerPtr_t>::iterator it=windowManagers_.begin(); it!=windowManagers_.end(); ++it)
- std::cout << " " << it->first << std::endl;
-}
-/*void GraphicalInterface::addSphere(const char* sphereName, const float radius, const char* colorName)
-
- {
- osgVector4 color = getColor(colorName);
- LeafNodeSpherePtr_t sphere = LeafNodeSphere::create(sphereName, radius);
- GraphicalInterface::initParent(sphereName, sphere);
- addNode(sphereName, sphere);
- }*/
-
-bool GraphicalInterface::createGroup(const char* groupNameCorba)
-{
- const std::string groupName(groupNameCorba);
- if (nodes_.find(groupName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << groupName << "\" already exist." << std::endl;
- return false;
- }
- else {
- GroupNodePtr_t groupNode = GroupNode::create(groupName);
- GraphicalInterface::initParent(groupName, groupNode);
- addGroup(groupName, groupNode);
- return true;
- }
-}
-
-bool GraphicalInterface::addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba)
-{
- const std::string urdfName(urdfNameCorba);
- const std::string urdfPath(urdfPathCorba);
- const std::string urdfPackagePath(urdfPackagePathCorba);
- if (nodes_.find(urdfName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << urdfName << "\" already exist." << std::endl;
- return false;
- }
- else {
- GroupNodePtr_t urdf = URDFparser::parse(urdfName, urdfPath, urdfPackagePath);
- NodePtr_t link;
- for (int i=0 ; i< urdf->getNumOfChildren() ; i++) {
- link = urdf->getChild(i);
- nodes_[link->getID()] = link;
- }
- GraphicalInterface::initParent(urdfName, urdf);
- addGroup(urdfName, urdf);
- return true;
- }
-}
-
-bool GraphicalInterface::addToGroup(const char* nodeNameCorba, const char* groupNameCorba)
-{
- const std::string nodeName(nodeNameCorba);
- const std::string groupName(groupNameCorba);
- if (nodes_.find(nodeName) == nodes_.end() || groupNodes_.find(groupName) == groupNodes_.end()) {
- std::cout << "Node name \"" << nodeName << "\" and/or groupNode \"" << groupName << "\" doesn't exist." << std::endl;
- return false;
- }
- else {
- groupNodes_[groupName]->addChild(nodes_[nodeName]);
- return true;
- }
-}
-
-bool GraphicalInterface::applyConfiguration(const char* nodeNameCorba, const double* configurationCorba)
-{
- const std::string nodeName(nodeNameCorba);
- if (nodes_.find(nodeName) == nodes_.end()) {
- //no node named nodeName
- std::cout << "No Node named \"" << nodeName << "\"" << std::endl;
- return false;
- }
- else {
- NodeConfiguration newNodeConfiguration;
- newNodeConfiguration.node = nodes_[nodeName];
- try {
- newNodeConfiguration.position = GraphicalInterface::corbaConfToOsgVec3(configurationCorba);
- newNodeConfiguration.quat = GraphicalInterface::corbaConfToOsgQuat(configurationCorba);
- } catch (const std::exception& exc) {
- std::cout << "Error when converting configuration, configuration should be DOUBLE[7] = [transX, transY, transZ, quatW, quatX, quatY, quatZ]" <<std::endl;
- return false;
- }
- newNodeConfigurations_.push_back(newNodeConfiguration);
- return true;
- }
-}
-
-bool GraphicalInterface::setVisibility(const char* nodeNameCorba, const char* visibilityModeCorba)
-{
- const std::string nodeName(nodeNameCorba);
- const std::string visibilityMode(visibilityModeCorba);
- VisibilityMode visibility = getVisibility(visibilityMode);
- if (nodes_.find(nodeName) == nodes_.end()) {
- std::cout << "Node \"" << nodeName << "\" doesn't exist." << std::endl;
- return false;
- }
- nodes_[nodeName]->setVisibilityMode(visibility);
- return true;
-}
-
-bool GraphicalInterface::setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba)
-{
- const std::string nodeName(nodeNameCorba);
- const std::string wireFrameMode(wireFrameModeCorba);
- WireFrameMode wire = getWire(wireFrameMode);
- if (nodes_.find(nodeName) == nodes_.end()) {
- std::cout << "Node \"" << nodeName << "\" doesn't exist." << std::endl;
- return false;
- }
- nodes_[nodeName]->setWireFrameMode(wire);
- return true;
-}
-
-bool GraphicalInterface::setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba)
-{
- const std::string nodeName(nodeNameCorba);
- const std::string lightingMode(lightingModeCorba);
- LightingMode light = getLight(lightingMode);
- if (nodes_.find(nodeName) == nodes_.end()) {
- std::cout << "Node \"" << nodeName << "\" doesn't exist." << std::endl;
- return false;
- }
- nodes_[nodeName]->setLightingMode(light);
- return true;
-}
-} //end namespace impl
-} //end namespace corbaServer
-} //end namespace Graphics
diff --git a/src/GraphicalInterface.impl.hh~ b/src/GraphicalInterface.impl.hh~
deleted file mode 100644
index cc08cc4..0000000
--- a/src/GraphicalInterface.impl.hh~
+++ /dev/null
@@ -1,125 +0,0 @@
-//
-// GraphicalInterface.impl.hh
-// Corbaserver for SceneViewer
-//
-// Created by Mathieu Geisert on November 2014.
-// Copyright (c) 2014 LAAS-CNRS. All rights reserved.
-//
-
-#ifndef SCENEVIEWER_CORBASERVER_GRAPHICALINTERFACE_HH
-#define SCENEVIEWER_CORBASERVER_GRAPHICALINTERFACE_HH
-
-#include <omniORB4/CORBA.h>
-#include <boost/thread.hpp>
-#include <boost/thread/mutex.hpp>
-
-#include <Graphics/WindowManager.h>
-#include <Graphics/Node.h>
-#include <Graphics/GroupNode.h>
-#include <Graphics/LeafNodeBox.h>
-#include <Graphics/LeafNodeCapsule.h>
-#include <Graphics/LeafNodeCone.h>
-#include <Graphics/LeafNodeCylinder.h>
-#include <Graphics/LeafNodeLine.h>
-#include <Graphics/LeafNodeSphere.h>
-#include <Graphics/macros.h>
-#include <Graphics/config.h>
-#include <Graphics/LeafNodeGround.h>
-#include <Graphics/LeafNodeCollada.h>
-#include <Graphics/URDFparser.h>
-
-#include "server.hh"
-#include "graphicalinterface.hh"
-
-namespace Graphics {
-namespace corbaServer {
-namespace impl {
-
-struct NodeConfiguration {
- NodePtr_t node;
- osgVector3 position;
- osgQuat quat;
-};
-
-class GraphicalInterface : public virtual POA_Graphics::corbaserver::Graphicalinterface
-{
-private:
- std::map<std::string, WindowManagerPtr_t> windowManagers_;
- std::map<std::string, NodePtr_t> nodes_;
- std::map<std::string, GroupNodePtr_t> groupNodes_;
- corbaServer::Server* server_;
- boost::mutex mtx_;
- int rate_;
- std::list<NodeConfiguration> newNodeConfigurations_;
-
- static osgVector4 getColor(const std::string& colorName);
- static std::string parentName(const std::string& name);
- static VisibilityMode getVisibility(const std::string& visibilityName);
- static WireFrameMode getWire(const std::string& wireName);
- static LightingMode getLight(const std::string& lightName);
- void initParent(const std::string& nodeName, NodePtr_t node);
- void addNode(const std::string& nodeName, NodePtr_t node);
- void addGroup(const std::string& groupName, GroupNodePtr_t group);
- void threadRefreshing(WindowManagerPtr_t window);
- static osgQuat corbaConfToOsgQuat(const double* configurationCorba);
- static osgVector3 corbaConfToOsgVec3(const double* configurationCorba);
-
-protected:
-
-public:
- /**
- \brief Default constructor
- */
- GraphicalInterface (corbaServer::Server* server);
-
- virtual void getNodeList();
- virtual void getWindowList();
-
- virtual bool setRate(CORBA::Long rate);
- virtual void refresh();
-
- virtual bool createWindow(const char* windowNameCorba);
-
-
- //virtual void createWindow(const char* name, CORBA::ULong x, CORBA::ULong y, CORBA::ULong width, CORBA::ULong height) ;
-
- virtual bool createScene(const char* sceneNameCorba) ;
- virtual bool createSceneWithFloor(const char* sceneNameCorba) ;
- virtual bool addSceneToWindow(const char* sceneNameCorba, const char* windowNameCorba) ;
-
-
- //virtual void addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const char* colorName);
- virtual bool addBox(const char* boxNameCorba, float boxSize1, float boxSize2, float boxSize3) ;
-
- virtual bool addCapsule(const char* capsuleNameCorba, float radius, float height) ;
- //virtual void addCapsule(const char* capsuleName, float radius, float height, const char* colorName);
-
- virtual bool addMesh(const char* meshNameCorba, const char* meshPathCorba) ;
-
- virtual bool addCone(const char* coneNameCorba, float radius, float height) ;
- //virtual void addCone(const char* coneName, float radius, float height, const char* colorName);
-
- virtual bool addCylinder(const char* cylinderNameCorba, float radius, float height) ;
- //virtual void addCylinder(const char* cylinderName, float radius, float height, const char* colorName);
-
- virtual bool addSphere(const char* sphereNameCorba, float radius) ;
- //virtual void addSphere(const char* sphereName, float radius, const char* colorName);
-
- virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba);
-
- virtual bool createGroup(const char* groupNameCorba) ;
- virtual bool addToGroup(const char* nodeNameCorba, const char* groupNameCorba) ;
-
- virtual bool applyConfiguration(const char* nodeNameCorba, const double* configuration) ;
-
- virtual bool setVisibility(const char* nodeNameCorba, const char* visibilityModeCorba) ;
- virtual bool setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba) ;
- virtual bool setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba) ;
-
-}; // end of class
-
-} /* namespace impl */
-} /* namespace corbaServer */
-} /* namespace Graphics */
-
-#endif /* defined(__DynAndGraphics__GraphicalInterface__) */
diff --git a/src/client-cpp.cc~ b/src/client-cpp.cc~
deleted file mode 100644
index 3a1cc24..0000000
--- a/src/client-cpp.cc~
+++ /dev/null
@@ -1,185 +0,0 @@
-//
-// client-cpp.cc
-// C++ CORBA client interface for SceneViewer
-//
-// Created by Mathieu Geisert in December 2014.
