Scorbot.ice.H

// **********************************************************************
//
// Copyright (c) 2003-2009 ZeroC, Inc. All rights reserved.
//
// This copy of Ice is licensed to you under the terms described in the
// ICE_LICENSE file included in this distribution.
//
// **********************************************************************

// Ice version 3.3.1
// Generated from file `Scorbot.ice'

#ifndef __src_Ice__Scorbot_ice_H__
#define __src_Ice__Scorbot_ice_H__

#include <Ice/LocalObjectF.h>
#include <Ice/ProxyF.h>
#include <Ice/ObjectF.h>
#include <Ice/Exception.h>
#include <Ice/LocalObject.h>
#include <Ice/Proxy.h>
#include <Ice/Object.h>
#include <Ice/Outgoing.h>
#include <Ice/Incoming.h>
#include <Ice/Direct.h>
#include <Ice/StreamF.h>
#include <Ice/UndefSysMacros.h>

#ifndef ICE_IGNORE_VERSION
#   if ICE_INT_VERSION / 100 != 303
#       error Ice version mismatch!
#   endif
#   if ICE_INT_VERSION % 100 > 50
#       error Beta header file detected
#   endif
#   if ICE_INT_VERSION % 100 < 1
#       error Ice patch level mismatch!
#   endif
#endif

namespace IceProxy
{

namespace Robots
{

class ScorbotIce;

}

}

namespace Robots
{

class ScorbotIce;
bool operator==(const ScorbotIce&, const ScorbotIce&);
bool operator<(const ScorbotIce&, const ScorbotIce&);

}

namespace IceInternal
{

::Ice::Object* upCast(::Robots::ScorbotIce*);
::IceProxy::Ice::Object* upCast(::IceProxy::Robots::ScorbotIce*);

}

namespace Robots
{

typedef ::IceInternal::Handle< ::Robots::ScorbotIce> ScorbotIcePtr;
typedef ::IceInternal::ProxyHandle< ::IceProxy::Robots::ScorbotIce> ScorbotIcePrx;

void __read(::IceInternal::BasicStream*, ScorbotIcePrx&);
void __patch__ScorbotIcePtr(void*, ::Ice::ObjectPtr&);

}

namespace Robots
{

enum JOINTS
{
    BASE,
    SHOULDER,
    ELBOW,
    WRIST1,
    WRIST2,
    GRIPPER,
    EX1,
    EX2,
    WRISTROLL,
    WRISTPITCH
};

void __write(::IceInternal::BasicStream*, JOINTS);
void __read(::IceInternal::BasicStream*, JOINTS&);

struct ArmPos
{
    ::Ice::Int base;
    ::Ice::Int shoulder;
    ::Ice::Int elbow;
    ::Ice::Int wrist1;
    ::Ice::Int wrist2;
    ::Ice::Int gripper;
    ::Ice::Int ex1;
    ::Ice::Int ex2;
    ::Ice::Int wristroll;
    ::Ice::Int wristpitch;
    ::Ice::Int duration;

    bool operator==(const ArmPos&) const;
    bool operator<(const ArmPos&) const;
    bool operator!=(const ArmPos& __rhs) const
    {
        return !operator==(__rhs);
    }
    bool operator<=(const ArmPos& __rhs) const
    {
        return operator<(__rhs) || operator==(__rhs);
    }
    bool operator>(const ArmPos& __rhs) const
    {
        return !operator<(__rhs) && !operator==(__rhs);
    }
    bool operator>=(const ArmPos& __rhs) const
    {
        return !operator<(__rhs);
    }

    void __write(::IceInternal::BasicStream*) const;
    void __read(::IceInternal::BasicStream*);
};

}

namespace IceProxy
{

namespace Robots
{

class ScorbotIce : virtual public ::IceProxy::Ice::Object
{
public:

    ::Robots::ArmPos getIK(::Ice::Float x, ::Ice::Float y, ::Ice::Float z)
    {
        return getIK(x, y, z, 0);
    }
    ::Robots::ArmPos getIK(::Ice::Float x, ::Ice::Float y, ::Ice::Float z, const ::Ice::Context& __ctx)
    {
        return getIK(x, y, z, &__ctx);
    }

private:

