00001 // -*-C++-*- 00015 #include "MotorControlProSkel.h" 00016 #include <rtm/SystemLogger.h> 00017 00018 #ifndef MOTORCONTROLPROSVC_IMPL_H 00019 #define MOTORCONTROLPROSVC_IMPL_H 00020 00025 class MotorSVC_impl 00026 : public virtual POA_Motor, 00027 public virtual PortableServer::RefCountServantBase 00028 { 00029 private: 00030 // Make sure all instances are built on the heap by making the 00031 // destructor non-public 00032 //virtual ~MotorSVC_impl(); 00033 00034 public: 00038 MotorSVC_impl(); 00042 virtual ~MotorSVC_impl(); 00043 00044 // attributes and operations 00053 void setPDGain(CORBA::Double PGainL, CORBA::Double PGainR, CORBA::Double DGainL, CORBA::Double DGainR); 00055 void Start(); 00057 void Finish(); 00059 void Clear(); 00061 void Stop(); 00062 00063 public: 00064 CORBA::Boolean m_GainFlag; 00065 CORBA::Boolean m_StartFlag; 00066 CORBA::Boolean m_FinishFlag; 00067 CORBA::Boolean m_ClearFlag; 00068 CORBA::Boolean m_StopFlag; 00069 00070 double m_PGainL; 00071 double m_PGainR; 00072 double m_DGainL; 00073 double m_DGainR; 00074 00075 RTC::Logger rtclog; 00076 }; 00077 00078 00079 00080 #endif // MOTORCONTROLPROSVC_IMPL_H 00081 00082
