hrpsys: CollisionDetectorService

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00001 // -*-C++-*-
00002 #ifndef COLLISIONDETECTORSERVICE_IMPL_H
00003 #define COLLISIONDETECTORSERVICE_IMPL_H
00004 
00005 #include "hrpsys/idl/CollisionDetectorService.hh"
00006 
00007 using namespace OpenHRP;
00008 
00009 class CollisionDetector;
00010 
00011 class CollisionDetectorService_impl 
00012     : public virtual POA_OpenHRP::CollisionDetectorService,
00013       public virtual PortableServer::RefCountServantBase
00014 {
00015 public:
00016     CollisionDetectorService_impl();
00017     virtual ~CollisionDetectorService_impl();
00018     //
00019     CORBA::Boolean enableCollisionDetection();
00020     CORBA::Boolean disableCollisionDetection();
00021     CORBA::Boolean setTolerance(const char *i_link_pair_name, CORBA::Double d_tolerance);
00022     CORBA::Boolean setCollisionLoop(CORBA::Short loop);
00023     CORBA::Boolean getCollisionStatus(OpenHRP::CollisionDetectorService::CollisionState_out state);
00024     void collision(CollisionDetector *i_collision);
00025     //
00026 private:
00027     CollisionDetector *m_collision;
00028 };                               
00029 
00030 #endif