00001 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*- 00002 #ifndef __KALMANFILTER_SERVICE_H__ 00003 #define __KALMANFILTER_SERVICE_H__ 00004 00005 #include "hrpsys/idl/StabilizerService.hh" 00006 00007 class Stabilizer; 00008 00009 class StabilizerService_impl 00010 : public virtual POA_OpenHRP::StabilizerService, 00011 public virtual PortableServer::RefCountServantBase 00012 { 00013 public: 00017 StabilizerService_impl(); 00018 00022 virtual ~StabilizerService_impl(); 00023 00024 void startStabilizer(void); 00025 void stopStabilizer(void); 00026 void getParameter(OpenHRP::StabilizerService::stParam_out i_param); 00027 void setParameter(const OpenHRP::StabilizerService::stParam& i_param); 00028 void stabilizer(Stabilizer *i_stabilizer); 00029 00030 bool dummy(); 00031 private: 00032 Stabilizer *m_stabilizer; 00033 }; 00034 00035 #endif