Scorbot.ice.H

00001 // **********************************************************************
00002 //
00003 // Copyright (c) 2003-2009 ZeroC, Inc. All rights reserved.
00004 //
00005 // This copy of Ice is licensed to you under the terms described in the
00006 // ICE_LICENSE file included in this distribution.
00007 //
00008 // **********************************************************************
00009 
00010 // Ice version 3.3.1
00011 // Generated from file `Scorbot.ice'
00012 
00013 #ifndef __src_Robots_Scorbot__Scorbot_ice_H__
00014 #define __src_Robots_Scorbot__Scorbot_ice_H__
00015 
00016 #include <Ice/LocalObjectF.h>
00017 #include <Ice/ProxyF.h>
00018 #include <Ice/ObjectF.h>
00019 #include <Ice/Exception.h>
00020 #include <Ice/LocalObject.h>
00021 #include <Ice/Proxy.h>
00022 #include <Ice/Object.h>
00023 #include <Ice/Outgoing.h>
00024 #include <Ice/Incoming.h>
00025 #include <Ice/Direct.h>
00026 #include <Ice/StreamF.h>
00027 #include <Ice/UndefSysMacros.h>
00028 
00029 #ifndef ICE_IGNORE_VERSION
00030 #   if ICE_INT_VERSION / 100 != 303
00031 #       error Ice version mismatch!
00032 #   endif
00033 #   if ICE_INT_VERSION % 100 > 50
00034 #       error Beta header file detected
00035 #   endif
00036 #   if ICE_INT_VERSION % 100 < 1
00037 #       error Ice patch level mismatch!
00038 #   endif
00039 #endif
00040 
00041 namespace IceProxy
00042 {
00043 
00044 namespace ScorbotIce
00045 {
00046 
00047 class Scorbot;
00048 
00049 }
00050 
00051 }
00052 
00053 namespace ScorbotIce
00054 {
00055 
00056 class Scorbot;
00057 bool operator==(const Scorbot&, const Scorbot&);
00058 bool operator<(const Scorbot&, const Scorbot&);
00059 
00060 }
00061 
00062 namespace IceInternal
00063 {
00064 
00065 ::Ice::Object* upCast(::ScorbotIce::Scorbot*);
00066 ::IceProxy::Ice::Object* upCast(::IceProxy::ScorbotIce::Scorbot*);
00067 
00068 }
00069 
00070 namespace ScorbotIce
00071 {
00072 
00073 typedef ::IceInternal::Handle< ::ScorbotIce::Scorbot> ScorbotPtr;
00074 typedef ::IceInternal::ProxyHandle< ::IceProxy::ScorbotIce::Scorbot> ScorbotPrx;
00075 
00076 void __read(::IceInternal::BasicStream*, ScorbotPrx&);
00077 void __patch__ScorbotPtr(void*, ::Ice::ObjectPtr&);
00078 
00079 }
00080 
00081 namespace ScorbotIce
00082 {
00083 
00084 enum JointType
00085 {
00086     Base,
00087     Shoulder,
00088     Elbow,
00089     Wrist1,
00090     Wrist2,
00091     Gripper,
00092     Slider
00093 };
00094 
00095 void __write(::IceInternal::BasicStream*, JointType);
00096 void __read(::IceInternal::BasicStream*, JointType&);
00097 
00098 typedef ::std::map< ::ScorbotIce::JointType, ::Ice::Int> encoderValsType;
00099 void __writeencoderValsType(::IceInternal::BasicStream*, const encoderValsType&);
00100 void __readencoderValsType(::IceInternal::BasicStream*, encoderValsType&);
00101 
00102 typedef ::std::map< ::ScorbotIce::JointType, ::Ice::Float> pwmValsType;
00103 void __writepwmValsType(::IceInternal::BasicStream*, const pwmValsType&);
00104 void __readpwmValsType(::IceInternal::BasicStream*, pwmValsType&);
00105 
00106 }
00107 
00108 namespace IceProxy
00109 {
00110 
00111 namespace ScorbotIce
00112 {
00113 
00114 class Scorbot : virtual public ::IceProxy::Ice::Object
00115 {
00116 public:
00117 
00118     void setJoint(::ScorbotIce::JointType joint, ::Ice::Int encoderPos, ::Ice::Int timeMS)
00119     {
00120         setJoint(joint, encoderPos, timeMS, 0);
00121     }
00122     void setJoint(::ScorbotIce::JointType joint, ::Ice::Int encoderPos, ::Ice::Int timeMS, const ::Ice::Context& __ctx)
00123     {
00124         setJoint(joint, encoderPos, timeMS, &__ctx);
00125     }
00126 
00127 private:
00128 
00129     void setJoint(::ScorbotIce::JointType, ::Ice::Int, ::Ice::Int, const ::Ice::Context*);
00130 
00131 public:
00132 
00133     void setJoints(const ::ScorbotIce::encoderValsType& pos, ::Ice::Int timeMS)
00134     {
00135         setJoints(pos, timeMS, 0);
00136     }
