hpp-rbprm-corba.cc 1.32 KB
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// Copyright (c) 2012 CNRS
// Author: Florent Lamiraux
//
// This file is part of hpp-manipulation-corba.
// hpp-manipulation-corba is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-manipulation-corba is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-manipulation-corba.  If not, see
// <http://www.gnu.org/licenses/>.

#include <hpp/corbaserver/server.hh>
#include <hpp/core/problem-solver.hh>

typedef hpp::corbaServer::Server CorbaServer;
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int main(int argc, char* argv[]) {
  hpp::core::ProblemSolverPtr_t problemSolver(hpp::core::ProblemSolver::create());
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  CorbaServer corbaServer(problemSolver, argc, const_cast<const char**>(argv), true);
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  corbaServer.startCorbaServer();
  corbaServer.loadPlugin(corbaServer.mainContextId(), "rbprm-corba.so");
  corbaServer.loadPlugin(corbaServer.mainContextId(), "affordance-corba.so");
  corbaServer.processRequest(true);
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}