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