00001 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*- 00002 #ifndef __OGMap3DService_H__ 00003 #define __OGMap3DService_H__ 00004 00005 #include "hrpsys/idl/OGMap3DService.hh" 00006 00007 class OccupancyGridMap3D; 00008 00009 class OGMap3DService_impl 00010 : public virtual POA_OpenHRP::OGMap3DService, 00011 public virtual PortableServer::RefCountServantBase 00012 { 00013 public: 00017 OGMap3DService_impl(OccupancyGridMap3D *i_comp); 00018 00022 virtual ~OGMap3DService_impl(); 00023 00024 OpenHRP::OGMap3D* getOGMap3D(const OpenHRP::AABB& region); 00025 void save(const char *filename); 00026 void clear(); 00027 00028 private: 00029 OccupancyGridMap3D *m_comp; 00030 }; 00031 00032 #endif