TorqueControllerService_impl.h

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

#include "hrpsys/idl/TorqueControllerService.hh"

using namespace OpenHRP;

class TorqueController;

class TorqueControllerService_impl
        : public virtual POA_OpenHRP::TorqueControllerService,
          public virtual PortableServer::RefCountServantBase
{
public:
        TorqueControllerService_impl();
        virtual ~TorqueControllerService_impl();

        CORBA::Boolean enableTorqueController(const char *jointName);
        CORBA::Boolean enableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence& jnames);
        CORBA::Boolean disableTorqueController(const char *jointName);
        CORBA::Boolean disableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence& jnames);
        
        CORBA::Boolean startTorqueControl(const char *jointName);
        CORBA::Boolean startMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence& jnames);
        CORBA::Boolean stopTorqueControl(const char *jointName);
        CORBA::Boolean stopMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence& jnames);
        CORBA::Boolean setReferenceTorque(const char *jointName, double tauRef);
        CORBA::Boolean setMultipleReferenceTorques(const OpenHRP::TorqueControllerService::StrSequence& jnames, const OpenHRP::TorqueControllerService::dSequence& tauRefs);
        CORBA::Boolean setTorqueControllerParam(const char *jointName, const OpenHRP::TorqueControllerService::torqueControllerParam& i_param);
        CORBA::Boolean getTorqueControllerParam(const char *jointName, OpenHRP::TorqueControllerService::torqueControllerParam& i_param);
        
        void torque_controller(TorqueController *i_torque_controller);
private:
        TorqueController *m_torque_controller;
};

#endif