Merge remote-tracking branch 'redmine/devel' into devel

Conflicts:
	plugins/hppwidgetsplugin/listjointconstraint.cc

plugins/CMakeLists.txt

@@ -31,7 +31,6 @@ SET(BUILD_HPP_WIDGETS_PLUGIN     ${HPP_CORBASERVER_FOUND}
 SET(BUILD_HPP_MANIPULATION_WIDGETS_PLUGIN ${HPP_MANIPULATION_CORBA_FOUND}
   CACHE BOOL "Build hppmanipulationwidgetsplugin")
 
-#ADD_SUBDIRECTORY(plugintest)
 IF (HPP_CORBASERVER_FOUND)
   IF (REMOTEIMU_FOUND AND BUILD_REMOTEIMU_PLUGIN)
     ADD_SUBDIRECTORY(remoteimuplugin)

plugins/hppmanipulationwidgetsplugin/CMakeLists.txt

@@ -33,7 +33,6 @@ GEPETTO_GUI_PLUGIN(hppmanipulationwidgetsplugin
   linkwidget.hh
   manipulationconstraintwidget.hh
   manipulationncpicker.hh
-  manipulationlockedjoint.hh
 
   HEADERS_NO_MOC
   roadmap.hh
@@ -47,7 +46,6 @@ GEPETTO_GUI_PLUGIN(hppmanipulationwidgetsplugin
   linkwidget.cc
   manipulationconstraintwidget.cc
   manipulationncpicker.cc
-  manipulationlockedjoint.cc
 
   LINK_DEPENDENCIES
   hppwidgetsplugin

plugins/hppmanipulationwidgetsplugin/hppmanipulationwidgetsplugin.cc

@@ -21,7 +21,7 @@
 #include "hppmanipulationwidgetsplugin/linkwidget.hh"
 #include "hppmanipulationwidgetsplugin/manipulationconstraintwidget.hh"
 #include "hppwidgetsplugin/twojointsconstraint.hh"
-#include "hppmanipulationwidgetsplugin/manipulationlockedjoint.hh"
+#include "hppwidgetsplugin/listjointconstraint.hh"
 
 using CORBA::ULong;
 
@@ -125,8 +125,9 @@ namespace hpp {
     {
       HppWidgetsPlugin::openConnection();
       hpp_ = new HppManipClient (0,0);
-      QByteArray iiop = getHppIIOPurl ().toLatin1();
-      hpp_->connect (iiop.constData ());
+      QByteArray iiop    = getHppIIOPurl ().toLatin1();
+      QByteArray context = getHppContext ().toLatin1();
+      hpp_->connect (iiop.constData (), context.constData ());
     }
 
     void HppManipulationWidgetsPlugin::closeConnection()
@@ -522,7 +523,7 @@ namespace hpp {
       constraintWidget_->addConstraint(new PositionConstraint(this));
       constraintWidget_->addConstraint(new OrientationConstraint(this));
       constraintWidget_->addConstraint(new TransformConstraint(this));
-      constraintWidget_->addConstraint(new ManipulationLockedJoint(this));
+      constraintWidget_->addConstraint(new LockedJointConstraint(this));
     }
 
 #if (QT_VERSION < QT_VERSION_CHECK(5,0,0))

plugins/hppmanipulationwidgetsplugin/manipulationconstraintwidget.cc

@@ -52,13 +52,7 @@ namespace hpp {
     void ManipulationConstraintWidget::confirmNumerical()
     {
       HppManipulationWidgetsPlugin* plugin = dynamic_cast<HppManipulationWidgetsPlugin*>(plugin_);
-      QStringList l;
-
-      for (int i = 0; i < ui->nameList->count(); i++) {
-        QListWidgetItem* item = ui->nameList->item(i);
-        l << item->text();
-      }
-      ManipulationNCPicker* ncp = new ManipulationNCPicker(l, plugin);
+      ManipulationNCPicker* ncp = new ManipulationNCPicker(plugin);
 