00137     void setJoints(const ::ScorbotIce::encoderValsType& pos, ::Ice::Int timeMS, const ::Ice::Context& __ctx)
00138     {
00139         setJoints(pos, timeMS, &__ctx);
00140     }
00141 
00142 private:
00143 
00144     void setJoints(const ::ScorbotIce::encoderValsType&, ::Ice::Int, const ::Ice::Context*);
00145 
00146 public:
00147 
00148     ::Ice::Int getEncoder(::ScorbotIce::JointType joint)
00149     {
00150         return getEncoder(joint, 0);
00151     }
00152     ::Ice::Int getEncoder(::ScorbotIce::JointType joint, const ::Ice::Context& __ctx)
00153     {
00154         return getEncoder(joint, &__ctx);
00155     }
00156 
00157 private:
00158 
00159     ::Ice::Int getEncoder(::ScorbotIce::JointType, const ::Ice::Context*);
00160 
00161 public:
00162 
00163     ::ScorbotIce::encoderValsType getEncoders()
00164     {
00165         return getEncoders(0);
00166     }
00167     ::ScorbotIce::encoderValsType getEncoders(const ::Ice::Context& __ctx)
00168     {
00169         return getEncoders(&__ctx);
00170     }
00171 
00172 private:
00173 
00174     ::ScorbotIce::encoderValsType getEncoders(const ::Ice::Context*);
00175 
00176 public:
00177 
00178     void setEnabled(bool enabled)
00179     {
00180         setEnabled(enabled, 0);
00181     }
00182     void setEnabled(bool enabled, const ::Ice::Context& __ctx)
00183     {
00184         setEnabled(enabled, &__ctx);
00185     }
00186 
00187 private:
00188 
00189     void setEnabled(bool, const ::Ice::Context*);
00190 
00191 public:
00192 
00193     void resetEncoders()
00194     {
00195         resetEncoders(0);
00196     }
00197     void resetEncoders(const ::Ice::Context& __ctx)
00198     {
00199         resetEncoders(&__ctx);
00200     }
00201 
00202 private:
00203 
00204     void resetEncoders(const ::Ice::Context*);
00205 
00206 public:
00207 
00208     ::Ice::Float getPWM(::ScorbotIce::JointType joint)
00209     {
00210         return getPWM(joint, 0);
00211     }
00212     ::Ice::Float getPWM(::ScorbotIce::JointType joint, const ::Ice::Context& __ctx)
00213     {
00214         return getPWM(joint, &__ctx);
00215     }
00216 
00217 private:
00218 
00219     ::Ice::Float getPWM(::ScorbotIce::JointType, const ::Ice::Context*);
00220 
00221 public:
00222 
00223     ::ScorbotIce::pwmValsType getPWMs()
00224     {
00225         return getPWMs(0);
00226     }
00227     ::ScorbotIce::pwmValsType getPWMs(const ::Ice::Context& __ctx)
00228     {
00229         return getPWMs(&__ctx);
00230     }
00231 
00232 private:
00233 
00234     ::ScorbotIce::pwmValsType getPWMs(const ::Ice::Context*);
00235 
00236 public:
00237 
00238     void setControlParams(::ScorbotIce::JointType joint, ::Ice::Float pGain, ::Ice::Float iGain, ::Ice::Float dGain, ::Ice::Float maxI, ::Ice::Float maxPWM, ::Ice::Float pwmOffset)
00239     {
00240         setControlParams(joint, pGain, iGain, dGain, maxI, maxPWM, pwmOffset, 0);
00241     }
00242     void setControlParams(::ScorbotIce::JointType joint, ::Ice::Float pGain, ::Ice::Float iGain, ::Ice::Float dGain, ::Ice::Float maxI, ::Ice::Float maxPWM, ::Ice::Float pwmOffset, const ::Ice::Context& __ctx)
00243     {
00244         setControlParams(joint, pGain, iGain, dGain, maxI, maxPWM, pwmOffset, &__ctx);
00245     }
00246 
00247 private:
00248 
00249     void setControlParams(::ScorbotIce::JointType, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*);
00250 
00251 public:
00252 
00253     void getPIDVals(::ScorbotIce::JointType joint, ::Ice::Float& pGain, ::Ice::Float& iGain, ::Ice::Float& dGain, ::Ice::Float& maxI, ::Ice::Float& maxPWM, ::Ice::Float& pwmOffset)
00254     {
00255         getPIDVals(joint, pGain, iGain, dGain, maxI, maxPWM, pwmOffset, 0);
00256     }
00257     void getPIDVals(::ScorbotIce::JointType joint, ::Ice::Float& pGain, ::Ice::Float& iGain, ::Ice::Float& dGain, ::Ice::Float& maxI, ::Ice::Float& maxPWM, ::Ice::Float& pwmOffset, const ::Ice::Context& __ctx)
00258     {
00259         getPIDVals(joint, pGain, iGain, dGain, maxI, maxPWM, pwmOffset, &__ctx);