-// Copyright (c) 2014 LAAS-CNRS. All rights reserved.
-//
-
-#include "client-cpp.hh"
-
-namespace Graphics {
-namespace corbaServer {
-
-void ClientCpp::se3ToCorba(CORBA::Double* corbaPosition, const se3::SE3& se3position)
-{
- Eigen::Quaternion<double> q(se3position.rotation());
- corbaPosition[0] = se3position.translation()(0);
- corbaPosition[1] = se3position.translation()(1);
- corbaPosition[2] = se3position.translation()(2);
- corbaPosition[3] = q.w();
- corbaPosition[4] = q.x();
- corbaPosition[5] = q.y();
- corbaPosition[5] = q.z();
-}
-
-
-ClientCpp::ClientCpp()
-{
- int argc=0; // Dummy variables to support following call.
- char** argv=0;
- orb_ = CORBA::ORB_init(argc, argv);
-
- // Get a reference to the Naming Service
- CORBA::Object_var rootContextObj =
- orb_->resolve_initial_references("NameService");
- CosNaming::NamingContext_var nc =
- CosNaming::NamingContext::_narrow(rootContextObj.in());
-
- CosNaming::Name name;
- name.length(2);
- name[0].id = (const char *) "Graphics";
- name[0].kind = (const char *) "corbaserver";
- name[1].id = (const char *) "basic";
- name[1].kind = (const char *) "graphicalinterface";
- // Invoke the root context to retrieve the object reference
- CORBA::Object_var managerObj = nc->resolve(name);
- // Narrow the previous object to obtain the correct type
- manager_ = Graphics::corbaserver::Graphicalinterface::_narrow(managerObj.in());
-}
-
-ClientCpp::~ClientCpp()
-{
- //manager_->shutdown();
- if (!CORBA::is_nil(orb_)) {
- try {
- orb_->destroy();
- std::cout << "Ending CORBA..." << std::endl;
- } catch(const CORBA::Exception& e) {
- std::cout << "orb->destroy failed" << std::endl;
- }
- }
-}
-
-void ClientCpp::getNodeList()
-{
- manager_->getNodeList();
-}
-
-
-void ClientCpp::getWindowList()
-{
- manager_->getWindowList();
-}
-
-bool ClientCpp::setRate(int rate)
-{
- return manager_->setRate(rate);
-}
-
-void ClientCpp::refresh()
-{
- manager_->refresh();
-}
-
-bool ClientCpp::createWindow(const char* windowName)
-{
- return manager_->createWindow(windowName);
-}
-
-
- //void ClientCpp::createWindow(const char* name, CORBA::ULong x, CORBA::ULong y, CORBA::ULong width, CORBA::ULong height) ;
-
-bool ClientCpp::createScene(const char* sceneName)
-{
- return manager_->createScene(sceneName);
-}
-
-bool ClientCpp::createSceneWithFloor(const char* sceneName)
-{
- return manager_->createSceneWithFloor(sceneName);
-}
-
-bool ClientCpp::addSceneToWindow(const char* sceneName, const char* windowName)
-{
- return manager_->addSceneToWindow(sceneName, windowName);
-}
-
- //void ClientCpp::addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const char* colorName);
-
-bool ClientCpp::addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3)
-{
- return manager_->addBox(boxName, boxSize1, boxSize2, boxSize3);
-}
-
-bool ClientCpp::addCapsule(const char* capsuleName, float radius, float height)
-{
- return manager_->addCapsule(capsuleName, radius, height);
-}
-
- //void ClientCpp::addCapsule(const char* capsuleName, float radius, float height, const char* colorName);
-
-bool ClientCpp::addMesh(const char* meshName, const char* meshPath)
-{
- return manager_->addMesh(meshName, meshPath);
-}
-
-bool ClientCpp::addCone(const char* coneName, float radius, float height)
-{
- return manager_->addCone(coneName, radius, height);
-}
-
- //void ClientCpp::addCone(const char* coneName, float radius, float height, const char* colorName);
-
-bool ClientCpp::addCylinder(const char* cylinderName, float radius, float height)
-{
- return manager_->addCylinder(cylinderName, radius, height);
-}
-
- //void ClientCpp::addCylinder(const char* cylinderName, float radius, float height, const char* colorName);
-
-bool ClientCpp::addSphere(const char* sphereName, float radius)
-{
- return manager_->addSphere(sphereName, radius);
-}
-
- //void ClientCpp::addSphere(const char* sphereName, float radius, const char* colorName);
-
-bool ClientCpp::addURDF(const char* urdfName, const char* urdfPath, const char* urdfPackagePath)
-{
- return manager_->addURDF(urdfName, urdfPath, urdfPackagePath);
-}
-
-bool ClientCpp::createGroup(const char* groupName)
-{
- return manager_->createGroup(groupName);
-}
-
-bool ClientCpp::addToGroup(const char* nodeName, const char* groupName)
-{
- return manager_->addToGroup(nodeName, groupName);
-}
-
-bool ClientCpp::applyConfiguration(const char* nodeName, const se3::SE3& se3position)
-{
- CORBA::Double corbaPosition[7];
- ClientCpp::se3ToCorba(corbaPosition, se3position);
- return manager_->applyConfiguration(nodeName, corbaPosition);
-}
-
-bool ClientCpp::setVisibility(const char* nodeName, const char* visibilityMode)
-{
- return manager_->setVisibility(nodeName, visibilityMode);
-}
-
-bool ClientCpp::setWireFrameMode(const char* nodeName, const char* wireFrameMode)
-{
- return manager_->setWireFrameMode(nodeName, wireFrameMode);
-}
-bool ClientCpp::setLightingMode(const char* nodeName, const char* lightingMode)
-{
- return manager_->setLightingMode(nodeName, lightingMode);
-}
-
-} // end of namespace corbaserver
-} // end of namespace Graphics
diff --git a/src/client-cpp.hh~ b/src/client-cpp.hh~
deleted file mode 100644
index 87e883e..0000000
--- a/src/client-cpp.hh~
+++ /dev/null
@@ -1,86 +0,0 @@
-//
-// client-cpp.hh
-// C++ CORBA client interface for SceneViewer.
-//
-// Created by Mathieu Geisert in December 2014.
-// Copyright (c) 2014 LAAS-CNRS. All rights reserved.
