KalmanFilterService_impl.h

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// -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
#ifndef __KALMANFILTER_SERVICE_H__
#define __KALMANFILTER_SERVICE_H__

#include "hrpsys/idl/KalmanFilterService.hh"

class KalmanFilter;

class KalmanFilterService_impl
        : public virtual POA_OpenHRP::KalmanFilterService,
          public virtual PortableServer::RefCountServantBase
{
public:
        KalmanFilterService_impl();

        virtual ~KalmanFilterService_impl();

        bool setKalmanFilterParam(const OpenHRP::KalmanFilterService::KalmanFilterParam& i_param);
        bool getKalmanFilterParam(OpenHRP::KalmanFilterService::KalmanFilterParam& i_param);
        bool resetKalmanFilterState();

        void kalman(KalmanFilter *i_kalman);

private:
        KalmanFilter *m_kalman;
};

#endif