00260     }
00261 
00262 private:
00263 
00264     void getPIDVals(::ScorbotIce::JointType, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Context*);
00265 
00266 public:
00267 
00268     void getTuningVals(::ScorbotIce::JointType joint, ::Ice::Int& targetPos, ::Ice::Int& targetVel, ::Ice::Float& gravityCompensation)
00269     {
00270         getTuningVals(joint, targetPos, targetVel, gravityCompensation, 0);
00271     }
00272     void getTuningVals(::ScorbotIce::JointType joint, ::Ice::Int& targetPos, ::Ice::Int& targetVel, ::Ice::Float& gravityCompensation, const ::Ice::Context& __ctx)
00273     {
00274         getTuningVals(joint, targetPos, targetVel, gravityCompensation, &__ctx);
00275     }
00276 
00277 private:
00278 
00279     void getTuningVals(::ScorbotIce::JointType, ::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*);
00280 
00281 public:
00282 
00283     void setGravityParameters(::Ice::Int upperArmMass, ::Ice::Int foreArmMass, ::Ice::Float compensationScale)
00284     {
00285         setGravityParameters(upperArmMass, foreArmMass, compensationScale, 0);
00286     }
00287     void setGravityParameters(::Ice::Int upperArmMass, ::Ice::Int foreArmMass, ::Ice::Float compensationScale, const ::Ice::Context& __ctx)
00288     {
00289         setGravityParameters(upperArmMass, foreArmMass, compensationScale, &__ctx);
00290     }
00291 
00292 private:
00293 
00294     void setGravityParameters(::Ice::Int, ::Ice::Int, ::Ice::Float, const ::Ice::Context*);
00295 
00296 public:
00297 
00298     void getGravityParameters(::Ice::Int& upperArmMass, ::Ice::Int& foreArmMass, ::Ice::Float& compensationScale)
00299     {
00300         getGravityParameters(upperArmMass, foreArmMass, compensationScale, 0);
00301     }
00302     void getGravityParameters(::Ice::Int& upperArmMass, ::Ice::Int& foreArmMass, ::Ice::Float& compensationScale, const ::Ice::Context& __ctx)
00303     {
00304         getGravityParameters(upperArmMass, foreArmMass, compensationScale, &__ctx);
00305     }
00306 
00307 private:
00308 
00309     void getGravityParameters(::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*);
00310 
00311 public:
00312 
00313     ::IceInternal::ProxyHandle<Scorbot> ice_context(const ::Ice::Context& __context) const
00314     {
00315     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00316         typedef ::IceProxy::Ice::Object _Base;
00317         return dynamic_cast<Scorbot*>(_Base::ice_context(__context).get());
00318     #else
00319         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_context(__context).get());
00320     #endif
00321     }
00322 
00323     ::IceInternal::ProxyHandle<Scorbot> ice_adapterId(const std::string& __id) const
00324     {
00325     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00326         typedef ::IceProxy::Ice::Object _Base;
00327         return dynamic_cast<Scorbot*>(_Base::ice_adapterId(__id).get());
00328     #else
00329         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_adapterId(__id).get());
00330     #endif
00331     }
00332 
00333     ::IceInternal::ProxyHandle<Scorbot> ice_endpoints(const ::Ice::EndpointSeq& __endpoints) const
00334     {
00335     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00336         typedef ::IceProxy::Ice::Object _Base;
00337         return dynamic_cast<Scorbot*>(_Base::ice_endpoints(__endpoints).get());
00338     #else
00339         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_endpoints(__endpoints).get());
00340     #endif
00341     }
00342 
00343     ::IceInternal::ProxyHandle<Scorbot> ice_locatorCacheTimeout(int __timeout) const
00344     {
00345     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00346         typedef ::IceProxy::Ice::Object _Base;
00347         return dynamic_cast<Scorbot*>(_Base::ice_locatorCacheTimeout(__timeout).get());
00348     #else
00349         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_locatorCacheTimeout(__timeout).get());