-//
-
-#ifndef SCENEVIEWER_CORBASERVER_CLIENTCPP_HH
-#define SCENEVIEWER_CORBASERVER_CLIENTCPP_HH
-
-#include <iostream>
-#include <omniORB4/CORBA.h>
-#include "se3.hpp"
-#include "graphicalinterface.hh"
-
-
-namespace Graphics {
-namespace corbaServer {
-
-class ClientCpp
-{
-private:
- CORBA::ORB_var orb_;
- Graphics::corbaserver::Graphicalinterface_var manager_;
-
- static void se3ToCorba(CORBA::Double* corbaPosition, const se3::SE3& se3position);
-
-protected:
-
-public:
- // Default constructor
- ClientCpp();
- // Default destructor
- ~ClientCpp();
-
- void getNodeList();
- void getWindowList();
-
- bool setRate(int rate);
- void refresh();
-
- bool createWindow(const char* windowName);
-
-
- //void createWindow(const char* name, CORBA::ULong x, CORBA::ULong y, CORBA::ULong width, CORBA::ULong height) ;
-
- bool createScene(const char* sceneName) ;
- bool createSceneWithFloor(const char* sceneName) ;
- bool addSceneToWindow(const char* sceneName, const char* windowName) ;
-
-
- //void addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const char* colorName);
- bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3) ;
-
- bool addCapsule(const char* capsuleName, float radius, float height) ;
- //void addCapsule(const char* capsuleName, float radius, float height, const char* colorName);
-
- bool addMesh(const char* meshName, const char* meshPath) ;
-
- bool addCone(const char* coneName, float radius, float height) ;
- //void addCone(const char* coneName, float radius, float height, const char* colorName);
-
- bool addCylinder(const char* cylinderName, float radius, float height) ;
- //void addCylinder(const char* cylinderName, float radius, float height, const char* colorName);
-
- bool addSphere(const char* sphereName, float radius) ;
- //void addSphere(const char* sphereName, float radius, const char* colorName);
-
- bool addURDF(const char* urdfName, const char* urdfPath, const char* urdfPackagePath);
-
- bool createGroup(const char* groupName) ;
- bool addToGroup(const char* nodeName, const char* groupName) ;
-
- bool applyConfiguration(const char* nodeName, const se3::SE3& se3position) ;
-
- bool setVisibility(const char* nodeName, const char* visibilityMode) ;
- bool setWireFrameMode(const char* nodeName, const char* wireFrameMode) ;
- bool setLightingMode(const char* nodeName, const char* lightingMode) ;
-
-}; //end of class ClientCpp
-
-} //end of namespace corbaserver
-} //end of namespace Graphics
-
-#endif // __DynAndGraphics__clientCpp__
diff --git a/src/erreur.txt~ b/src/erreur.txt~
deleted file mode 100644
index 6c4dc0e..0000000
--- a/src/erreur.txt~
+++ /dev/null
@@ -1,253 +0,0 @@
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::sceneViewer_Helper::duplicate(Graphics::corbaserver::_objref_sceneViewer*)':
-sceneViewerSK.cc:(.text+0xe6): undefined reference to `omni::duplicateObjRef(omniObjRef*)'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::sceneViewer::_duplicate(Graphics::corbaserver::_objref_sceneViewer*)':
-sceneViewerSK.cc:(.text+0x142): undefined reference to `omni::duplicateObjRef(omniObjRef*)'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::sceneViewer::_narrow(CORBA::Object*)':
-sceneViewerSK.cc:(.text+0x1a7): undefined reference to `omniObjRef::_realNarrow(char const*)'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::sceneViewer::_unchecked_narrow(CORBA::Object*)':
-sceneViewerSK.cc:(.text+0x21f): undefined reference to `omniObjRef::_uncheckedNarrow(char const*)'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::sceneViewer::_nil()':
-sceneViewerSK.cc:(.text+0x24e): undefined reference to `omni::nilRefLock()'
-sceneViewerSK.cc:(.text+0x2a7): undefined reference to `omni::registerNilCorbaObject(CORBA::Object*)'
-sceneViewerSK.cc:(.text+0x2ac): undefined reference to `omni::nilRefLock()'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_objref_sceneViewer::~_objref_sceneViewer()':
-sceneViewerSK.cc:(.text+0x329): undefined reference to `omniObjRef::~omniObjRef()'
-sceneViewerSK.cc:(.text+0x343): undefined reference to `CORBA::Object::~Object()'
-sceneViewerSK.cc:(.text+0x378): undefined reference to `CORBA::Object::~Object()'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_objref_sceneViewer::~_objref_sceneViewer()':
-sceneViewerSK.cc:(.text+0x3ef): undefined reference to `omniObjRef::~omniObjRef()'
-sceneViewerSK.cc:(.text+0x409): undefined reference to `CORBA::Object::~Object()'
-sceneViewerSK.cc:(.text+0x43e): undefined reference to `CORBA::Object::~Object()'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_objref_sceneViewer::_objref_sceneViewer(omniIOR*, omniIdentity*)':
-sceneViewerSK.cc:(.text+0x530): undefined reference to `omniObjRef::omniObjRef(char const*, omniIOR*, omniIdentity*, bool)'
-sceneViewerSK.cc:(.text+0x58c): undefined reference to `CORBA::Object::~Object()'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_objref_sceneViewer::_ptrToObjRef(char const*)':
-sceneViewerSK.cc:(.text+0x5ce): undefined reference to `CORBA::Object::_PD_repoId'
-sceneViewerSK.cc:(.text+0x604): undefined reference to `CORBA::Object::_PD_repoId'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_objref_sceneViewer::createWindow(char const*)':
-sceneViewerSK.cc:(.text+0x73a): undefined reference to `omniObjRef::_invoke(omniCallDescriptor&, bool)'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_objref_sceneViewer::createScene(char const*)':
-sceneViewerSK.cc:(.text+0x806): undefined reference to `omniObjRef::_invoke(omniCallDescriptor&, bool)'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_objref_sceneViewer::createSceneWithFloor(char const*)':
-sceneViewerSK.cc:(.text+0x8d2): undefined reference to `omniObjRef::_invoke(omniCallDescriptor&, bool)'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_objref_sceneViewer::addSceneToWindow(char const*, char const*)':
-sceneViewerSK.cc:(.text+0xa6a): undefined reference to `omniObjRef::_invoke(omniCallDescriptor&, bool)'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_objref_sceneViewer::addBox(char const*, float, float, float)':
-sceneViewerSK.cc:(.text+0xc55): undefined reference to `omniObjRef::_invoke(omniCallDescriptor&, bool)'
-/tmp/cc7FAfgc.o:sceneViewerSK.cc:(.text+0xe04): more undefined references to `omniObjRef::_invoke(omniCallDescriptor&, bool)' follow
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_pof_sceneViewer::~_pof_sceneViewer()':
-sceneViewerSK.cc:(.text+0x19b0): undefined reference to `omni::proxyObjectFactory::~proxyObjectFactory()'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_impl_sceneViewer::~_impl_sceneViewer()':
-sceneViewerSK.cc:(.text+0x1ab1): undefined reference to `omniServant::~omniServant()'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_impl_sceneViewer::~_impl_sceneViewer()':
-sceneViewerSK.cc:(.text+0x1b13): undefined reference to `omniServant::~omniServant()'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_impl_sceneViewer::_dispatch(omniCallHandle&)':
-sceneViewerSK.cc:(.text+0x1be7): undefined reference to `omniCallHandle::upcall(omniServant*, omniCallDescriptor&)'
-sceneViewerSK.cc:(.text+0x1c61): undefined reference to `omniCallHandle::upcall(omniServant*, omniCallDescriptor&)'
-sceneViewerSK.cc:(.text+0x1cdb): undefined reference to `omniCallHandle::upcall(omniServant*, omniCallDescriptor&)'
-sceneViewerSK.cc:(.text+0x1d55): undefined reference to `omniCallHandle::upcall(omniServant*, omniCallDescriptor&)'
-sceneViewerSK.cc:(.text+0x1dcf): undefined reference to `omniCallHandle::upcall(omniServant*, omniCallDescriptor&)'
-/tmp/cc7FAfgc.o:sceneViewerSK.cc:(.text+0x1e49): more undefined references to `omniCallHandle::upcall(omniServant*, omniCallDescriptor&)' follow
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_impl_sceneViewer::_ptrToInterface(char const*)':
-sceneViewerSK.cc:(.text+0x24c6): undefined reference to `CORBA::Object::_PD_repoId'
-sceneViewerSK.cc:(.text+0x24f4): undefined reference to `CORBA::Object::_PD_repoId'
-/tmp/cc7FAfgc.o: In function `POA_Graphics::corbaserver::sceneViewer::~sceneViewer()':
-sceneViewerSK.cc:(.text+0x25a2): undefined reference to `PortableServer::ServantBase::~ServantBase()'
-sceneViewerSK.cc:(.text+0x25dd): undefined reference to `omniServant::~omniServant()'
-sceneViewerSK.cc:(.text+0x2637): undefined reference to `omniServant::~omniServant()'
-/tmp/cc7FAfgc.o: In function `POA_Graphics::corbaserver::sceneViewer::~sceneViewer()':
-sceneViewerSK.cc:(.text+0x26ca): undefined reference to `PortableServer::ServantBase::~ServantBase()'
-sceneViewerSK.cc:(.text+0x2707): undefined reference to `omniServant::~omniServant()'
-sceneViewerSK.cc:(.text+0x2763): undefined reference to `omniServant::~omniServant()'
-/tmp/cc7FAfgc.o: In function `__static_initialization_and_destruction_0(int, int)':
-sceneViewerSK.cc:(.text+0x27d9): undefined reference to `omni_thread::init_t::init_t()'
-sceneViewerSK.cc:(.text+0x27de): undefined reference to `omni_thread::init_t::~init_t()'
-sceneViewerSK.cc:(.text+0x2802): undefined reference to `_omniFinalCleanup::_omniFinalCleanup()'
-sceneViewerSK.cc:(.text+0x2807): undefined reference to `_omniFinalCleanup::~_omniFinalCleanup()'
-sceneViewerSK.cc:(.text+0x2824): undefined reference to `omni::omniORB_4_1'
-/tmp/cc7FAfgc.o: In function `_CORBA_String_helper::free(char*)':
-sceneViewerSK.cc:(.text._ZN20_CORBA_String_helper4freeEPc[_CORBA_String_helper::free(char*)]+0xd): undefined reference to `_CORBA_String_helper::empty_string'
-/tmp/cc7FAfgc.o: In function `cdrStream::marshalString(char const*, int)':
-sceneViewerSK.cc:(.text._ZN9cdrStream13marshalStringEPKci[cdrStream::marshalString(char const*, int)]+0x26): undefined reference to `omni::ucheckFail(char const*, int, char const*)'
-/tmp/cc7FAfgc.o: In function `CORBA::Object::Object()':
-sceneViewerSK.cc:(.text._ZN5CORBA6ObjectC2Ev[_ZN5CORBA6ObjectC5Ev]+0x8): undefined reference to `vtable for CORBA::Object'
-sceneViewerSK.cc:(.text._ZN5CORBA6ObjectC2Ev[_ZN5CORBA6ObjectC5Ev]+0x18): undefined reference to `CORBA::Object::_PR_magic'
-/tmp/cc7FAfgc.o: In function `CORBA::Object::_PR_is_valid(CORBA::Object*)':
-sceneViewerSK.cc:(.text._ZN5CORBA6Object12_PR_is_validEPS0_[CORBA::Object::_PR_is_valid(CORBA::Object*)]+0x10): undefined reference to `CORBA::Object::_PR_magic'