       ncp->show();
     }

plugins/hppmanipulationwidgetsplugin/manipulationlockedjoint.cc

-//
-// Copyright (c) CNRS
-// Authors: Joseph Mirabel and Heidy Dallard
-//
-
-#include "hppmanipulationwidgetsplugin.hh"
-#include "manipulationlockedjoint.hh"
-
-#include <QListWidgetItem>
-
-namespace hpp {
-  namespace gui {
-    ManipulationLockedJoint::ManipulationLockedJoint(HppManipulationWidgetsPlugin* plugin)
-      : ListJointConstraint(plugin)
-    {
-    }
-
-    ManipulationLockedJoint::~ManipulationLockedJoint()
-    {
-    }
-
-    QString ManipulationLockedJoint::getName() const
-    {
-      return "Locked Joint";
-    }
-
-    void ManipulationLockedJoint::operator ()(QString const& /*name*/) {
-      QList<QListWidgetItem*> selected = jointList_->selectedItems();
-      HppManipulationWidgetsPlugin* plugin = dynamic_cast<HppManipulationWidgetsPlugin*>(plugin_);
-
-      foreach (QListWidgetItem *item, selected) {
-        std::string jointName = item->text().toStdString().c_str();
-        hpp::floatSeq_var config = plugin->client()->robot()->getJointConfig(jointName.c_str());
-        plugin->client()->problem()->createLockedJoint(std::string("lock_" + jointName).c_str(),
-                                                            jointName.c_str(),
-                                                            config.in());
-        emit constraintCreated(std::string("lock_" + jointName).c_str());
-      }
-    }
-  }
-}

plugins/hppmanipulationwidgetsplugin/manipulationlockedjoint.hh

-//
-// Copyright (c) CNRS
-// Authors: Joseph Mirabel and Heidy Dallard
-//
-
-#ifndef HPP_GUI_MANIPULATIONLOCKEDJOINT_HH
-#define HPP_GUI_MANIPULATIONLOCKEDJOINT_HH
-
-#include "hppwidgetsplugin/listjointconstraint.hh"
-
-namespace hpp {
-  namespace gui {
-    class HppManipulationWidgetsPlugin;
-
-    class ManipulationLockedJoint : public ListJointConstraint
-    {
-      Q_OBJECT
-    public:
-      ManipulationLockedJoint(HppManipulationWidgetsPlugin* plugin);
-      virtual ~ManipulationLockedJoint();
-
-      virtual QString getName() const;
-      virtual void operator()(QString const& name);
-    };
-  }
-}
-
-#endif // HPP_GUI_MANIPULATIONLOCKEDJOINT_HH

plugins/hppmanipulationwidgetsplugin/manipulationncpicker.cc

@@ -9,10 +9,9 @@
 
 namespace hpp {
   namespace gui {
-    ManipulationNCPicker::ManipulationNCPicker(QStringList const& names,
-                                               HppManipulationWidgetsPlugin* plugin,
+    ManipulationNCPicker::ManipulationNCPicker(HppManipulationWidgetsPlugin* plugin,
                                                QWidget* parent)
-        : NumericalConstraintPicker(names, plugin, parent)
+        : NumericalConstraintPicker(plugin, parent)
     {
       listComp_ = new QListWidget(this);
       hpp::GraphComp_var graphComp;
@@ -47,27 +46,27 @@ namespace hpp {
 
     void ManipulationNCPicker::onConfirmClicked()
     {
-      QList<QListWidgetItem*> selectedConst = ui->constraintList->selectedItems();
+      QList<QListWidgetItem*> lj = ui->lockedJointList->selectedItems();
+      QList<QListWidgetItem*> nc = ui->numericalList->selectedItems();
       hpp::Names_t_var constraints = new hpp::Names_t;
       hpp::Names_t_var locked = new hpp::Names_t;
       hpp::Names_t_var dofs = new hpp::Names_t;
       QList<QListWidgetItem*> selectedComp = listComp_->selectedItems();
       HppManipulationWidgetsPlugin* plugin = dynamic_cast<HppManipulationWidgetsPlugin*>(plugin_);
 
-      constraints->length(selectedConst.count());
-      locked->length(selectedConst.count());
-      int iC = -1;
-      int iL = -1;
-      foreach (QListWidgetItem* item, selectedConst) {
-        if (!item->text().startsWith("lock_")) {
-          constraints[++iC] = item->text().toStdString().c_str();
-        }
-        else {
-          locked[++iL] = item->text().toStdString().c_str();
-        }
+      constraints->length(nc.count());
+      locked->length(lj.count());
+      int i = 0;
+      foreach (QListWidgetItem* item, lj) {
+          locked[i] = item->text().toStdString().c_str();
+          ++i;
       }
-      locked->length(iL + 1);
-      constraints->length(iC + 1);
+      i = 0;
+      foreach (QListWidgetItem* item, nc) {
+          constraints[i] = item->text().toStdString().c_str();
+          ++i;
+      }
+
       foreach (QListWidgetItem* item, selectedComp) {
         if (constraints->length())
           plugin->manipClient()->graph()->setNumericalConstraints(components_[item->text().toStdString()].id,