00350     #endif
00351     }
00352 
00353     ::IceInternal::ProxyHandle<Scorbot> ice_connectionCached(bool __cached) const
00354     {
00355     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00356         typedef ::IceProxy::Ice::Object _Base;
00357         return dynamic_cast<Scorbot*>(_Base::ice_connectionCached(__cached).get());
00358     #else
00359         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_connectionCached(__cached).get());
00360     #endif
00361     }
00362 
00363     ::IceInternal::ProxyHandle<Scorbot> ice_endpointSelection(::Ice::EndpointSelectionType __est) const
00364     {
00365     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00366         typedef ::IceProxy::Ice::Object _Base;
00367         return dynamic_cast<Scorbot*>(_Base::ice_endpointSelection(__est).get());
00368     #else
00369         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_endpointSelection(__est).get());
00370     #endif
00371     }
00372 
00373     ::IceInternal::ProxyHandle<Scorbot> ice_secure(bool __secure) const
00374     {
00375     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00376         typedef ::IceProxy::Ice::Object _Base;
00377         return dynamic_cast<Scorbot*>(_Base::ice_secure(__secure).get());
00378     #else
00379         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_secure(__secure).get());
00380     #endif
00381     }
00382 
00383     ::IceInternal::ProxyHandle<Scorbot> ice_preferSecure(bool __preferSecure) const
00384     {
00385     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00386         typedef ::IceProxy::Ice::Object _Base;
00387         return dynamic_cast<Scorbot*>(_Base::ice_preferSecure(__preferSecure).get());
00388     #else
00389         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_preferSecure(__preferSecure).get());
00390     #endif
00391     }
00392 
00393     ::IceInternal::ProxyHandle<Scorbot> ice_router(const ::Ice::RouterPrx& __router) const
00394     {
00395     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00396         typedef ::IceProxy::Ice::Object _Base;
00397         return dynamic_cast<Scorbot*>(_Base::ice_router(__router).get());
00398     #else
00399         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_router(__router).get());
00400     #endif
00401     }
00402 
00403     ::IceInternal::ProxyHandle<Scorbot> ice_locator(const ::Ice::LocatorPrx& __locator) const
00404     {
00405     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00406         typedef ::IceProxy::Ice::Object _Base;
00407         return dynamic_cast<Scorbot*>(_Base::ice_locator(__locator).get());
00408     #else
00409         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_locator(__locator).get());
00410     #endif
00411     }
00412 
00413     ::IceInternal::ProxyHandle<Scorbot> ice_collocationOptimized(bool __co) const
00414     {
00415     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00416         typedef ::IceProxy::Ice::Object _Base;
00417         return dynamic_cast<Scorbot*>(_Base::ice_collocationOptimized(__co).get());
00418     #else
00419         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_collocationOptimized(__co).get());
00420     #endif
00421     }
00422 
00423     ::IceInternal::ProxyHandle<Scorbot> ice_twoway() const
00424     {
00425     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00426         typedef ::IceProxy::Ice::Object _Base;
00427         return dynamic_cast<Scorbot*>(_Base::ice_twoway().get());
00428     #else
00429         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_twoway().get());
00430     #endif
00431     }
00432 
00433     ::IceInternal::ProxyHandle<Scorbot> ice_oneway() const
00434     {
00435     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00436         typedef ::IceProxy::Ice::Object _Base;
00437         return dynamic_cast<Scorbot*>(_Base::ice_oneway().get());
00438     #else
