00001 // -*- C++ -*- 00020 #ifndef RTC_OPENHRPEXECUTIONCONTEXT_H 00021 #define RTC_OPENHRPEXECUTIONCONTEXT_H 00022 00023 #include <rtm/RTC.h> 00024 00025 #include <coil/Task.h> 00026 00027 #include <rtm/Manager.h> 00028 #include <rtm/PeriodicExecutionContext.h> 00029 00030 #ifdef WIN32 00031 #pragma warning( disable : 4290 ) 00032 #endif 00033 00034 namespace RTC 00035 { 00054 class OpenHRPExecutionContext 00055 : public virtual PeriodicExecutionContext 00056 { 00057 public: 00065 OpenHRPExecutionContext(); 00066 00074 virtual ~OpenHRPExecutionContext(void); 00075 00089 virtual void tick(void) 00090 throw (CORBA::SystemException); 00091 00099 virtual int svc(void); 00100 00101 private: 00102 }; // class OpenHRPExecutionContext 00103 }; // namespace RTC 00104 00105 #ifdef WIN32 00106 #pragma warning( default : 4290 ) 00107 #endif 00108 00109 00110 extern "C" 00111 { 00119 DLL_EXPORT void OpenHRPExecutionContextInit(RTC::Manager* manager); 00120 }; 00121 00122 #endif // RTC_OPENHRPEXECUTIONCONTEXT_H 00123