plugins/hppmanipulationwidgetsplugin/manipulationncpicker.hh

@@ -21,7 +21,7 @@ namespace hpp {
       virtual void onConfirmClicked();
 
     public:
-      ManipulationNCPicker(QStringList const& names, HppManipulationWidgetsPlugin* plugin,
+      ManipulationNCPicker(HppManipulationWidgetsPlugin* plugin,
                            QWidget* parent = 0);
       virtual ~ManipulationNCPicker();
 

plugins/hppwidgetsplugin/constraintwidget.cc

@@ -77,12 +77,7 @@ namespace hpp {
 
     void ConstraintWidget::confirmNumerical()
     {
-      QStringList l;
-      for (int i = 0; i < ui->nameList->count(); i++) {
-        QListWidgetItem* item = ui->nameList->item(i);
-        l << item->text();
-      }
-      NumericalConstraintPicker* ncp = new NumericalConstraintPicker(l, plugin_);
+      NumericalConstraintPicker* ncp = new NumericalConstraintPicker(plugin_);
 
       ncp->show();
     }

plugins/hppwidgetsplugin/hppwidgetsplugin.cc

@@ -150,6 +150,7 @@ namespace hpp {
       main->registerSlot("lengthBetweenRefresh", pathPlayer_);
       main->registerSlot("getCurrentPath", pathPlayer_);
       main->registerSlot("getHppIIOPurl", this);
+      main->registerSlot("getHppContext", this);
       main->registerSlot("getSelectedJoint", jointTreeWidget_);
       main->registerSignal(SIGNAL(appliedConfigAtParam(int,double)), pathPlayer_);
 
@@ -226,12 +227,20 @@ namespace hpp {
       return gepetto::gui::omniOrb::IIOPurl (host, port);
     }
 
+    QString HppWidgetsPlugin::getHppContext () const
+    {
+      QString context = gepetto::gui::MainWindow::instance ()->settings_->getSetting
+        ("hpp/context", QString ()).toString ();
+      return context;
+    }
+
     void HppWidgetsPlugin::openConnection ()
     {
       closeConnection ();
       hpp_ = new hpp::corbaServer::Client (0,0);
-      QByteArray iiop = getHppIIOPurl ().toLatin1();
-      hpp_->connect (iiop.constData ());
+      QByteArray iiop    = getHppIIOPurl ().toLatin1();
+      QByteArray context = getHppContext ().toLatin1();
+      hpp_->connect (iiop.constData (), context.constData ());
     }
 
     void HppWidgetsPlugin::closeConnection ()

plugins/hppwidgetsplugin/hppwidgetsplugin.hh

@@ -123,6 +123,8 @@ signals:
 
         QString getHppIIOPurl () const;
 
+        QString getHppContext () const;
+
       public:
         /// Get the corbaserver client.
         HppClient* client () const;

plugins/hppwidgetsplugin/jointtreewidget.cc

@@ -11,6 +11,7 @@
 #include "hppwidgetsplugin/ui_jointtreewidget.h"
 
 #include <gepetto/gui/mainwindow.hh>
+#include <gepetto/gui/bodytreewidget.hh>
 #include <gepetto/gui/windows-manager.hh>
 #include <gepetto/gui/action-search-bar.hh>
 #if GEPETTO_GUI_HAS_PYTHONQT
@@ -49,6 +50,8 @@ namespace hpp {
           SLOT (customContextMenu(QPoint)));
       connect(ui_->jointTree, SIGNAL (expanded(QModelIndex)),
           SLOT (resize(QModelIndex)));
+      connect(ui_->jointTree->selectionModel(), SIGNAL (currentChanged(QModelIndex, QModelIndex)),
+          SLOT (currentJointChanged(QModelIndex,QModelIndex)));
     }
 
