00001 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*- 00002 #ifndef __SOFT_ERROR_LIMITER_SERVICE_H__ 00003 #define __SOFT_ERROR_LIMITER_SERVICE_H__ 00004 00005 #include "hrpsys/idl/SoftErrorLimiterService.hh" 00006 #include "robot.h" 00007 00008 class SoftErrorLimiterService_impl 00009 : public virtual POA_OpenHRP::SoftErrorLimiterService, 00010 public virtual PortableServer::RefCountServantBase 00011 { 00012 public: 00016 SoftErrorLimiterService_impl(); 00017 00021 virtual ~SoftErrorLimiterService_impl(); 00022 00023 void setServoErrorLimit(const char *jname, double limit); 00024 00025 // 00026 void setRobot(boost::shared_ptr<robot>& i_robot) { m_robot = i_robot; } 00027 00028 private: 00029 boost::shared_ptr<robot> m_robot; 00030 }; 00031 00032 #endif