hrpsys: ObjectContactTurnaroundDetectorService

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00001 // -*-C++-*-
00002 #ifndef OBJECTCONTACTTURNAROUNDDETECTORSERVICESVC_IMPL_H
00003 #define OBJECTCONTACTTURNAROUNDDETECTORSERVICESVC_IMPL_H
00004 
00005 #include "hrpsys/idl/ObjectContactTurnaroundDetectorService.hh"
00006 
00007 using namespace OpenHRP;
00008 
00009 class ObjectContactTurnaroundDetector;
00010 
00011 class ObjectContactTurnaroundDetectorService_impl 
00012   : public virtual POA_OpenHRP::ObjectContactTurnaroundDetectorService,
00013     public virtual PortableServer::RefCountServantBase
00014 {
00015 public:
00016   ObjectContactTurnaroundDetectorService_impl();
00017   virtual ~ObjectContactTurnaroundDetectorService_impl();
00018   //
00019   void startObjectContactTurnaroundDetection(const CORBA::Double i_ref_diff_wrench, const CORBA::Double i_max_time, const OpenHRP::ObjectContactTurnaroundDetectorService::StrSequence& i_ee_names);
00020   OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode checkObjectContactTurnaroundDetection();
00021   CORBA::Boolean setObjectContactTurnaroundDetectorParam(const OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam &i_param_);
00022   CORBA::Boolean getObjectContactTurnaroundDetectorParam(OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam_out i_param_);
00023   CORBA::Boolean getObjectForcesMoments(OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out o_forces, OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out o_moments, OpenHRP::ObjectContactTurnaroundDetectorService::DblSequence3_out o_3dofwrench, CORBA::Double& o_fric_coeff_wrench);
00024   CORBA::Boolean checkObjectContactTurnaroundDetectionForGeneralizedWrench(OpenHRP::ObjectContactTurnaroundDetectorService::DetectorModeSequence_out o_dms);
00025   CORBA::Boolean startObjectContactTurnaroundDetectionForGeneralizedWrench();
00026   CORBA::Boolean getObjectGeneralizedConstraintWrenches(OpenHRP::ObjectContactTurnaroundDetectorService::objectGeneralizedConstraintWrenchesParam_out o_param);
00027 
00028   //
00029   void octd(ObjectContactTurnaroundDetector *i_octd);
00030 private:
00031   ObjectContactTurnaroundDetector *m_octd;
00032 };
00033 
00034 #endif // OBJECTCONTACTTURNAROUNDDETECTORSERVICESVC_IMPL_H