     JointTreeWidget::~JointTreeWidget()
@@ -257,5 +260,26 @@ namespace hpp {
       Q_UNUSED (index);
       ui_->jointTree->resizeColumnToContents(0);
     }
+
+    void JointTreeWidget::currentJointChanged(const QModelIndex& current, const QModelIndex& previous)
+    {
+      Q_UNUSED (previous);
+      if (current.isValid())
+      {
+        JointTreeItem* item = dynamic_cast <JointTreeItem*>
+          (model_->itemFromIndex(current));
+        if (item == NULL) return;
+
+        HppWidgetsPlugin::JointMap::const_iterator itj = plugin_->jointMap().find(item->name());
+        if (itj == plugin_->jointMap().constEnd()) return;
+        const HppWidgetsPlugin::JointElement& je = itj.value();
+
+        MainWindow* main = MainWindow::instance();
+        for (std::size_t i = 0; i < je.bodyNames.size(); ++i)
+        {
+          main->bodyTree()->selectBodyByName (je.bodyNames[i]);
+        }
+      }
+    }
   } // namespace gui
 } // namespace hpp

plugins/hppwidgetsplugin/jointtreewidget.hh

@@ -65,6 +65,10 @@ signals:
         private slots:
           void resize (const QModelIndex index);
 
+          /// Connected to signal "currentChanged" of the selection model of the 
+          /// joint tree view.
+          void currentJointChanged (const QModelIndex& current, const QModelIndex& previous);
+
       private:
         void initSearchActions();
 

plugins/hppwidgetsplugin/listjointconstraint.cc

@@ -61,25 +61,15 @@ namespace hpp {
     void LockedJointConstraint::operator ()(QString const&)
     {
       QList<QListWidgetItem *> selected = jointList_->selectedItems();
-      std::size_t len (0);
-      std::vector <std::string> lockedJointName;
       foreach(QListWidgetItem* item, selected) {
-        std::string jointName = item->text().toStdString();
-        lockedJointName.push_back (std::string ("locked_") + jointName);
-        hpp::floatSeq_var config =
-          plugin_->client ()->robot ()->getJointConfig (jointName.c_str ());
-        plugin_->client()->problem()->createLockedJoint
-          (lockedJointName.back ().c_str (), jointName.c_str (), config.in());
-        ++len;
+          std::string jointName = item->text().toStdString();
+          std::string lockName = "lock_" + jointName;
+          hpp::floatSeq_var config = plugin_->client()->robot()->getJointConfig(jointName.c_str());
+          plugin_->client()->problem()->createLockedJoint(lockName.c_str(),
+                                                          jointName.c_str(),
+                                                          config.in());
+          emit constraintCreated(lockName.c_str());
       }
-      char** nameList = hpp::Names_t::allocbuf((CORBA::ULong) len);
-      Names_t names ((CORBA::ULong) len, (CORBA::ULong) len, nameList);
-      for (std::size_t i=0; i < len; ++i) {
-        nameList[i] = const_cast <char*> (lockedJointName [i].c_str ());
-      }
-      plugin_->client()->problem()->setLockedJointConstraints
-        ("config-projector", names);
-      delete nameList;
     }
   }
 }

plugins/hppwidgetsplugin/numericalconstraintpicker.cc

@@ -13,17 +13,25 @@
 
 namespace hpp {
   namespace gui {
-    NumericalConstraintPicker::NumericalConstraintPicker(QStringList const& names,
-                                                         HppWidgetsPlugin* plugin,
+    NumericalConstraintPicker::NumericalConstraintPicker(HppWidgetsPlugin* plugin,
                                                          QWidget *parent) :
       QWidget(parent),
       ui(new Ui::NumericalConstraintPicker)
     {
       ui->setupUi(this);
-      ui->constraintList->setSelectionMode(QAbstractItemView::ExtendedSelection);
-      foreach (QString name, names) {
-        ui->constraintList->addItem(name);
+
+      hpp::Names_t_var names = plugin->client()->problem()->getAvailable("lockedjoint");
+      ui->lockedJointList->setSelectionMode(QAbstractItemView::ExtendedSelection);
+      for (unsigned i = 0; i < names->length(); ++i) {
+          ui->lockedJointList->addItem(QString(names[i]));
+      }
+
+      names = plugin->client()->problem()->getAvailable("numericalconstraint");
+      ui->numericalList->setSelectionMode(QAbstractItemView::ExtendedSelection);
+      for (unsigned i = 0; i < names->length(); ++i) {
+        ui->numericalList->addItem(QString(names[i]));
       }
+
       connect(ui->cancelButton, SIGNAL(clicked()), SLOT(onCancelClicked()));
       connect(ui->confirmButton, SIGNAL(clicked()), SLOT(onConfirmClicked()));
       plugin_ = plugin;
@@ -48,20 +56,31 @@ namespace hpp {
 
     void NumericalConstraintPicker::onConfirmClicked()
     {
-      QList<QListWidgetItem *> list = ui->constraintList->selectedItems();
+      QList<QListWidgetItem *> lj = ui->lockedJointList->selectedItems();
+      QList<QListWidgetItem *> nc = ui->numericalList->selectedItems();
+
       hpp::Names_t_var names = new hpp::Names_t;
       hpp::intSeq_var priorities = new hpp::intSeq;
 