-/tmp/cc7FAfgc.o: In function `CORBA::is_nil(CORBA::Object*)':
-sceneViewerSK.cc:(.text._ZN5CORBA6is_nilEPNS_6ObjectE[CORBA::is_nil(CORBA::Object*)]+0x33): undefined reference to `_CORBA_use_nil_ptr_as_nil_objref()'
-/tmp/cc7FAfgc.o: In function `CORBA::release(CORBA::Object*)':
-sceneViewerSK.cc:(.text._ZN5CORBA7releaseEPNS_6ObjectE[CORBA::release(CORBA::Object*)]+0x60): undefined reference to `omni::releaseObjRef(omniObjRef*)'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::sceneViewer::_unmarshalObjRef(cdrStream&)':
-sceneViewerSK.cc:(.text._ZN8Graphics11corbaserver11sceneViewer16_unmarshalObjRefER9cdrStream[Graphics::corbaserver::sceneViewer::_unmarshalObjRef(cdrStream&)]+0x16): undefined reference to `omniObjRef::_unMarshal(char const*, cdrStream&)'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_objref_sceneViewer::_objref_sceneViewer()':
-sceneViewerSK.cc:(.text._ZN8Graphics11corbaserver19_objref_sceneViewerC1Ev[Graphics::corbaserver::_objref_sceneViewer::_objref_sceneViewer()]+0x1f): undefined reference to `omniObjRef::omniObjRef()'
-sceneViewerSK.cc:(.text._ZN8Graphics11corbaserver19_objref_sceneViewerC1Ev[Graphics::corbaserver::_objref_sceneViewer::_objref_sceneViewer()]+0x75): undefined reference to `CORBA::Object::~Object()'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::_pof_sceneViewer::_pof_sceneViewer()':
-sceneViewerSK.cc:(.text._ZN8Graphics11corbaserver16_pof_sceneViewerC2Ev[_ZN8Graphics11corbaserver16_pof_sceneViewerC5Ev]+0x17): undefined reference to `omni::proxyObjectFactory::proxyObjectFactory(char const*)'
-/tmp/cc7FAfgc.o: In function `Graphics::corbaserver::sceneViewer::_marshalObjRef(Graphics::corbaserver::_objref_sceneViewer*, cdrStream&)':
-sceneViewerSK.cc:(.text._ZN8Graphics11corbaserver11sceneViewer14_marshalObjRefEPNS0_19_objref_sceneViewerER9cdrStream[Graphics::corbaserver::sceneViewer::_marshalObjRef(Graphics::corbaserver::_objref_sceneViewer*, cdrStream&)]+0x26): undefined reference to `omniObjRef::_marshal(omniObjRef*, cdrStream&)'
-/tmp/cc7FAfgc.o: In function `omniCallDescriptor::omniCallDescriptor(void (*)(omniCallDescriptor*, omniServant*), char const*, int, bool, char const* const*, int, bool)':
-sceneViewerSK.cc:(.text._ZN18omniCallDescriptorC2EPFvPS_P11omniServantEPKcibPKS6_ib[_ZN18omniCallDescriptorC5EPFvPS_P11omniServantEPKcibPKS6_ib]+0x17): undefined reference to `vtable for omniCallDescriptor'
-/tmp/cc7FAfgc.o: In function `omniCallDescriptor::~omniCallDescriptor()':
-sceneViewerSK.cc:(.text._ZN18omniCallDescriptorD2Ev[_ZN18omniCallDescriptorD5Ev]+0xb): undefined reference to `vtable for omniCallDescriptor'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0xf4): undefined reference to `virtual thunk to PortableServer::ServantBase::_downcast()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0xfc): undefined reference to `omniServant::_is_a(char const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x100): undefined reference to `omniServant::_non_existent()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x104): undefined reference to `virtual thunk to PortableServer::ServantBase::_do_get_interface()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x10c): undefined reference to `virtual thunk to PortableServer::ServantBase::_add_ref()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x110): undefined reference to `virtual thunk to PortableServer::ServantBase::_remove_ref()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x148): undefined reference to `PortableServer::ServantBase::_default_POA()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x14c): undefined reference to `PortableServer::ServantBase::_get_interface()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x150): undefined reference to `PortableServer::ServantBase::_add_ref()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x154): undefined reference to `PortableServer::ServantBase::_remove_ref()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x158): undefined reference to `PortableServer::ServantBase::_refcount_value()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x15c): undefined reference to `PortableServer::ServantBase::_do_get_interface()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN12POA_Graphics11corbaserver11sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x160): undefined reference to `PortableServer::ServantBase::_downcast()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE0_N8Graphics11corbaserver17_impl_sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x9c): undefined reference to `omniServant::_downcast()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE0_N8Graphics11corbaserver17_impl_sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0xa4): undefined reference to `omniServant::_is_a(char const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE0_N8Graphics11corbaserver17_impl_sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0xa8): undefined reference to `omniServant::_non_existent()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE0_N8Graphics11corbaserver17_impl_sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0xb4): undefined reference to `omniServant::_add_ref()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE0_N8Graphics11corbaserver17_impl_sceneViewerE[vtable for POA_Graphics::corbaserver::sceneViewer]+0xb8): undefined reference to `omniServant::_remove_ref()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x8): undefined reference to `typeinfo for PortableServer::ServantBase'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0xc): undefined reference to `PortableServer::ServantBase::~ServantBase()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x10): undefined reference to `PortableServer::ServantBase::~ServantBase()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x14): undefined reference to `PortableServer::ServantBase::_default_POA()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x18): undefined reference to `PortableServer::ServantBase::_get_interface()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x1c): undefined reference to `PortableServer::ServantBase::_add_ref()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x20): undefined reference to `PortableServer::ServantBase::_remove_ref()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x24): undefined reference to `PortableServer::ServantBase::_refcount_value()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x28): undefined reference to `PortableServer::ServantBase::_do_get_interface()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x2c): undefined reference to `PortableServer::ServantBase::_downcast()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x5c): undefined reference to `typeinfo for PortableServer::ServantBase'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x60): undefined reference to `virtual thunk to PortableServer::ServantBase::~ServantBase()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x64): undefined reference to `virtual thunk to PortableServer::ServantBase::~ServantBase()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x68): undefined reference to `omniServant::_ptrToInterface(char const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x6c): undefined reference to `virtual thunk to PortableServer::ServantBase::_downcast()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x70): undefined reference to `omniServant::_mostDerivedRepoId()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x74): undefined reference to `omniServant::_is_a(char const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x78): undefined reference to `omniServant::_non_existent()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x7c): undefined reference to `virtual thunk to PortableServer::ServantBase::_do_get_interface()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x80): undefined reference to `omniServant::_dispatch(omniCallHandle&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x84): undefined reference to `virtual thunk to PortableServer::ServantBase::_add_ref()'
-/tmp/cc7FAfgc.o:(.rodata._ZTCN12POA_Graphics11corbaserver11sceneViewerE20_N14PortableServer11ServantBaseE[vtable for POA_Graphics::corbaserver::sceneViewer]+0x88): undefined reference to `virtual thunk to PortableServer::ServantBase::_remove_ref()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN8Graphics11corbaserver17_impl_sceneViewerE[vtable for Graphics::corbaserver::_impl_sceneViewer]+0x9c): undefined reference to `omniServant::_downcast()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN8Graphics11corbaserver17_impl_sceneViewerE[vtable for Graphics::corbaserver::_impl_sceneViewer]+0xa4): undefined reference to `omniServant::_is_a(char const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN8Graphics11corbaserver17_impl_sceneViewerE[vtable for Graphics::corbaserver::_impl_sceneViewer]+0xa8): undefined reference to `omniServant::_non_existent()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN8Graphics11corbaserver17_impl_sceneViewerE[vtable for Graphics::corbaserver::_impl_sceneViewer]+0xb4): undefined reference to `omniServant::_add_ref()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN8Graphics11corbaserver17_impl_sceneViewerE[vtable for Graphics::corbaserver::_impl_sceneViewer]+0xb8): undefined reference to `omniServant::_remove_ref()'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_21000000[vtable for _0RL_cd_1340db5341f970cc_21000000]+0x10): undefined reference to `omniCallDescriptor::initialiseCall(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_21000000[vtable for _0RL_cd_1340db5341f970cc_21000000]+0x1c): undefined reference to `omniCallDescriptor::userException(cdrStream&, omni::IOP_C*, char const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_01000000[vtable for _0RL_cd_1340db5341f970cc_01000000]+0x10): undefined reference to `omniCallDescriptor::initialiseCall(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_01000000[vtable for _0RL_cd_1340db5341f970cc_01000000]+0x1c): undefined reference to `omniCallDescriptor::userException(cdrStream&, omni::IOP_C*, char