ForwardKinematicsService_impl.h
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00001 #ifndef __FORWARD_KINEMATICS_SERVICE_IMPL_H__
00002 #define __FORWARD_KINEMATICS_SERVICE_IMPL_H__
00003 
00004 #include "hrpsys/idl/ForwardKinematicsService.hh"
00005 
00006 class ForwardKinematics;
00007 
00008 class ForwardKinematicsService_impl
00009     : public virtual POA_OpenHRP::ForwardKinematicsService,
00010       public virtual PortableServer::RefCountServantBase
00011 {
00012 public:
00016     ForwardKinematicsService_impl();
00017     
00021     virtual ~ForwardKinematicsService_impl();
00022 
00023     void setComp(ForwardKinematics *i_comp);
00024     //
00025     ::CORBA::Boolean selectBaseLink(const char* lnkname);
00026     ::CORBA::Boolean getReferencePose(const char* linkname, RTC::TimedDoubleSeq_out pose);
00027     ::CORBA::Boolean getCurrentPose(const char* linkname, RTC::TimedDoubleSeq_out pose);
00028     ::CORBA::Boolean getRelativeCurrentPosition(const char* linkname1, const char *linkname2, const OpenHRP::ForwardKinematicsService::position target, OpenHRP::ForwardKinematicsService::position result);
00029 private:
00030     ForwardKinematics *m_comp;
00031 };
00032     
00033 #endif


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:54