00439         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_oneway().get());
00440     #endif
00441     }
00442 
00443     ::IceInternal::ProxyHandle<Scorbot> ice_batchOneway() const
00444     {
00445     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00446         typedef ::IceProxy::Ice::Object _Base;
00447         return dynamic_cast<Scorbot*>(_Base::ice_batchOneway().get());
00448     #else
00449         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_batchOneway().get());
00450     #endif
00451     }
00452 
00453     ::IceInternal::ProxyHandle<Scorbot> ice_datagram() const
00454     {
00455     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00456         typedef ::IceProxy::Ice::Object _Base;
00457         return dynamic_cast<Scorbot*>(_Base::ice_datagram().get());
00458     #else
00459         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_datagram().get());
00460     #endif
00461     }
00462 
00463     ::IceInternal::ProxyHandle<Scorbot> ice_batchDatagram() const
00464     {
00465     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00466         typedef ::IceProxy::Ice::Object _Base;
00467         return dynamic_cast<Scorbot*>(_Base::ice_batchDatagram().get());
00468     #else
00469         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_batchDatagram().get());
00470     #endif
00471     }
00472 
00473     ::IceInternal::ProxyHandle<Scorbot> ice_compress(bool __compress) const
00474     {
00475     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00476         typedef ::IceProxy::Ice::Object _Base;
00477         return dynamic_cast<Scorbot*>(_Base::ice_compress(__compress).get());
00478     #else
00479         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_compress(__compress).get());
00480     #endif
00481     }
00482 
00483     ::IceInternal::ProxyHandle<Scorbot> ice_timeout(int __timeout) const
00484     {
00485     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00486         typedef ::IceProxy::Ice::Object _Base;
00487         return dynamic_cast<Scorbot*>(_Base::ice_timeout(__timeout).get());
00488     #else
00489         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_timeout(__timeout).get());
00490     #endif
00491     }
00492 
00493     ::IceInternal::ProxyHandle<Scorbot> ice_connectionId(const std::string& __id) const
00494     {
00495     #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
00496         typedef ::IceProxy::Ice::Object _Base;
00497         return dynamic_cast<Scorbot*>(_Base::ice_connectionId(__id).get());
00498     #else
00499         return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_connectionId(__id).get());
00500     #endif
00501     }
00502 
00503     static const ::std::string& ice_staticId();
00504 
00505 private:
00506 
00507     virtual ::IceInternal::Handle< ::IceDelegateM::Ice::Object> __createDelegateM();
00508     virtual ::IceInternal::Handle< ::IceDelegateD::Ice::Object> __createDelegateD();
00509     virtual ::IceProxy::Ice::Object* __newInstance() const;
00510 };
00511 
00512 }
00513 
00514 }
00515 
00516 namespace IceDelegate
00517 {
00518 
00519 namespace ScorbotIce
00520 {
00521 
00522 class Scorbot : virtual public ::IceDelegate::Ice::Object
00523 {
00524 public:
00525 
00526     virtual void setJoint(::ScorbotIce::JointType, ::Ice::Int, ::Ice::Int, const ::Ice::Context*) = 0;
00527 
00528     virtual void setJoints(const ::ScorbotIce::encoderValsType&, ::Ice::Int, const ::Ice::Context*) = 0;
00529 
00530     virtual ::Ice::Int getEncoder(::ScorbotIce::JointType, const ::Ice::Context*) = 0;
00531 
00532     virtual ::ScorbotIce::encoderValsType getEncoders(const ::Ice::Context*) = 0;
00533 
00534     virtual void setEnabled(bool, const ::Ice::Context*) = 0;
00535 
00536     virtual void resetEncoders(const ::Ice::Context*) = 0;
00537 
00538     virtual ::Ice::Float getPWM(::ScorbotIce::JointType, const ::Ice::Context*) = 0;
00539 
00540     virtual ::ScorbotIce::pwmValsType getPWMs(const ::Ice::Context*) = 0;