    ::Robots::ArmPos getIK(::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*);

public:

    bool getEFpos(::Ice::Float& x, ::Ice::Float& y, ::Ice::Float& z)
    {
        return getEFpos(x, y, z, 0);
    }
    bool getEFpos(::Ice::Float& x, ::Ice::Float& y, ::Ice::Float& z, const ::Ice::Context& __ctx)
    {
        return getEFpos(x, y, z, &__ctx);
    }

private:

    bool getEFpos(::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Context*);

public:

    bool setEFPos(::Ice::Float x, ::Ice::Float y, ::Ice::Float z)
    {
        return setEFPos(x, y, z, 0);
    }
    bool setEFPos(::Ice::Float x, ::Ice::Float y, ::Ice::Float z, const ::Ice::Context& __ctx)
    {
        return setEFPos(x, y, z, &__ctx);
    }

private:

    bool setEFPos(::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*);

public:

    bool setMotor(::Robots::JOINTS joint, ::Ice::Int pwm)
    {
        return setMotor(joint, pwm, 0);
    }
    bool setMotor(::Robots::JOINTS joint, ::Ice::Int pwm, const ::Ice::Context& __ctx)
    {
        return setMotor(joint, pwm, &__ctx);
    }

private:

    bool setMotor(::Robots::JOINTS, ::Ice::Int, const ::Ice::Context*);

public:

    ::Ice::Int getPWM(::Robots::JOINTS j)
    {
        return getPWM(j, 0);
    }
    ::Ice::Int getPWM(::Robots::JOINTS j, const ::Ice::Context& __ctx)
    {
        return getPWM(j, &__ctx);
    }

private:

    ::Ice::Int getPWM(::Robots::JOINTS, const ::Ice::Context*);

public:

    bool setJointPos(::Robots::JOINTS joint, ::Ice::Int pos)
    {
        return setJointPos(joint, pos, 0);
    }
    bool setJointPos(::Robots::JOINTS joint, ::Ice::Int pos, const ::Ice::Context& __ctx)
    {
        return setJointPos(joint, pos, &__ctx);
    }

private:

    bool setJointPos(::Robots::JOINTS, ::Ice::Int, const ::Ice::Context*);

public:

    ::Ice::Int getJointPos(::Robots::JOINTS joint)
    {
        return getJointPos(joint, 0);
    }
    ::Ice::Int getJointPos(::Robots::JOINTS joint, const ::Ice::Context& __ctx)
    {
        return getJointPos(joint, &__ctx);
    }

private:

    ::Ice::Int getJointPos(::Robots::JOINTS, const ::Ice::Context*);

public:

    ::Ice::Float getEncoderAng(::Robots::JOINTS joint)
    {
        return getEncoderAng(joint, 0);
    }
    ::Ice::Float getEncoderAng(::Robots::JOINTS joint, const ::Ice::Context& __ctx)
    {
        return getEncoderAng(joint, &__ctx);
    }

private:

    ::Ice::Float getEncoderAng(::Robots::JOINTS, const ::Ice::Context*);

public:

    void resetEncoders()
    {
        resetEncoders(0);
    }
    void resetEncoders(const ::Ice::Context& __ctx)
    {
        resetEncoders(&__ctx);
    }

private:

    void resetEncoders(const ::Ice::Context*);

public:

    void stopAllMotors()
    {
        stopAllMotors(0);
    }
    void stopAllMotors(const ::Ice::Context& __ctx)
    {
        stopAllMotors(&__ctx);
    }

private:

    void stopAllMotors(const ::Ice::Context*);

public:

    void setSafety(bool val)
    {
        setSafety(val, 0);
    }
    void setSafety(bool val, const ::Ice::Context& __ctx)
    {
        setSafety(val, &__ctx);
    }

private:

    void setSafety(bool, const ::Ice::Context*);

public:

    ::Ice::Int getMovementTime()
    {
        return getMovementTime(0);
    }
    ::Ice::Int getMovementTime(const ::Ice::Context& __ctx)
    {
        return getMovementTime(&__ctx);
    }

private:

