ReferenceForceUpdaterService_impl.h

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// -*- C++ -*-
#ifndef __REFERENCEFORCEUPDATOR_SERVICE_H__
#define __REFERENCEFORCEUPDATOR_SERVICE_H__

#include "hrpsys/idl/ReferenceForceUpdaterService.hh"

using namespace OpenHRP;

class ReferenceForceUpdater;

class ReferenceForceUpdaterService_impl
    : public virtual POA_OpenHRP::ReferenceForceUpdaterService,
      public virtual PortableServer::RefCountServantBase
{
public:
    ReferenceForceUpdaterService_impl();

    virtual ~ReferenceForceUpdaterService_impl();

    CORBA::Boolean setReferenceForceUpdaterParam(const char *i_name_, const OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam& i_param);
    CORBA::Boolean getReferenceForceUpdaterParam(const char *i_name_, OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam_out i_param);
    CORBA::Boolean startReferenceForceUpdater(const char *i_name_);
    CORBA::Boolean stopReferenceForceUpdater(const char *i_name_);
    CORBA::Boolean startReferenceForceUpdaterNoWait(const char *i_name_);
    CORBA::Boolean stopReferenceForceUpdaterNoWait(const char *i_name_);
    void waitReferenceForceUpdaterTransition(const char* i_name_);
    CORBA::Boolean getSupportedReferenceForceUpdaterNameSequence(OpenHRP::ReferenceForceUpdaterService::StrSequence_out o_names);

    void rfu(ReferenceForceUpdater *i_rfu);
private:
    ReferenceForceUpdater* m_rfu;
};

#endif