00001 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*- 00002 #ifndef __KALMANFILTER_SERVICE_H__ 00003 #define __KALMANFILTER_SERVICE_H__ 00004 00005 #include "hrpsys/idl/KalmanFilterService.hh" 00006 00007 class KalmanFilter; 00008 00009 class KalmanFilterService_impl 00010 : public virtual POA_OpenHRP::KalmanFilterService, 00011 public virtual PortableServer::RefCountServantBase 00012 { 00013 public: 00017 KalmanFilterService_impl(); 00018 00022 virtual ~KalmanFilterService_impl(); 00023 00024 bool setKalmanFilterParam(const OpenHRP::KalmanFilterService::KalmanFilterParam& i_param); 00025 bool getKalmanFilterParam(OpenHRP::KalmanFilterService::KalmanFilterParam& i_param); 00026 bool resetKalmanFilterState(); 00027 00028 void kalman(KalmanFilter *i_kalman); 00029 00030 private: 00031 KalmanFilter *m_kalman; 00032 }; 00033 00034 #endif