00541 
00542     virtual void setControlParams(::ScorbotIce::JointType, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*) = 0;
00543 
00544     virtual void getPIDVals(::ScorbotIce::JointType, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Context*) = 0;
00545 
00546     virtual void getTuningVals(::ScorbotIce::JointType, ::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*) = 0;
00547 
00548     virtual void setGravityParameters(::Ice::Int, ::Ice::Int, ::Ice::Float, const ::Ice::Context*) = 0;
00549 
00550     virtual void getGravityParameters(::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*) = 0;
00551 };
00552 
00553 }
00554 
00555 }
00556 
00557 namespace IceDelegateM
00558 {
00559 
00560 namespace ScorbotIce
00561 {
00562 
00563 class Scorbot : virtual public ::IceDelegate::ScorbotIce::Scorbot,
00564                 virtual public ::IceDelegateM::Ice::Object
00565 {
00566 public:
00567 
00568     virtual void setJoint(::ScorbotIce::JointType, ::Ice::Int, ::Ice::Int, const ::Ice::Context*);
00569 
00570     virtual void setJoints(const ::ScorbotIce::encoderValsType&, ::Ice::Int, const ::Ice::Context*);
00571 
00572     virtual ::Ice::Int getEncoder(::ScorbotIce::JointType, const ::Ice::Context*);
00573 
00574     virtual ::ScorbotIce::encoderValsType getEncoders(const ::Ice::Context*);
00575 
00576     virtual void setEnabled(bool, const ::Ice::Context*);
00577 
00578     virtual void resetEncoders(const ::Ice::Context*);
00579 
00580     virtual ::Ice::Float getPWM(::ScorbotIce::JointType, const ::Ice::Context*);
00581 
00582     virtual ::ScorbotIce::pwmValsType getPWMs(const ::Ice::Context*);
00583 
00584     virtual void setControlParams(::ScorbotIce::JointType, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*);
00585 
00586     virtual void getPIDVals(::ScorbotIce::JointType, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Context*);
00587 
00588     virtual void getTuningVals(::ScorbotIce::JointType, ::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*);
00589 
00590     virtual void setGravityParameters(::Ice::Int, ::Ice::Int, ::Ice::Float, const ::Ice::Context*);
00591 
00592     virtual void getGravityParameters(::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*);
00593 };
00594 
00595 }
00596 
00597 }
00598 
00599 namespace IceDelegateD
00600 {
00601 
00602 namespace ScorbotIce
00603 {
00604 
00605 class Scorbot : virtual public ::IceDelegate::ScorbotIce::Scorbot,
00606                 virtual public ::IceDelegateD::Ice::Object
00607 {
00608 public:
00609 
00610     virtual void setJoint(::ScorbotIce::JointType, ::Ice::Int, ::Ice::Int, const ::Ice::Context*);
00611 
00612     virtual void setJoints(const ::ScorbotIce::encoderValsType&, ::Ice::Int, const ::Ice::Context*);
00613 
00614     virtual ::Ice::Int getEncoder(::ScorbotIce::JointType, const ::Ice::Context*);
00615 
00616     virtual ::ScorbotIce::encoderValsType getEncoders(const ::Ice::Context*);
00617 
00618     virtual void setEnabled(bool, const ::Ice::Context*);
00619 
00620     virtual void resetEncoders(const ::Ice::Context*);
00621 
00622     virtual ::Ice::Float getPWM(::ScorbotIce::JointType, const ::Ice::Context*);
00623 
00624     virtual ::ScorbotIce::pwmValsType getPWMs(const ::Ice::Context*);
00625 
00626     virtual void setControlParams(::ScorbotIce::JointType, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*);
00627 
00628     virtual void getPIDVals(::ScorbotIce::JointType, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Context*);
00629 
00630     virtual void getTuningVals(::ScorbotIce::JointType, ::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*);
00631 
00632     virtual void setGravityParameters(::Ice::Int, ::Ice::Int, ::Ice::Float, const ::Ice::Context*);
00633 
00634     virtual void getGravityParameters(::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*);
00635 };
00636 
00637 }
00638 
00639 }
00640 
00641 namespace ScorbotIce
