00001 #ifndef __EMERGENCYSTOPPER_SERVICE_H__ 00002 #define __EMERGENCYSTOPPER_SERVICE_H__ 00003 00004 #include "hrpsys/idl/EmergencyStopperService.hh" 00005 00006 class EmergencyStopper; 00007 00008 class EmergencyStopperService_impl 00009 : public virtual POA_OpenHRP::EmergencyStopperService, 00010 public virtual PortableServer::RefCountServantBase 00011 { 00012 public: 00016 EmergencyStopperService_impl(); 00017 00021 virtual ~EmergencyStopperService_impl(); 00022 00023 void stopMotion(); 00024 void releaseMotion(); 00025 CORBA::Boolean getEmergencyStopperParam(OpenHRP::EmergencyStopperService::EmergencyStopperParam& i_param); 00026 CORBA::Boolean setEmergencyStopperParam(const OpenHRP::EmergencyStopperService::EmergencyStopperParam& i_param); 00027 00028 void emergencystopper(EmergencyStopper *i_emergencystopper); 00029 00030 private: 00031 EmergencyStopper *m_emergencystopper; 00032 }; 00033 00034 #endif