OGMap3DService_impl.h

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// -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
#ifndef __OGMap3DService_H__
#define __OGMap3DService_H__

#include "hrpsys/idl/OGMap3DService.hh"

class OccupancyGridMap3D;

class OGMap3DService_impl
  : public virtual POA_OpenHRP::OGMap3DService,
    public virtual PortableServer::RefCountServantBase
{
public:
  OGMap3DService_impl(OccupancyGridMap3D *i_comp);

  virtual ~OGMap3DService_impl();

  OpenHRP::OGMap3D* getOGMap3D(const OpenHRP::AABB& region);
  void save(const char *filename);
  void clear();

private:
  OccupancyGridMap3D *m_comp;
};

#endif