const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_d0000000[vtable for _0RL_cd_1340db5341f970cc_d0000000]+0x10): undefined reference to `omniCallDescriptor::initialiseCall(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_d0000000[vtable for _0RL_cd_1340db5341f970cc_d0000000]+0x18): undefined reference to `omniCallDescriptor::unmarshalReturnedValues(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_d0000000[vtable for _0RL_cd_1340db5341f970cc_d0000000]+0x1c): undefined reference to `omniCallDescriptor::userException(cdrStream&, omni::IOP_C*, char const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_d0000000[vtable for _0RL_cd_1340db5341f970cc_d0000000]+0x24): undefined reference to `omniCallDescriptor::marshalReturnedValues(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_80000000[vtable for _0RL_cd_1340db5341f970cc_80000000]+0x10): undefined reference to `omniCallDescriptor::initialiseCall(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_80000000[vtable for _0RL_cd_1340db5341f970cc_80000000]+0x18): undefined reference to `omniCallDescriptor::unmarshalReturnedValues(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_80000000[vtable for _0RL_cd_1340db5341f970cc_80000000]+0x1c): undefined reference to `omniCallDescriptor::userException(cdrStream&, omni::IOP_C*, char const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_80000000[vtable for _0RL_cd_1340db5341f970cc_80000000]+0x24): undefined reference to `omniCallDescriptor::marshalReturnedValues(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_60000000[vtable for _0RL_cd_1340db5341f970cc_60000000]+0x10): undefined reference to `omniCallDescriptor::initialiseCall(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_60000000[vtable for _0RL_cd_1340db5341f970cc_60000000]+0x18): undefined reference to `omniCallDescriptor::unmarshalReturnedValues(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_60000000[vtable for _0RL_cd_1340db5341f970cc_60000000]+0x1c): undefined reference to `omniCallDescriptor::userException(cdrStream&, omni::IOP_C*, char const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_60000000[vtable for _0RL_cd_1340db5341f970cc_60000000]+0x24): undefined reference to `omniCallDescriptor::marshalReturnedValues(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_40000000[vtable for _0RL_cd_1340db5341f970cc_40000000]+0x10): undefined reference to `omniCallDescriptor::initialiseCall(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_40000000[vtable for _0RL_cd_1340db5341f970cc_40000000]+0x18): undefined reference to `omniCallDescriptor::unmarshalReturnedValues(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_40000000[vtable for _0RL_cd_1340db5341f970cc_40000000]+0x1c): undefined reference to `omniCallDescriptor::userException(cdrStream&, omni::IOP_C*, char const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_40000000[vtable for _0RL_cd_1340db5341f970cc_40000000]+0x24): undefined reference to `omniCallDescriptor::marshalReturnedValues(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_00000000[vtable for _0RL_cd_1340db5341f970cc_00000000]+0x10): undefined reference to `omniCallDescriptor::initialiseCall(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_00000000[vtable for _0RL_cd_1340db5341f970cc_00000000]+0x18): undefined reference to `omniCallDescriptor::unmarshalReturnedValues(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_00000000[vtable for _0RL_cd_1340db5341f970cc_00000000]+0x1c): undefined reference to `omniCallDescriptor::userException(cdrStream&, omni::IOP_C*, char const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTV33_0RL_cd_1340db5341f970cc_00000000[vtable for _0RL_cd_1340db5341f970cc_00000000]+0x24): undefined reference to `omniCallDescriptor::marshalReturnedValues(cdrStream&)'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN8Graphics11corbaserver19_objref_sceneViewerE[vtable for Graphics::corbaserver::_objref_sceneViewer]+0x40): undefined reference to `CORBA::Object::_non_existent()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN8Graphics11corbaserver19_objref_sceneViewerE[vtable for Graphics::corbaserver::_objref_sceneViewer]+0x44): undefined reference to `CORBA::Object::_NP_incrRefCount()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN8Graphics11corbaserver19_objref_sceneViewerE[vtable for Graphics::corbaserver::_objref_sceneViewer]+0x48): undefined reference to `CORBA::Object::_NP_decrRefCount()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN8Graphics11corbaserver19_objref_sceneViewerE[vtable for Graphics::corbaserver::_objref_sceneViewer]+0x6c): undefined reference to `omniObjRef::_localServantTarget()'
-/tmp/cc7FAfgc.o:(.rodata._ZTVN8Graphics11corbaserver19_objref_sceneViewerE[vtable for Graphics::corbaserver::_objref_sceneViewer]+0x70): undefined reference to `omniObjRef::_enableShortcut(omniServant*, bool const*)'
-/tmp/cc7FAfgc.o:(.rodata._ZTI33_0RL_cd_1340db5341f970cc_21000000[typeinfo for _0RL_cd_1340db5341f970cc_21000000]+0x8): undefined reference to `typeinfo for omniCallDescriptor'
-/tmp/cc7FAfgc.o:(.rodata._ZTI33_0RL_cd_1340db5341f970cc_01000000[typeinfo for _0RL_cd_1340db5341f970cc_01000000]+0x8): undefined reference to `typeinfo for omniCallDescriptor'
-/tmp/cc7FAfgc.o:(.rodata._ZTI33_0RL_cd_1340db5341f970cc_d0000000[typeinfo for _0RL_cd_1340db5341f970cc_d0000000]+0x8): undefined reference to `typeinfo for omniCallDescriptor'
-/tmp/cc7FAfgc.o:(.rodata._ZTI33_0RL_cd_1340db5341f970cc_80000000[typeinfo for _0RL_cd_1340db5341f970cc_80000000]+0x8): undefined reference to `typeinfo for omniCallDescriptor'
-/tmp/cc7FAfgc.o:(.rodata._ZTI33_0RL_cd_1340db5341f970cc_60000000[typeinfo for _0RL_cd_1340db5341f970cc_60000000]+0x8): undefined reference to `typeinfo for omniCallDescriptor'
-/tmp/cc7FAfgc.o:(.rodata._ZTI33_0RL_cd_1340db5341f970cc_40000000[typeinfo for _0RL_cd_1340db5341f970cc_40000000]+0x8): more undefined references to `typeinfo for omniCallDescriptor' follow
-/tmp/cc7FAfgc.o:(.rodata._ZTIN12POA_Graphics11corbaserver11sceneViewerE[typeinfo for POA_Graphics::corbaserver::sceneViewer]+0x18): undefined reference to `typeinfo for PortableServer::ServantBase'
-/tmp/cc7FAfgc.o:(.rodata._ZTIN8Graphics11corbaserver17_impl_sceneViewerE[typeinfo for Graphics::corbaserver::_impl_sceneViewer]+0x10): undefined reference to `typeinfo for omniServant'
-/tmp/cc7FAfgc.o:(.rodata._ZTIN8Graphics11corbaserver16_pof_sceneViewerE[typeinfo for Graphics::corbaserver::_pof_sceneViewer]+0x8): undefined reference to `typeinfo for omni::proxyObjectFactory'
-/tmp/cc7FAfgc.o:(.rodata._ZTIN8Graphics11corbaserver19_objref_sceneViewerE[typeinfo for Graphics::corbaserver::_objref_sceneViewer]+0x10): undefined reference to `typeinfo for CORBA::Object'
-/tmp/cc7FAfgc.o:(.rodata._ZTIN8Graphics11corbaserver19_objref_sceneViewerE[typeinfo for Graphics::corbaserver::_objref_sceneViewer]+0x18): undefined reference to `typeinfo for omniObjRef'
-/tmp/cckfoQVU.o: In function `__static_initialization_and_destruction_0(int, int)':
-server.cc:(.text+0x31f): undefined reference to `omni_thread::init_t::init_t()'
-server.cc:(.text+0x324): undefined reference to `omni_thread::init_t::~init_t()'
-server.cc:(.text+0x348): undefined reference to `_omniFinalCleanup::_omniFinalCleanup()'
-server.cc:(.text+0x34d): undefined reference to `_omniFinalCleanup::~_omniFinalCleanup()'
-/tmp/cckfoQVU.o: In function `_CORBA_String_member::_CORBA_String_member()':
-server.cc:(.text._ZN20_CORBA_String_memberC2Ev[_ZN20_CORBA_String_memberC5Ev]+0x5): undefined reference to `_CORBA_String_helper::empty_string'
-/tmp/cckfoQVU.o: In function `_CORBA_String_member::operator=(_CORBA_String_member const&)':
-server.cc:(.text._ZN20_CORBA_String_memberaSERKS_[_CORBA_String_member::operator=(_CORBA_String_member const&)]+0x2a): undefined reference to `_CORBA_String_helper::empty_string'
-/tmp/cckfoQVU.o: In function `CORBA::Object_var::Object_var()':
-server.cc:(.text._ZN5CORBA10Object_varC2Ev[_ZN5CORBA10Object_varC5Ev]+0x7): undefined reference to `CORBA::Object::_nil()'
-/tmp/cckfoQVU.o: In function `CORBA::ORB_var::ORB_var()':
-server.cc:(.text._ZN5CORBA7ORB_varC2Ev[_ZN5CORBA7ORB_varC5Ev]+0x7): undefined reference to `CORBA::ORB::_nil()'
-/tmp/cckfoQVU.o: In function `POA_Graphics::corbaserver::sceneViewer::_this()':
-server.cc:(.text._ZN12POA_Graphics11corbaserver11sceneViewer5_thisEv[POA_Graphics::corbaserver::sceneViewer::_this()]+0x21): undefined reference to `PortableServer::ServantBase::_do_this(char const*)'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x130): undefined reference to `typeinfo for CORBA::Exception'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x134): undefined reference to `typeinfo for CORBA::SystemException'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x138): undefined reference to `typeinfo for CORBA::UserException'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x304): undefined reference to `typeinfo for CORBA::Exception'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x308): undefined reference to `typeinfo for CORBA::SystemException'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x30c): undefined reference to `typeinfo for CORBA::UserException'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x410): undefined reference to `typeinfo for CosNaming::NamingContext::AlreadyBound'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x414): undefined reference to `typeinfo for CORBA::COMM_FAILURE'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x418): undefined reference to `typeinfo for CORBA::ORB::InvalidName'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x424): undefined reference to `typeinfo for CORBA::Exception'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x428): undefined reference to `typeinfo for CORBA::SystemException'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x42c): undefined reference to `typeinfo for CORBA::UserException'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x46c): undefined reference to `typeinfo for CosNaming::NamingContext::AlreadyBound'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x470): undefined reference to `typeinfo for CORBA::SystemException'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x474): undefined reference to `typeinfo for CORBA::COMM_FAILURE'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x548): undefined reference to `typeinfo for CORBA::Exception'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x54c): undefined reference to `typeinfo for CORBA::SystemException'