-      names->length(list.count());
-      priorities->length(list.count());
+      names->length(nc.count());
+      priorities->length(nc.count());
       int i = 0;
-      foreach(QListWidgetItem* item, list) {
+      foreach(QListWidgetItem* item, nc) {
         names[i] = gepetto::gui::Traits<QString>::to_corba(item->text());
         priorities[i] = 0;
         i++;
       }
-      plugin_->client()->problem()->setNumericalConstraints(gepetto::gui::Traits<QString>::to_corba(ui->numericalName->text()),
+      plugin_->client()->problem()->addNumericalConstraints(gepetto::gui::Traits<QString>::to_corba(ui->constraintName->text()),
                                                             names.in(), priorities.in());
+
+      names->length(lj.count());
+      i = 0;
+      foreach(QListWidgetItem* item, lj) {
+        names[i] = gepetto::gui::Traits<QString>::to_corba(item->text());
+        i++;
+      }
+      plugin_->client()->problem()->addLockedJointConstraints(gepetto::gui::Traits<QString>::to_corba(ui->constraintName->text()),
+                                                              names.in());
       onCancelClicked();
     }
   }

plugins/hppwidgetsplugin/numericalconstraintpicker.hh

@@ -32,7 +32,7 @@ namespace hpp {
       void closeEvent(QCloseEvent* event);
 
     public:
-      explicit NumericalConstraintPicker(QStringList const& names, HppWidgetsPlugin* plugin,
+      explicit NumericalConstraintPicker(HppWidgetsPlugin* plugin,
                                          QWidget *parent = 0);
       virtual ~NumericalConstraintPicker();
 

plugins/hppwidgetsplugin/numericalconstraintpicker.ui

@@ -17,26 +17,40 @@
    <item>
     <layout class="QFormLayout" name="formLayout">
      <item row="0" column="0">
-      <widget class="QLabel" name="label_2">
+      <widget class="QLabel" name="constraintLabel">
        <property name="text">
         <string>Name</string>
        </property>
       </widget>
      </item>
      <item row="0" column="1">
-      <widget class="QLineEdit" name="numericalName"/>
+      <widget class="QLineEdit" name="constraintName">
+       <property name="text">
+        <string>constraint</string>
+       </property>
+      </widget>
      </item>
     </layout>
    </item>
    <item>
-    <widget class="QLabel" name="label">
+    <widget class="QLabel" name="lockedJointLabel">
+     <property name="text">
+      <string>Select the locked joint constraints:</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QListWidget" name="lockedJointList"/>
+   </item>
+   <item>
+    <widget class="QLabel" name="numericalLabel">
      <property name="text">
-      <string>Select the constraint you want to add</string>
+      <string>Select the numerical constraints:</string>
      </property>
     </widget>
    </item>
    <item>
-    <widget class="QListWidget" name="constraintList"/>
+    <widget class="QListWidget" name="numericalList"/>
    </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout">

