EmergencyStopperService_impl.h

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#ifndef __EMERGENCYSTOPPER_SERVICE_H__
#define __EMERGENCYSTOPPER_SERVICE_H__

#include "hrpsys/idl/EmergencyStopperService.hh"

class EmergencyStopper;

class EmergencyStopperService_impl
    : public virtual POA_OpenHRP::EmergencyStopperService,
      public virtual PortableServer::RefCountServantBase
{
public:
    EmergencyStopperService_impl();

    virtual ~EmergencyStopperService_impl();

    void stopMotion();
    void releaseMotion();
    CORBA::Boolean getEmergencyStopperParam(OpenHRP::EmergencyStopperService::EmergencyStopperParam& i_param);
    CORBA::Boolean setEmergencyStopperParam(const OpenHRP::EmergencyStopperService::EmergencyStopperParam& i_param);

    void emergencystopper(EmergencyStopper *i_emergencystopper);

private:
    EmergencyStopper *m_emergencystopper;
};

#endif