-/tmp/cckfoQVU.o:(.gcc_except_table+0x550): undefined reference to `typeinfo for CORBA::UserException'
-/tmp/cckfoQVU.o: In function `_CORBA_Pseudo_Unbounded_Sequence<CORBA::Policy, _CORBA_PseudoObj_Member<CORBA::Policy, _CORBA_PseudoObj_Var<CORBA::Policy> > >::operator[](unsigned long)':
-server.cc:(.text._ZN32_CORBA_Pseudo_Unbounded_SequenceIN5CORBA6PolicyE23_CORBA_PseudoObj_MemberIS1_20_CORBA_PseudoObj_VarIS1_EEEixEm[_CORBA_Pseudo_Unbounded_Sequence<CORBA::Policy, _CORBA_PseudoObj_Member<CORBA::Policy, _CORBA_PseudoObj_Var<CORBA::Policy> > >::operator[](unsigned long)]+0x12): undefined reference to `_CORBA_bound_check_error()'
-/tmp/cckfoQVU.o: In function `_CORBA_Sequence<CosNaming::NameComponent>::operator[](unsigned long)':
-server.cc:(.text._ZN15_CORBA_SequenceIN9CosNaming13NameComponentEEixEm[_CORBA_Sequence<CosNaming::NameComponent>::operator[](unsigned long)]+0x12): undefined reference to `_CORBA_bound_check_error()'
-/tmp/cckfoQVU.o: In function `hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::Server(int, char**, bool, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)':
-server.cc:(.text._ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEEC2EiPPcbRKSs[_ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEEC5EiPPcbRKSs]+0x3c): undefined reference to `omniORB::setLogFunction(void (*)(char const*))'
-/tmp/cckfoQVU.o: In function `_CORBA_PseudoObj_Member<CORBA::Policy, _CORBA_PseudoObj_Var<CORBA::Policy> >::_CORBA_PseudoObj_Member()':
-server.cc:(.text._ZN23_CORBA_PseudoObj_MemberIN5CORBA6PolicyE20_CORBA_PseudoObj_VarIS1_EEC2Ev[_ZN23_CORBA_PseudoObj_MemberIN5CORBA6PolicyE20_CORBA_PseudoObj_VarIS1_EEC5Ev]+0x7): undefined reference to `CORBA::Policy::_nil()'
-/tmp/cckfoQVU.o: In function `_CORBA_PseudoObj_Member<CORBA::Policy, _CORBA_PseudoObj_Var<CORBA::Policy> >::operator=(_CORBA_PseudoObj_Member<CORBA::Policy, _CORBA_PseudoObj_Var<CORBA::Policy> > const&)':
-server.cc:(.text._ZN23_CORBA_PseudoObj_MemberIN5CORBA6PolicyE20_CORBA_PseudoObj_VarIS1_EEaSERKS4_[_CORBA_PseudoObj_Member<CORBA::Policy, _CORBA_PseudoObj_Var<CORBA::Policy> >::operator=(_CORBA_PseudoObj_Member<CORBA::Policy, _CORBA_PseudoObj_Var<CORBA::Policy> > const&)]+0x48): undefined reference to `CORBA::Policy::_duplicate(CORBA::Policy*)'
-/tmp/cckfoQVU.o: In function `_CORBA_PseudoObj_Var<PortableServer::POA>::_CORBA_PseudoObj_Var()':
-server.cc:(.text._ZN20_CORBA_PseudoObj_VarIN14PortableServer3POAEEC2Ev[_ZN20_CORBA_PseudoObj_VarIN14PortableServer3POAEEC5Ev]+0x12): undefined reference to `PortableServer::POA::_nil()'
-/tmp/cckfoQVU.o: In function `_CORBA_ObjRef_Var<CosNaming::_objref_NamingContext, CosNaming::NamingContext_Helper>::_CORBA_ObjRef_Var()':
-server.cc:(.text._ZN17_CORBA_ObjRef_VarIN9CosNaming21_objref_NamingContextENS0_20NamingContext_HelperEEC2Ev[_ZN17_CORBA_ObjRef_VarIN9CosNaming21_objref_NamingContextENS0_20NamingContext_HelperEEC5Ev]+0x12): undefined reference to `CosNaming::NamingContext_Helper::_nil()'
-/tmp/cckfoQVU.o: In function `_CORBA_ObjRef_Var<CosNaming::_objref_NamingContext, CosNaming::NamingContext_Helper>::~_CORBA_ObjRef_Var()':
-server.cc:(.text._ZN17_CORBA_ObjRef_VarIN9CosNaming21_objref_NamingContextENS0_20NamingContext_HelperEED2Ev[_ZN17_CORBA_ObjRef_VarIN9CosNaming21_objref_NamingContextENS0_20NamingContext_HelperEED5Ev]+0xf): undefined reference to `CosNaming::NamingContext_Helper::release(CosNaming::_objref_NamingContext*)'
-/tmp/cckfoQVU.o: In function `hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::initORBandServers(int, char**, bool, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)':
-server.cc:(.text._ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEE17initORBandServersEiPPcbRKSs[hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::initORBandServers(int, char**, bool, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)]+0x5a): undefined reference to `CORBA::ORB_init(int&, char**, char const*, char const* (*) [2])'
-server.cc:(.text._ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEE17initORBandServersEiPPcbRKSs[hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::initORBandServers(int, char**, bool, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)]+0x107): undefined reference to `PortableServer::POA::_narrow(CORBA::Object*)'
-server.cc:(.text._ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEE17initORBandServersEiPPcbRKSs[hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::initORBandServers(int, char**, bool, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)]+0x1bd): undefined reference to `PortableServer::ThreadPolicy::_duplicate(PortableServer::ThreadPolicy*)'
-server.cc:(.text._ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEE17initORBandServersEiPPcbRKSs[hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::initORBandServers(int, char**, bool, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)]+0xcd9): undefined reference to `PortableServer::POAManager::_nil()'
-/tmp/cckfoQVU.o: In function `hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::createHppContext(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)':
-server.cc:(.text._ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEE16createHppContextERKSsSs[hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::createHppContext(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)]+0x66): undefined reference to `CosNaming::NamingContext::_narrow(CORBA::Object*)'
-server.cc:(.text._ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEE16createHppContextERKSsSs[hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::createHppContext(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)]+0x166): undefined reference to `CosNaming::_objref_NamingContext::bind_new_context(CosNaming::Name const&)'
-server.cc:(.text._ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEE16createHppContextERKSsSs[hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::createHppContext(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)]+0x71f): undefined reference to `CosNaming::_objref_NamingContext::resolve(CosNaming::Name const&)'
-server.cc:(.text._ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEE16createHppContextERKSsSs[hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::createHppContext(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)]+0x741): undefined reference to `CosNaming::NamingContext::_narrow(CORBA::Object*)'
-/tmp/cckfoQVU.o: In function `_CORBA_Sequence<CosNaming::NameComponent>::length(unsigned long)':
-server.cc:(.text._ZN15_CORBA_SequenceIN9CosNaming13NameComponentEE6lengthEm[_CORBA_Sequence<CosNaming::NameComponent>::length(unsigned long)]+0x1c): undefined reference to `_CORBA_bound_check_error()'
-/tmp/cckfoQVU.o: In function `hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::bindObjectToName(CORBA::Object*, CosNaming::Name)':
-server.cc:(.text._ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEE16bindObjectToNameEPN5CORBA6ObjectEN9CosNaming4NameE[hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::bindObjectToName(CORBA::Object*, CosNaming::Name)]+0x28): undefined reference to `CosNaming::_objref_NamingContext::bind(CosNaming::Name const&, CORBA::Object*)'
-server.cc:(.text._ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEE16bindObjectToNameEPN5CORBA6ObjectEN9CosNaming4NameE[hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::bindObjectToName(CORBA::Object*, CosNaming::Name)]+0x7d): undefined reference to `CosNaming::_objref_NamingContext::rebind(CosNaming::Name const&, CORBA::Object*)'
-/tmp/cckfoQVU.o: In function `_CORBA_PseudoObj_Var<PortableServer::ThreadPolicy>::_CORBA_PseudoObj_Var()':
-server.cc:(.text._ZN20_CORBA_PseudoObj_VarIN14PortableServer12ThreadPolicyEEC2Ev[_ZN20_CORBA_PseudoObj_VarIN14PortableServer12ThreadPolicyEEC5Ev]+0x12): undefined reference to `PortableServer::ThreadPolicy::_nil()'
-/tmp/cckfoQVU.o: In function `_CORBA_Pseudo_Unbounded_Sequence<CORBA::Policy, _CORBA_PseudoObj_Member<CORBA::Policy, _CORBA_PseudoObj_Var<CORBA::Policy> > >::length(unsigned long)':
-server.cc:(.text._ZN32_CORBA_Pseudo_Unbounded_SequenceIN5CORBA6PolicyE23_CORBA_PseudoObj_MemberIS1_20_CORBA_PseudoObj_VarIS1_EEE6lengthEm[_CORBA_Pseudo_Unbounded_Sequence<CORBA::Policy, _CORBA_PseudoObj_Member<CORBA::Policy, _CORBA_PseudoObj_Var<CORBA::Policy> > >::length(unsigned long)]+0x65): undefined reference to `_CORBA_new_operator_return_null()'
-/tmp/cckfoQVU.o: In function `hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::createAndActivateServers()':
-server.cc:(.text._ZN3hpp5corba6ServerIN8Graphics11corbaServer18GraphicalInterfaceEE24createAndActivateServersEv[hpp::corba::Server<Graphics::corbaServer::GraphicalInterface>::createAndActivateServers()]+0x1b): undefined reference to `Graphics::corbaServer::GraphicalInterface::GraphicalInterface()'
-/tmp/cckfoQVU.o: In function `_CORBA_ObjRef_Var<CosNaming::_objref_NamingContext, CosNaming::NamingContext_Helper>::operator=(CosNaming::_objref_NamingContext*)':
-server.cc:(.text._ZN17_CORBA_ObjRef_VarIN9CosNaming21_objref_NamingContextENS0_20NamingContext_HelperEEaSEPS1_[_CORBA_ObjRef_Var<CosNaming::_objref_NamingContext, CosNaming::NamingContext_Helper>::operator=(CosNaming::_objref_NamingContext*)]+0xf): undefined reference to `CosNaming::NamingContext_Helper::release(CosNaming::_objref_NamingContext*)'
-/tmp/cckfoQVU.o: In function `_CORBA_Sequence<CosNaming::NameComponent>::copybuffer(unsigned long)':
-server.cc:(.text._ZN15_CORBA_SequenceIN9CosNaming13NameComponentEE10copybufferEm[_CORBA_Sequence<CosNaming::NameComponent>::copybuffer(unsigned long)]+0x1b): undefined reference to `_CORBA_new_operator_return_null()'
-collect2: ld returned 1 exit status
diff --git a/src/fwd.hh~ b/src/fwd.hh~
deleted file mode 100644
index a04b44d..0000000
--- a/src/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 Graphics
-{
- namespace corbaServer
- {
- 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 corbaServer.