plugins/plugintest/CMakeLists.txt

-#
-# Copyright (c) 2015 CNRS
-# Authors: Joseph Mirabel
-#
-#
-# This file is part of hpp-gui
-# hpp-gui is free software: you can redistribute it
-# and/or modify it under the terms of the GNU Lesser General Public
-# License as published by the Free Software Foundation, either version
-# 3 of the License, or (at your option) any later version.
-#
-# hpp-gui 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-gui  If not, see
-# <http://www.gnu.org/licenses/>.
-
-SET(PLUGIN_NAME plugintest)
-
-SET(${PLUGIN_NAME}_HEADERS_NO_MOC
-  ../../include/hpp/gui/plugin-interface.hh
-  )
-
-SET(${PLUGIN_NAME}_HEADERS
-  test.hh
-  )
-
-SET(${PLUGIN_NAME}_FORMS
-  )
-
-SET(${PLUGIN_NAME}_RESOURCES
-  )
-
-QT4_WRAP_CPP(${PLUGIN_NAME}_HEADERS_MOC ${${PLUGIN_NAME}_HEADERS} OPTIONS -I${GEPETTO_VIEWER_CORBA_INCLUDEDIR})
-QT4_WRAP_UI(${PLUGIN_NAME}_FORMS_HEADERS ${${PLUGIN_NAME}_FORMS})
-QT4_ADD_RESOURCES(${PLUGIN_NAME}_RESOURCES_RCC ${${PLUGIN_NAME}_RESOURCES})
-
-INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
-INCLUDE(${QT_USE_FILE})
-ADD_DEFINITIONS(${QT_DEFINITIONS})
-ADD_DEFINITIONS(-DQT_PLUGIN)
-ADD_DEFINITIONS(-DQT_NO_DEBUG)
-ADD_DEFINITIONS(-DQT_SHARED)
-
-SET (${PLUGIN_NAME}_SOURCES
-  test.cc
-  )
-
-ADD_LIBRARY(${PLUGIN_NAME} SHARED ${${PLUGIN_NAME}_SOURCES}
-  ${${PLUGIN_NAME}_HEADERS_NO_MOC}
-  ${${PLUGIN_NAME}_HEADERS_MOC}
-  ${${PLUGIN_NAME}_FORMS_HEADERS}
-  ${${PLUGIN_NAME}_RESOURCES_RCC}
-  )
-
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${QT_LIBRARIES})
-
-# Uncomment to install
-#INSTALL(TARGETS ${PLUGIN_NAME} DESTINATION lib)

plugins/plugintest/test.cc

-//
-// Copyright (c) CNRS
-// Authors: Joseph Mirabel
-//
-
-#include <test.hh>
-#include <QtPlugin>
-
-namespace hpp {
-  namespace gui {
-    void TestPlugin::init() {
-      qDebug() << "test";
-      std::cout << "test" << std::endl;
-    }
-
-    Q_EXPORT_PLUGIN2 (testplugin, TestPlugin)
-  } // namespace gui
-} // namespace hpp

plugins/plugintest/test.hh

-//
-// Copyright (c) CNRS
-// Author: Joseph Mirabel
-//
-
-#include <QObject>
-#include <QWidget>
-
-#include <iostream>
-
-#include <gepetto/gui/plugin-interface.hh>
-
-namespace hpp {
-  namespace gui {
-    class TestPlugin : public QObject, public PluginInterface {
-      Q_OBJECT
-        Q_INTERFACES (PluginInterface)
-
-      public:
-        void init();
-    };
-  } // namespace gui
-} // namespace hpp

pyplugins/hpp/gui/directpath.py

@@ -4,7 +4,6 @@
 #
 
 from PythonQt import QtGui, Qt
-from hpp.corbaserver import Client
 import sys
 sys.argv = ["none"]
 

pyplugins/hpp/gui/dynamicbuild.py

@@ -21,8 +21,10 @@ def fromHPP(t):
 class _Clients(object):
     def __init__(self, mainWindow):
         self.hppPlugin = mainWindow.getFromSlot("getHppIIOPurl")
-        self.basic = BasicClient(url= str(self.hppPlugin.getHppIIOPurl()))
-        self.manipulation = ManipClient(url= str(self.hppPlugin.getHppIIOPurl()))
+        self.basic = BasicClient(url= str(self.hppPlugin.getHppIIOPurl()),
+                postContextId= str(self.hppPlugin.getHppContext()))
+        self.manipulation = ManipClient(url= str(self.hppPlugin.getHppIIOPurl()),)
+                postContextId= str(self.hppPlugin.getHppContext()))
         self.viewer = ViewerClient()
 
 class _GraspMode(QWidget):

pyplugins/hpp/gui/inspector.py

@@ -4,7 +4,6 @@
 #
 
 from PythonQt import QtGui, Qt, QtCore
-from hpp.corbaserver import Client
 from hpp import Transform
 from numpy import array
 

pyplugins/hpp/gui/plugin.py

@@ -180,7 +180,8 @@ class Plugin(QtGui.QDockWidget):
         self.tabWidget.addTab (CollisionPairs(self), "Collision pairs")
 
     def resetConnection(self):
-        self.client = Client(url= str(self.hppPlugin.getHppIIOPurl()))
+        self.client = Client(url= str(self.hppPlugin.getHppIIOPurl()),
+                postContextId= str(self.hppPlugin.getHppContext()))
         self.resetRobot();
         self.gui = GuiClient()