GraspControllerService_impl.h

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// -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
#ifndef __GRAP_CONTROLLER_SERVICE_H__
#define __GRAP_CONTROLLER_SERVICE_H__

#include "hrpsys/idl/GraspControllerService.hh"

class GraspController;

class GraspControllerService_impl
        : public virtual POA_OpenHRP::GraspControllerService,
          public virtual PortableServer::RefCountServantBase
{
public:
        GraspControllerService_impl();

        virtual ~GraspControllerService_impl();

    bool startGrasp(const char *name, double target_error);
    bool stopGrasp(const char *name);
    //
        void grasp(GraspController *i_grasp);
private:
  GraspController *m_grasp;
};

#endif