    ::Ice::Int getMovementTime(const ::Ice::Context*);

public:

    void homeMotor(::Robots::JOINTS joint, ::Ice::Int LimitSeekSpeed, ::Ice::Int MSJumpSpeed, ::Ice::Float MSJumpDelay, ::Ice::Int MSSeekSpeed, bool MSStopCondition, bool checkMS)
    {
        homeMotor(joint, LimitSeekSpeed, MSJumpSpeed, MSJumpDelay, MSSeekSpeed, MSStopCondition, checkMS, 0);
    }
    void homeMotor(::Robots::JOINTS joint, ::Ice::Int LimitSeekSpeed, ::Ice::Int MSJumpSpeed, ::Ice::Float MSJumpDelay, ::Ice::Int MSSeekSpeed, bool MSStopCondition, bool checkMS, const ::Ice::Context& __ctx)
    {
        homeMotor(joint, LimitSeekSpeed, MSJumpSpeed, MSJumpDelay, MSSeekSpeed, MSStopCondition, checkMS, &__ctx);
    }

private:

    void homeMotor(::Robots::JOINTS, ::Ice::Int, ::Ice::Int, ::Ice::Float, ::Ice::Int, bool, bool, const ::Ice::Context*);

public:

    void homeMotors()
    {
        homeMotors(0);
    }
    void homeMotors(const ::Ice::Context& __ctx)
    {
        homeMotors(&__ctx);
    }

private:

    void homeMotors(const ::Ice::Context*);

public:

    ::Ice::Int getMicroSwitch()
    {
        return getMicroSwitch(0);
    }
    ::Ice::Int getMicroSwitch(const ::Ice::Context& __ctx)
    {
        return getMicroSwitch(&__ctx);
    }

private:

    ::Ice::Int getMicroSwitch(const ::Ice::Context*);

public:

    ::Ice::Int getMicroSwitchMotor(::Robots::JOINTS m)
    {
        return getMicroSwitchMotor(m, 0);
    }
    ::Ice::Int getMicroSwitchMotor(::Robots::JOINTS m, const ::Ice::Context& __ctx)
    {
        return getMicroSwitchMotor(m, &__ctx);
    }

private:

    ::Ice::Int getMicroSwitchMotor(::Robots::JOINTS, const ::Ice::Context*);

public:

    bool setArmPos(const ::Robots::ArmPos& pos)
    {
        return setArmPos(pos, 0);
    }
    bool setArmPos(const ::Robots::ArmPos& pos, const ::Ice::Context& __ctx)
    {
        return setArmPos(pos, &__ctx);
    }

private:

    bool setArmPos(const ::Robots::ArmPos&, const ::Ice::Context*);

public:

    ::Robots::ArmPos getArmPos()
    {
        return getArmPos(0);
    }
    ::Robots::ArmPos getArmPos(const ::Ice::Context& __ctx)
    {
        return getArmPos(&__ctx);
    }

private:

    ::Robots::ArmPos getArmPos(const ::Ice::Context*);

public:

    void motorsOn()
    {
        motorsOn(0);
    }
    void motorsOn(const ::Ice::Context& __ctx)
    {
        motorsOn(&__ctx);
    }

private:

    void motorsOn(const ::Ice::Context*);

public:

    void motorsOff()
    {
        motorsOff(0);
    }
    void motorsOff(const ::Ice::Context& __ctx)
    {
        motorsOff(&__ctx);
    }

private:

    void motorsOff(const ::Ice::Context*);

public:

    void shutdown()
    {
        shutdown(0);
    }
    void shutdown(const ::Ice::Context& __ctx)
    {
        shutdown(&__ctx);
    }

private:

    void shutdown(const ::Ice::Context*);

public:

    ::Ice::Double enc2ang(::Ice::Int encoderTicks)
    {
        return enc2ang(encoderTicks, 0);
    }
    ::Ice::Double enc2ang(::Ice::Int encoderTicks, const ::Ice::Context& __ctx)
    {
        return enc2ang(encoderTicks, &__ctx);
    }

private:

    ::Ice::Double enc2ang(::Ice::Int, const ::Ice::Context*);

public:

    ::Ice::Int ang2enc(::Ice::Double degrees)
    {
        return ang2enc(degrees, 0);
    }
    ::Ice::Int ang2enc(::Ice::Double degrees, const ::Ice::Context& __ctx)
    {
        return ang2enc(degrees, &__ctx);
    }

private:

    ::Ice::Int ang2enc(::Ice::Double, const ::Ice::Context*);

public:

    ::Ice::Double enc2mm(::Ice::Int encoderTicks)
    {
        return enc2mm(encoderTicks, 0);
    }
    ::Ice::Double enc2mm(::Ice::Int encoderTicks, const ::Ice::Context& __ctx)
    {
        return enc2mm(encoderTicks, &__ctx);
    }

private:

    ::Ice::Double enc2mm(::Ice::Int, const ::Ice::Context*);

public:

