Add dependency to hpp-affordance-corba & run affordanceServer within rbprm-server

CMakeLists.txt

@@ -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

@@ -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

@@ -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);