00001 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*- 00002 #ifndef __GRAP_CONTROLLER_SERVICE_H__ 00003 #define __GRAP_CONTROLLER_SERVICE_H__ 00004 00005 #include "hrpsys/idl/GraspControllerService.hh" 00006 00007 class GraspController; 00008 00009 class GraspControllerService_impl 00010 : public virtual POA_OpenHRP::GraspControllerService, 00011 public virtual PortableServer::RefCountServantBase 00012 { 00013 public: 00017 GraspControllerService_impl(); 00018 00022 virtual ~GraspControllerService_impl(); 00023 00024 bool startGrasp(const char *name, double target_error); 00025 bool stopGrasp(const char *name); 00026 // 00027 void grasp(GraspController *i_grasp); 00028 private: 00029 GraspController *m_grasp; 00030 }; 00031 00032 #endif