    ::Ice::Int mm2enc(::Ice::Double mm)
    {
        return mm2enc(mm, 0);
    }
    ::Ice::Int mm2enc(::Ice::Double mm, const ::Ice::Context& __ctx)
    {
        return mm2enc(mm, &__ctx);
    }

private:

    ::Ice::Int mm2enc(::Ice::Double, const ::Ice::Context*);

public:

    ::IceInternal::ProxyHandle<ScorbotIce> ice_context(const ::Ice::Context& __context) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_context(__context).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_context(__context).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_adapterId(const std::string& __id) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_adapterId(__id).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_adapterId(__id).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_endpoints(const ::Ice::EndpointSeq& __endpoints) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_endpoints(__endpoints).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_endpoints(__endpoints).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_locatorCacheTimeout(int __timeout) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_locatorCacheTimeout(__timeout).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_locatorCacheTimeout(__timeout).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_connectionCached(bool __cached) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_connectionCached(__cached).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_connectionCached(__cached).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_endpointSelection(::Ice::EndpointSelectionType __est) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_endpointSelection(__est).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_endpointSelection(__est).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_secure(bool __secure) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_secure(__secure).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_secure(__secure).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_preferSecure(bool __preferSecure) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_preferSecure(__preferSecure).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_preferSecure(__preferSecure).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_router(const ::Ice::RouterPrx& __router) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_router(__router).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_router(__router).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_locator(const ::Ice::LocatorPrx& __locator) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_locator(__locator).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_locator(__locator).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_collocationOptimized(bool __co) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_collocationOptimized(__co).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_collocationOptimized(__co).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_twoway() const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_twoway().get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_twoway().get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_oneway() const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_oneway().get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_oneway().get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_batchOneway() const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_batchOneway().get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_batchOneway().get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_datagram() const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_datagram().get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_datagram().get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_batchDatagram() const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_batchDatagram().get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_batchDatagram().get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_compress(bool __compress) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_compress(__compress).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_compress(__compress).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_timeout(int __timeout) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_timeout(__timeout).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_timeout(__timeout).get());
    #endif
    }

    ::IceInternal::ProxyHandle<ScorbotIce> ice_connectionId(const std::string& __id) const
    {
    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
        typedef ::IceProxy::Ice::Object _Base;
        return dynamic_cast<ScorbotIce*>(_Base::ice_connectionId(__id).get());
    #else
        return dynamic_cast<ScorbotIce*>(::IceProxy::Ice::Object::ice_connectionId(__id).get());
    #endif
    }

    static const ::std::string& ice_staticId();

private:

    virtual ::IceInternal::Handle< ::IceDelegateM::Ice::Object> __createDelegateM();
    virtual ::IceInternal::Handle< ::IceDelegateD::Ice::Object> __createDelegateD();
    virtual ::IceProxy::Ice::Object* __newInstance() const;
};

}

}

namespace IceDelegate
{

namespace Robots
{

class ScorbotIce : virtual public ::IceDelegate::Ice::Object
{
public:

    virtual ::Robots::ArmPos getIK(::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*) = 0;

    virtual bool getEFpos(::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Context*) = 0;

    virtual bool setEFPos(::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*) = 0;

    virtual bool setMotor(::Robots::JOINTS, ::Ice::Int, const ::Ice::Context*) = 0;

    virtual ::Ice::Int getPWM(::Robots::JOINTS, const ::Ice::Context*) = 0;

    virtual bool setJointPos(::Robots::JOINTS, ::Ice::Int, const ::Ice::Context*) = 0;

    virtual ::Ice::Int getJointPos(::Robots::JOINTS, const ::Ice::Context*) = 0;

    virtual ::Ice::Float getEncoderAng(::Robots::JOINTS, const ::Ice::Context*) = 0;

    virtual void resetEncoders(const ::Ice::Context*) = 0;

    virtual void stopAllMotors(const ::Ice::Context*) = 0;

    virtual void setSafety(bool, const ::Ice::Context*) = 0;

    virtual ::Ice::Int getMovementTime(const ::Ice::Context*) = 0;

    virtual void homeMotor(::Robots::JOINTS, ::Ice::Int, ::Ice::Int, ::Ice::Float, ::Ice::Int, bool, bool, const ::Ice::Context*) = 0;

    virtual void homeMotors(const ::Ice::Context*) = 0;