-} // end of namespace hpp.
-
-#endif //! SCENEVIEWER_CORBASERVER_FWD_HH
diff --git a/src/hpp-corbaserver.cc~ b/src/hpp-corbaserver.cc~
deleted file mode 100644
index bae8cbf..0000000
--- a/src/hpp-corbaserver.cc~
+++ /dev/null
@@ -1,24 +0,0 @@
-// Copyright (C) 14 by Mathieu Geisert 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.
-
-#include <iostream>
-#include "server.hh"
-
-using Graphics::corbaServer::Server;
-
-int
-main (int argc, const char* argv[])
-{
- //hpp::core::ProblemSolverPtr_t problemSolver = new hpp::core::ProblemSolver;
- Server server (argc, argv, true);
-
- server.startCorbaServer ();
- server.processRequest(true);
-}
diff --git a/src/sceneViewer.idl~ b/src/sceneViewer.idl~
deleted file mode 100644
index 1bc6fc5..0000000
--- a/src/sceneViewer.idl~
+++ /dev/null
@@ -1,47 +0,0 @@
-// file sceneViewer.idl
-module Graphics {
-module corbaserver {
-
- /// Corba exception travelling through the Corba channel
- exception Error
- {
- string msg;
- };
-
- interface sceneViewer {
- // Compute the sum of two real numbers.
- void createWindow(in string name) ;
- //void createWindow(in string name, in unsigned long x, in unsigned long y, in unsigned long width, in unsigned long height) ;
-
- void createScene(in string sceneName) ;
- void createSceneWithFloor(in string sceneName) ;
- void addSceneToWindow(in string sceneName, in string windowName) ;
-
- //void addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3, in string colorName) ;
- void addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3) ;
-
- void addCapsule(in string capsuleName, in float radius, in float height) ;
- //void addCapsule(in string capsuleName, in float radius, in float height, in string colorName) ;
-
- void addMesh(in string meshName, in string meshPath) ;
-
- void addCone(in string coneName, in float radius, in float height) ;
- //void addCone(in string coneName, in float radius, in float height, in string colorName) ;
-
- void addCylinder(in string cylinderName, in float radius, in float height) ;
- //void addCylinder(in string cylinderName, in float radius, in float height, in string colorName) ;
-
- void addSphere(in string sphereName, in float radius) ;
- //void addSphere(in string sphereName, in float radius, in string colorName) ;
-
- void createGroup(in string groupName) ;
- boolean addToGroup(in string nodeName, in string groupName) ;
-
- boolean applyConfiguration(in string nodeName, in float configuration) ;
-
- boolean setVisibility(in string nodeName, in string visibilityMode) ;
- boolean setWireFrameMode(in string nodeName, in string wireFrameMode) ;
- boolean setLightingMode(in string nodeName, in string lightingMode) ;
- };
-};
-};
diff --git a/src/server-private.cc~ b/src/server-private.cc~
deleted file mode 100644
index a4119c9..0000000
--- a/src/server-private.cc~
+++ /dev/null
@@ -1,123 +0,0 @@
-// Copyright (C) 2014 by Mathieu Geisert, 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.
-
-#include <iostream>
-#include <stdexcept>
-
-#include "GraphicalInterface.impl.hh"
-#include "server-private.hh"
-#include "fwd.hh"
-
-namespace Graphics
-{
- namespace corbaServer
- {
- namespace impl
- {
- using CORBA::Exception;
- using CORBA::ORB_init;
- using CORBA::Object_ptr;
- using CORBA::Object_var;
- using CORBA::PolicyList;
- using CORBA::SystemException;
- using CORBA::COMM_FAILURE;
- using omniORB::fatalException;
-
- typedef CORBA::ORB::InvalidName InvalidName;
-
- Server::~Server ()
- {
- delete graphicalInterfaceServantid_;
- }
-
- void
- Server::createAndActivateServers (corbaServer::Server* inServer)
- {
- graphicalInterfaceServant_ = new GraphicalInterface (inServer);
- graphicalInterfaceServantid_ = poa_->activate_object(graphicalInterfaceServant_);
- }
-
- void Server::deactivateAndDestroyServers()
- {
- poa_->deactivate_object(*graphicalInterfaceServantid_);
- delete graphicalInterfaceServant_;
- }
-
-
- void Server::createContext ()
- {
- CosNaming::NamingContext_var rootContext;
- Object_var localObj;
- CosNaming::Name contextName;
-
- // Obtain a reference to the root context of the Name service:
- localObj = orb_->resolve_initial_references("NameService");
- try {
- // Narrow the reference returned.
- rootContext = CosNaming::NamingContext::_narrow(localObj);
- if( is_nil(rootContext) ) {
- std::string msg ("Failed to narrow the root naming context.");
- throw std::runtime_error (msg.c_str ());
- }
- }
- catch(InvalidName& ex) {
- // This should not happen!
- std::string msg ("Service required is invalid [does not exist].");
- throw std::runtime_error (msg.c_str ());
- }
- // Bind a context called "Graphics" to the root context:
- contextName.length(1);
- contextName[0].id = (const char*) "Graphics"; // string copied
- contextName[0].kind = (const char*) "corbaserver"; // string copied
- // Note on kind: The kind field is used to indicate the type
- // of the object. This is to avoid conventions such as that used
- // by files (name.type -- e.g. Graphics.ps = postscript etc.)
-
- try {
- // Bind the context to root.
- Context_ = rootContext->bind_new_context(contextName);
- }
- catch(CosNaming::NamingContext::AlreadyBound& ex) {
- // If the context already exists, this exception will be raised.
- // In this case, just resolve the name and assign Context
- // to the object returned:
- Object_var localObj;
- localObj = rootContext->resolve(contextName);
- Context_ = CosNaming::NamingContext::_narrow(localObj);
- if( is_nil(Context_) ) {
- std::string msg ("Failed to narrow naming context.");
- throw std::runtime_error (msg.c_str ());
- }
- }
- }
-
- void Server::bindObjectToName(Object_ptr objref,
- CosNaming::Name objectName)
- {
- try {
- Context_->bind(objectName, objref);
- }
- catch(CosNaming::NamingContext::AlreadyBound& ex) {
- Context_->rebind(objectName, objref);
- }
- // Note: Using rebind() will overwrite any Object previously bound
- // to /hpp/RobotConfig with localObj.
- // Alternatively, bind() can be used, which will raise a
- // CosNaming::NamingContext::AlreadyBound exception if the name
- // supplied is already bound to an object.
-
- // Amendment: When using OrbixNames, it is necessary to first
- // try bind and then rebind, as rebind on it's own will throw
- // a NotFoundexception if the Name has not already been
- // bound. [This is incorrect behaviour - it should just bind].
- }
- } // end of namespace impl.
- } // end of namespace corbaServer.
-} // end of namespace Graphics.
diff --git a/src/server-private.hh~ b/src/server-private.hh~
deleted file mode 100644
index af5c7d4..0000000
--- a/src/server-private.hh~
+++ /dev/null
@@ -1,63 +0,0 @@
-// Copyright (C) 2014 Mathieu Geisert, 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_SERVER_PRIVATE_HH
-# define SCENVIEWER_CORBASERVER_SERVER_PRIVATE_HH
-
-#include "GraphicalInterface.impl.hh"
-#include "fwd.hh"
-
-namespace Graphics
-{
- namespace corbaServer
- {
- namespace impl
- {
- class Server
- {
- public:
- ~Server ();
-
- /// \brief Create and activate the Corba servers.
