StabilizerService_impl.h

Go to the documentation of this file.

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

#include "hrpsys/idl/StabilizerService.hh"

class Stabilizer;

class StabilizerService_impl
        : public virtual POA_OpenHRP::StabilizerService,
          public virtual PortableServer::RefCountServantBase
{
public:
        StabilizerService_impl();

        virtual ~StabilizerService_impl();

        void startStabilizer(void);
        void stopStabilizer(void);
        void getParameter(OpenHRP::StabilizerService::stParam_out i_param);
        void setParameter(const OpenHRP::StabilizerService::stParam& i_param);
        void stabilizer(Stabilizer *i_stabilizer);

        bool dummy();
private:
        Stabilizer *m_stabilizer;
};

#endif