    virtual ::Ice::Int getMicroSwitch(const ::Ice::Context*) = 0;

    virtual ::Ice::Int getMicroSwitchMotor(::Robots::JOINTS, const ::Ice::Context*) = 0;

    virtual bool setArmPos(const ::Robots::ArmPos&, const ::Ice::Context*) = 0;

    virtual ::Robots::ArmPos getArmPos(const ::Ice::Context*) = 0;

    virtual void motorsOn(const ::Ice::Context*) = 0;

    virtual void motorsOff(const ::Ice::Context*) = 0;

    virtual void shutdown(const ::Ice::Context*) = 0;

    virtual ::Ice::Double enc2ang(::Ice::Int, const ::Ice::Context*) = 0;

    virtual ::Ice::Int ang2enc(::Ice::Double, const ::Ice::Context*) = 0;

    virtual ::Ice::Double enc2mm(::Ice::Int, const ::Ice::Context*) = 0;

    virtual ::Ice::Int mm2enc(::Ice::Double, const ::Ice::Context*) = 0;
};

}

}

namespace IceDelegateM
{

namespace Robots
{

class ScorbotIce : virtual public ::IceDelegate::Robots::ScorbotIce,
                   virtual public ::IceDelegateM::Ice::Object
{
public:

    virtual ::Robots::ArmPos getIK(::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*);

    virtual bool getEFpos(::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Context*);

    virtual bool setEFPos(::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*);

    virtual bool setMotor(::Robots::JOINTS, ::Ice::Int, const ::Ice::Context*);

    virtual ::Ice::Int getPWM(::Robots::JOINTS, const ::Ice::Context*);

    virtual bool setJointPos(::Robots::JOINTS, ::Ice::Int, const ::Ice::Context*);

    virtual ::Ice::Int getJointPos(::Robots::JOINTS, const ::Ice::Context*);

    virtual ::Ice::Float getEncoderAng(::Robots::JOINTS, const ::Ice::Context*);

    virtual void resetEncoders(const ::Ice::Context*);

    virtual void stopAllMotors(const ::Ice::Context*);

    virtual void setSafety(bool, const ::Ice::Context*);

    virtual ::Ice::Int getMovementTime(const ::Ice::Context*);

    virtual void homeMotor(::Robots::JOINTS, ::Ice::Int, ::Ice::Int, ::Ice::Float, ::Ice::Int, bool, bool, const ::Ice::Context*);

    virtual void homeMotors(const ::Ice::Context*);

    virtual ::Ice::Int getMicroSwitch(const ::Ice::Context*);

    virtual ::Ice::Int getMicroSwitchMotor(::Robots::JOINTS, const ::Ice::Context*);

    virtual bool setArmPos(const ::Robots::ArmPos&, const ::Ice::Context*);

    virtual ::Robots::ArmPos getArmPos(const ::Ice::Context*);

    virtual void motorsOn(const ::Ice::Context*);

    virtual void motorsOff(const ::Ice::Context*);

    virtual void shutdown(const ::Ice::Context*);

    virtual ::Ice::Double enc2ang(::Ice::Int, const ::Ice::Context*);

    virtual ::Ice::Int ang2enc(::Ice::Double, const ::Ice::Context*);

    virtual ::Ice::Double enc2mm(::Ice::Int, const ::Ice::Context*);

    virtual ::Ice::Int mm2enc(::Ice::Double, const ::Ice::Context*);
};

}

}

namespace IceDelegateD
{

namespace Robots
{

class ScorbotIce : virtual public ::IceDelegate::Robots::ScorbotIce,
                   virtual public ::IceDelegateD::Ice::Object
{
public:

    virtual ::Robots::ArmPos getIK(::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*);

    virtual bool getEFpos(::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Context*);

    virtual bool setEFPos(::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*);

    virtual bool setMotor(::Robots::JOINTS, ::Ice::Int, const ::Ice::Context*);

    virtual ::Ice::Int getPWM(::Robots::JOINTS, const ::Ice::Context*);

    virtual bool setJointPos(::Robots::JOINTS, ::Ice::Int, const ::Ice::Context*);

    virtual ::Ice::Int getJointPos(::Robots::JOINTS, const ::Ice::Context*);

    virtual ::Ice::Float getEncoderAng(::Robots::JOINTS, const ::Ice::Context*);

    virtual void resetEncoders(const ::Ice::Context*);

    virtual void stopAllMotors(const ::Ice::Context*);

