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Guilhem Saurel
hpp-rbprm-corba
Commits
2f459a0f
Commit
2f459a0f
authored
Apr 12, 2016
by
Akseppal
Browse files
Add dependency to hpp-affordance-corba & run affordanceServer within rbprm-server
parent
cbcabffe
Changes
3
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CMakeLists.txt
View file @
2f459a0f
...
...
@@ -50,6 +50,7 @@ ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 3")
ADD_REQUIRED_DEPENDENCY
(
"hpp-rbprm"
)
ADD_REQUIRED_DEPENDENCY
(
"omniORB4 >= 4.1.4"
)
ADD_REQUIRED_DEPENDENCY
(
"hpp-model-urdf >= 3"
)
ADD_REQUIRED_DEPENDENCY
(
"hpp-affordance-corba"
)
PKG_CONFIG_APPEND_LIBS
(
${
PROJECT_NAME
}
)
ADD_SUBDIRECTORY
(
src
)
...
...
src/CMakeLists.txt
View file @
2f459a0f
...
...
@@ -64,6 +64,7 @@ PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-model-urdf)
PKG_CONFIG_USE_DEPENDENCY
(
${
LIBRARY_NAME
}
hpp-corbaserver
)
PKG_CONFIG_USE_DEPENDENCY
(
${
LIBRARY_NAME
}
omniORB4
)
PKG_CONFIG_USE_DEPENDENCY
(
${
LIBRARY_NAME
}
hpp-rbprm
)
PKG_CONFIG_USE_DEPENDENCY
(
${
LIBRARY_NAME
}
hpp-affordance-corba
)
INSTALL
(
TARGETS
${
LIBRARY_NAME
}
DESTINATION lib
)
...
...
src/hpp-rbprm-corba.cc
View file @
2f459a0f
...
...
@@ -16,21 +16,30 @@
// <http://www.gnu.org/licenses/>.
#include <hpp/corbaserver/server.hh>
#include <hpp/corbaserver/affordance/server.hh>
#include <hpp/corbaserver/rbprm/server.hh>
#include <hpp/core/problem-solver.hh>
typedef
hpp
::
rbprm
::
Server
RbprmServer
;
typedef
hpp
::
corbaServer
::
Server
CorbaServer
;
typedef
hpp
::
affordanceCorba
::
Server
AffordanceServer
;
int
main
(
int
argc
,
char
*
argv
[])
{
hpp
::
core
::
ProblemSolverPtr_t
problemSolver
(
hpp
::
core
::
ProblemSolver
::
create
());
CorbaServer
corbaServer
(
problemSolver
,
argc
,
const_cast
<
const
char
**>
(
argv
),
true
);
RbprmServer
rbprmServer
(
argc
,
const_cast
<
const
char
**>
(
argv
),
true
,
"rbprmChild"
);
AffordanceServer
affordanceServer
(
argc
,
const_cast
<
const
char
**>
(
argv
),
true
);
affordanceServer
.
setProblemSolver
(
problemSolver
);
RbprmServer
rbprmServer
(
argc
,
const_cast
<
const
char
**>
(
argv
),
true
,
"rbprmChild"
);
rbprmServer
.
setProblemSolver
(
problemSolver
);
corbaServer
.
startCorbaServer
();
affordanceServer
.
startCorbaServer
(
"hpp"
,
"corbaserver"
,
"affordanceCorba"
,
"affordance"
);
rbprmServer
.
startCorbaServer
(
"hpp"
,
"corbaserver"
,
"rbprm"
);
corbaServer
.
processRequest
(
true
);
...
...
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