00001 // -*-C++-*- 00008 #include "hrpsys/idl/AccelerationFilterService.hh" 00009 00010 00011 #ifndef ACCELERATIONFILTERSERVICE_IMPL_H 00012 #define ACCELERATIONFILTERSERVICE_IMPL_H 00013 00014 class AccelerationFilter; 00015 00016 00017 /* 00018 * Example class implementing IDL interface OpenHRP::AccelerationFilterService 00019 */ 00020 class AccelerationFilterService_impl 00021 : public virtual POA_OpenHRP::AccelerationFilterService, 00022 public virtual PortableServer::RefCountServantBase 00023 { 00024 private: 00025 // Make sure all instances are built on the heap by making the 00026 // destructor non-public 00027 //virtual ~OpenHRP_AccelerationFilterService_impl(); 00028 AccelerationFilter *m_instance; 00029 00030 public: 00031 // standard constructor 00032 AccelerationFilterService_impl(); 00033 virtual ~AccelerationFilterService_impl(); 00034 00035 // attributes and operations 00036 ::CORBA::Boolean setAccelerationFilterParam(const ::OpenHRP::AccelerationFilterService::AccelerationFilterParam& i_param); 00037 ::CORBA::Boolean getAccelerationFilterParam(::OpenHRP::AccelerationFilterService::AccelerationFilterParam_out i_param); 00038 ::CORBA::Boolean resetFilter(OpenHRP::AccelerationFilterService::ControlMode mode, 00039 const ::OpenHRP::AccelerationFilterService::DblArray3 vel); 00040 // 00041 void setInstance(AccelerationFilter *i_instance); 00042 }; 00043 00044 00045 00046 #endif // ACCELERATIONFILTERSERVICE_IMPL_H 00047 00048