00642 {
00643 
00644 class Scorbot : virtual public ::Ice::Object
00645 {
00646 public:
00647 
00648     typedef ScorbotPrx ProxyType;
00649     typedef ScorbotPtr PointerType;
00650 
00651     virtual ::Ice::ObjectPtr ice_clone() const;
00652 
00653     virtual bool ice_isA(const ::std::string&, const ::Ice::Current& = ::Ice::Current()) const;
00654     virtual ::std::vector< ::std::string> ice_ids(const ::Ice::Current& = ::Ice::Current()) const;
00655     virtual const ::std::string& ice_id(const ::Ice::Current& = ::Ice::Current()) const;
00656     static const ::std::string& ice_staticId();
00657 
00658     virtual void setJoint(::ScorbotIce::JointType, ::Ice::Int, ::Ice::Int, const ::Ice::Current& = ::Ice::Current()) = 0;
00659     ::Ice::DispatchStatus ___setJoint(::IceInternal::Incoming&, const ::Ice::Current&);
00660 
00661     virtual void setJoints(const ::ScorbotIce::encoderValsType&, ::Ice::Int, const ::Ice::Current& = ::Ice::Current()) = 0;
00662     ::Ice::DispatchStatus ___setJoints(::IceInternal::Incoming&, const ::Ice::Current&);
00663 
00664     virtual ::Ice::Int getEncoder(::ScorbotIce::JointType, const ::Ice::Current& = ::Ice::Current()) = 0;
00665     ::Ice::DispatchStatus ___getEncoder(::IceInternal::Incoming&, const ::Ice::Current&);
00666 
00667     virtual ::ScorbotIce::encoderValsType getEncoders(const ::Ice::Current& = ::Ice::Current()) = 0;
00668     ::Ice::DispatchStatus ___getEncoders(::IceInternal::Incoming&, const ::Ice::Current&);
00669 
00670     virtual void setEnabled(bool, const ::Ice::Current& = ::Ice::Current()) = 0;
00671     ::Ice::DispatchStatus ___setEnabled(::IceInternal::Incoming&, const ::Ice::Current&);
00672 
00673     virtual void resetEncoders(const ::Ice::Current& = ::Ice::Current()) = 0;
00674     ::Ice::DispatchStatus ___resetEncoders(::IceInternal::Incoming&, const ::Ice::Current&);
00675 
00676     virtual ::Ice::Float getPWM(::ScorbotIce::JointType, const ::Ice::Current& = ::Ice::Current()) = 0;
00677     ::Ice::DispatchStatus ___getPWM(::IceInternal::Incoming&, const ::Ice::Current&);
00678 
00679     virtual ::ScorbotIce::pwmValsType getPWMs(const ::Ice::Current& = ::Ice::Current()) = 0;
00680     ::Ice::DispatchStatus ___getPWMs(::IceInternal::Incoming&, const ::Ice::Current&);
00681 
00682     virtual void setControlParams(::ScorbotIce::JointType, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Current& = ::Ice::Current()) = 0;
00683     ::Ice::DispatchStatus ___setControlParams(::IceInternal::Incoming&, const ::Ice::Current&);
00684 
00685     virtual void getPIDVals(::ScorbotIce::JointType, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Current& = ::Ice::Current()) = 0;
00686     ::Ice::DispatchStatus ___getPIDVals(::IceInternal::Incoming&, const ::Ice::Current&);
00687 
00688     virtual void getTuningVals(::ScorbotIce::JointType, ::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Current& = ::Ice::Current()) = 0;
00689     ::Ice::DispatchStatus ___getTuningVals(::IceInternal::Incoming&, const ::Ice::Current&);
00690 
00691     virtual void setGravityParameters(::Ice::Int, ::Ice::Int, ::Ice::Float, const ::Ice::Current& = ::Ice::Current()) = 0;
00692     ::Ice::DispatchStatus ___setGravityParameters(::IceInternal::Incoming&, const ::Ice::Current&);
00693 
00694     virtual void getGravityParameters(::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Current& = ::Ice::Current()) = 0;
00695     ::Ice::DispatchStatus ___getGravityParameters(::IceInternal::Incoming&, const ::Ice::Current&);
00696 
00697     virtual ::Ice::DispatchStatus __dispatch(::IceInternal::Incoming&, const ::Ice::Current&);
00698 
00699     virtual void __write(::IceInternal::BasicStream*) const;
00700     virtual void __read(::IceInternal::BasicStream*, bool);
00701     virtual void __write(const ::Ice::OutputStreamPtr&) const;
00702     virtual void __read(const ::Ice::InputStreamPtr&, bool);
00703 };
00704 
00705 }
00706 
00707 #endif