    virtual void setSafety(bool, const ::Ice::Context*);

    virtual ::Ice::Int getMovementTime(const ::Ice::Context*);

    virtual void homeMotor(::Robots::JOINTS, ::Ice::Int, ::Ice::Int, ::Ice::Float, ::Ice::Int, bool, bool, const ::Ice::Context*);

    virtual void homeMotors(const ::Ice::Context*);

    virtual ::Ice::Int getMicroSwitch(const ::Ice::Context*);

    virtual ::Ice::Int getMicroSwitchMotor(::Robots::JOINTS, const ::Ice::Context*);

    virtual bool setArmPos(const ::Robots::ArmPos&, const ::Ice::Context*);

    virtual ::Robots::ArmPos getArmPos(const ::Ice::Context*);

    virtual void motorsOn(const ::Ice::Context*);

    virtual void motorsOff(const ::Ice::Context*);

    virtual void shutdown(const ::Ice::Context*);

    virtual ::Ice::Double enc2ang(::Ice::Int, const ::Ice::Context*);

    virtual ::Ice::Int ang2enc(::Ice::Double, const ::Ice::Context*);

    virtual ::Ice::Double enc2mm(::Ice::Int, const ::Ice::Context*);

    virtual ::Ice::Int mm2enc(::Ice::Double, const ::Ice::Context*);
};

}

}

namespace Robots
{

class ScorbotIce : virtual public ::Ice::Object
{
public:

    typedef ScorbotIcePrx ProxyType;
    typedef ScorbotIcePtr PointerType;

    virtual ::Ice::ObjectPtr ice_clone() const;

    virtual bool ice_isA(const ::std::string&, const ::Ice::Current& = ::Ice::Current()) const;
    virtual ::std::vector< ::std::string> ice_ids(const ::Ice::Current& = ::Ice::Current()) const;
    virtual const ::std::string& ice_id(const ::Ice::Current& = ::Ice::Current()) const;
    static const ::std::string& ice_staticId();

    virtual ::Robots::ArmPos getIK(::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___getIK(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual bool getEFpos(::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___getEFpos(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual bool setEFPos(::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___setEFPos(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual bool setMotor(::Robots::JOINTS, ::Ice::Int, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___setMotor(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual ::Ice::Int getPWM(::Robots::JOINTS, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___getPWM(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual bool setJointPos(::Robots::JOINTS, ::Ice::Int, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___setJointPos(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual ::Ice::Int getJointPos(::Robots::JOINTS, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___getJointPos(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual ::Ice::Float getEncoderAng(::Robots::JOINTS, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___getEncoderAng(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual void resetEncoders(const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___resetEncoders(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual void stopAllMotors(const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___stopAllMotors(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual void setSafety(bool, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___setSafety(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual ::Ice::Int getMovementTime(const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___getMovementTime(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual void homeMotor(::Robots::JOINTS, ::Ice::Int, ::Ice::Int, ::Ice::Float, ::Ice::Int, bool, bool, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___homeMotor(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual void homeMotors(const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___homeMotors(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual ::Ice::Int getMicroSwitch(const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___getMicroSwitch(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual ::Ice::Int getMicroSwitchMotor(::Robots::JOINTS, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___getMicroSwitchMotor(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual bool setArmPos(const ::Robots::ArmPos&, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___setArmPos(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual ::Robots::ArmPos getArmPos(const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___getArmPos(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual void motorsOn(const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___motorsOn(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual void motorsOff(const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___motorsOff(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual void shutdown(const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___shutdown(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual ::Ice::Double enc2ang(::Ice::Int, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___enc2ang(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual ::Ice::Int ang2enc(::Ice::Double, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___ang2enc(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual ::Ice::Double enc2mm(::Ice::Int, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___enc2mm(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual ::Ice::Int mm2enc(::Ice::Double, const ::Ice::Current& = ::Ice::Current()) = 0;
    ::Ice::DispatchStatus ___mm2enc(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual ::Ice::DispatchStatus __dispatch(::IceInternal::Incoming&, const ::Ice::Current&);

    virtual void __write(::IceInternal::BasicStream*) const;
    virtual void __read(::IceInternal::BasicStream*, bool);
    virtual void __write(const ::Ice::OutputStreamPtr&) const;
    virtual void __read(const ::Ice::InputStreamPtr&, bool);
};

}

#endif