hrpsys: ReferenceForceUpdaterService

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00001 // -*- C++ -*-
00002 #ifndef __REFERENCEFORCEUPDATOR_SERVICE_H__
00003 #define __REFERENCEFORCEUPDATOR_SERVICE_H__
00004 
00005 #include "hrpsys/idl/ReferenceForceUpdaterService.hh"
00006 
00007 using namespace OpenHRP;
00008 
00009 class ReferenceForceUpdater;
00010 
00011 class ReferenceForceUpdaterService_impl
00012     : public virtual POA_OpenHRP::ReferenceForceUpdaterService,
00013       public virtual PortableServer::RefCountServantBase
00014 {
00015 public:
00019     ReferenceForceUpdaterService_impl();
00020 
00024     virtual ~ReferenceForceUpdaterService_impl();
00025 
00026     CORBA::Boolean setReferenceForceUpdaterParam(const char *i_name_, const OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam& i_param);
00027     CORBA::Boolean getReferenceForceUpdaterParam(const char *i_name_, OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam_out i_param);
00028     CORBA::Boolean startReferenceForceUpdater(const char *i_name_);
00029     CORBA::Boolean stopReferenceForceUpdater(const char *i_name_);
00030     CORBA::Boolean startReferenceForceUpdaterNoWait(const char *i_name_);
00031     CORBA::Boolean stopReferenceForceUpdaterNoWait(const char *i_name_);
00032     void waitReferenceForceUpdaterTransition(const char* i_name_);
00033     CORBA::Boolean getSupportedReferenceForceUpdaterNameSequence(OpenHRP::ReferenceForceUpdaterService::StrSequence_out o_names);
00034 
00035     void rfu(ReferenceForceUpdater *i_rfu);
00036 private:
00037     ReferenceForceUpdater* m_rfu;
00038 };
00039 
00040 #endif