- void createAndActivateServers (Graphics::corbaServer::Server* server);
-
- private:
- CORBA::ORB_var orb_;
- PortableServer::POA_var poa_;
- GraphicalInterface* graphicalInterfaceServant_;
-
- /// \brief It seems that we need to store this object to
- /// deactivate the server.
- PortableServer::ObjectId* graphicalInterfaceServantid_;
-
- /// \brief Corba context.
- CosNaming::NamingContext_var Context_;
-
- /// \brief Create context.
- void createContext ();
-
- /// \brief Store objects in Corba name service.
- void bindObjectToName
- (CORBA::Object_ptr objref, CosNaming::Name objectName);
-
-
- /// \brief Deactivate and destroy servers
- ///
- /// Destroying active servers raises a Corba exception.
- void deactivateAndDestroyServers ();
-
- friend class corbaServer::Server;
- };
-
- } // end of namespace impl.
- } // end of namespace corbaServer.
-} // end of namespace hpp.
-
-#endif // SCENEVIEWER_CORBASERVER_SERVER_PRIVATE_HH
diff --git a/src/server.cc~ b/src/server.cc~
deleted file mode 100644
index 988cf64..0000000
--- a/src/server.cc~
+++ /dev/null
@@ -1,159 +0,0 @@
-// Copyright (C) 2014, 2010 by Mathieu Geisert, 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.
-
-#include <errno.h>
-#include <pthread.h>
-#include <iostream>
-#include <stdexcept>
-#include "server.hh"
-
-#include "server-private.hh"
-
-
-namespace Graphics
-{
- namespace corbaServer
- {
- using CORBA::Exception;
- using CORBA::Object_var;
- using CORBA::SystemException;
- using CORBA::ORB_init;
- 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(int argc, const char *argv[], bool inMultiThread)
- {
- private_ = new impl::Server;
-
- initORBandServers (argc, argv, inMultiThread);
- }
-
- /// \brief Shutdown CORBA server
- Server::~Server()
- {
- private_->deactivateAndDestroyServers();
- private_->orb_->shutdown(0);
- delete private_;
- private_ = NULL;
- }
-
- /// CORBA SERVER INITIALIZATION
-
- void Server::initORBandServers(int argc, const char* argv[],
- bool inMultiThread)
- {
- Object_var obj;
- PortableServer::ThreadPolicy_var threadPolicy;
- PortableServer::POA_var rootPoa;
-
- /// ORB init
- private_->orb_ = ORB_init (argc, const_cast<char **> (argv));
- if (is_nil(private_->orb_)) {
- std::string msg ("failed to initialize ORB");
- throw std::runtime_error (msg.c_str ());
- }
- /// ORB init
- obj = private_->orb_->resolve_initial_references("RootPOA");
-
- /// Create thread policy
-
- //
- // Make the CORBA object single-threaded to avoid GUI krash
- //
- // Create a sigle threaded policy object
- rootPoa = PortableServer::POA::_narrow(obj);
-
- if (inMultiThread) {
- threadPolicy = rootPoa->create_thread_policy
- (PortableServer::ORB_CTRL_MODEL);
- }
- else {
- threadPolicy = rootPoa->create_thread_policy
- (PortableServer::MAIN_THREAD_MODEL);
- }
- /// Duplicate thread policy
- PolicyList policyList;
- policyList.length(1);
- policyList[0] = PortableServer::ThreadPolicy::_duplicate(threadPolicy);
-
- private_->poa_ = rootPoa->create_POA
- ("child", PortableServer::POAManager::_nil(), policyList);
- // Destroy policy object
- threadPolicy->destroy();
- private_->createAndActivateServers(this);
- }
-
- void Server::startCorbaServer()
- {
- // Obtain a reference to objects, and register them in
- // the naming service.
- Object_var graphicalInterfaceObj = private_->graphicalInterfaceServant_->_this();
-
- private_->createContext ();
- // Bind graphicalInterfaceObj with name graphicalinterface to the Context:
- CosNaming::Name objectName;
- objectName.length(1);
- objectName[0].id = (const char*) "basic"; // string copied
- objectName[0].kind = (const char*) "graphicalinterface"; // string copied
-
- private_->bindObjectToName(graphicalInterfaceObj, objectName);
- private_->graphicalInterfaceServant_->_remove_ref();
-
- // Bind obstacleObj with name Obstacle to the hppContext:
- //objectName.length(1);
- //objectName[0].id = (const char*) "basic"; // string copied
- //objectName[0].kind = (const char*) "obstacle"; // string copied
-
- //private_->bindObjectToName(obstacleObj, objectName);
- //private_->obstacleServant_->_remove_ref();
-
- // Bind problemObj with name Problem to the hppContext:
- //objectName.length(1);
- //objectName[0].id = (const char*) "basic"; // string copied
- //objectName[0].kind = (const char*) "problem"; // string copied
-
- //private_->bindObjectToName(problemObj, objectName);
- //private_->problemServant_->_remove_ref();
-
- PortableServer::POAManager_var pman = private_->poa_->the_POAManager();
- pman->activate();
- }
-
- /// \brief If CORBA requests are pending, process them
- int Server::processRequest (bool loop)
- {
- if (loop)
- {
- private_->orb_->run();
- }
- else
- {
- if (private_->orb_->work_pending())
- private_->orb_->perform_work();
- }
- return 0;
- }
-
- } // end of namespace corbaServer.
-} // end of namespace Graphics.
diff --git a/src/server.hh~ b/src/server.hh~
deleted file mode 100644
index 36de3c8..0000000
--- a/src/server.hh~
+++ /dev/null
@@ -1,100 +0,0 @@
-// Copyright (C) 2014 by Mathieu Geisert, 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_SERVER_HH
-# define SCENEVIEWER_CORBASERVER_SERVER_HH
-
-
-#include "fwd.hh"
-
-namespace Graphics
-{
- namespace corbaServer
- {
- /// 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
- {
- public:
- /// Constructor
- /// \param problemSolver the object that will handle Corba requests.
- /// \param argc, argv parameter to feed ORB initialization.
- /// \param multiThread whether the server may process request using
- /// multithred policy.
- /// \note It is recommended to configure your Corba implementation
- /// through environment variables and to set argc to 1 and argv to
- /// any string.
- /// \note It is highly recommended not to enable multi-thread policy in
- /// CORBA request processing if this library is run from an openGL
- /// based GUI, since OpenGL does not support multithreading.
- Server (int argc, const char* argv[], bool multiThread = false);
-
- /// \brief Shutdown CORBA server
- ~Server ();
-
- /// \brief Initialize CORBA server to process requests from clients
- /// \return 0 if success, -1 if failure.
- void startCorbaServer ();
-
- /// \brief If ORB work is pending, process it
- /// \param loop if true, the function never returns,
- /// if false, the function processes pending requests and
- /// returns.
- int processRequest (bool loop);
-
- //core::ProblemSolverPtr_t problemSolver () const;
- //core::ProblemSolverPtr_t problemSolver ();
-
- private:
-
- ///\name CORBA server initialization
- /// \{
- /// Initialize ORB and CORBA servers.
-
- /// \param argc, argv parameter to feed ORB initialization.
- /// \param multiThread whether the server may process request using
- /// multithred policy.
- void initORBandServers (int argc, const char* argv[], bool multiThread);
-
- /// \}
-
- impl::Server* private_;
-
- };
-
- } // end of namespace corbaServer.
-} // end of namespace sceneViewer.
-#endif
diff --git a/test/test-client-cpp.cc~ b/test/test-client-cpp.cc~
deleted file mode 100644
index d70e321..0000000
--- a/test/test-client-cpp.cc~
+++ /dev/null
@@ -1,42 +0,0 @@
-//
-// test-client-cpp.cc
-// Test SceneViewer for C++ CORBA client
-//
-// Created by Mathieu Geisert in December 2014.
-// Copyright (c) 2014 LAAS-CNRS. All rights reserved.
-//
-
-#include "../src/client-cpp.hh"
-
-int main(int argc, const char * argv[])
-{
- using namespace Graphics;
- using namespace corbaServer;
- using namespace std;
-
- ClientCpp client;
-
- se3::SE3 position1 = se3::SE3::Random();
- se3::SE3 position2 = se3::SE3::Random();
- se3::SE3 position3 = se3::SE3::Random();
- se3::SE3 position4 = se3::SE3::Random();
- se3::SE3 position5 = se3::SE3::Random();
-
- client.createWindow("window1");
- client.createScene("scene1");
- client.addSceneToWindow("scene1","window1");
- client.addURDF("scene1/hrp2", "/local/mgeisert/devel/src/hrp2/hrp2_14_description/urdf/hrp2_14_capsule.urdf", "/local/mgeisert/devel/src/hrp2/");
-
- sleep(15);
-
-
- client.applyConfiguration("scene1/hrp2/RLEG_LINK0", position1);
- client.applyConfiguration("scene1/hrp2/RLEG_LINK1", position2);
- client.applyConfiguration("scene1/hrp2/LLEG_LINK1", position3);
- client.applyConfiguration("scene1/hrp2/LLEG_LINK2", position4);
- client.applyConfiguration("scene1/hrp2/BODY", position5);
-
- client.refresh();
-
- return 0;
-}
--
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