#ifndef hpp_manipulation_idl____problem_hpp__
#define hpp_manipulation_idl____problem_hpp__

//
// Implemention of IDL interfaces in file /local/robotpkg/var/tmp/robotpkg/path/py-hpp-manipulation-corba/work/hpp-manipulation-corba-9.0.2/idl/hpp/manipulation_idl/_problem.idl
//

#include <hpp/manipulation_idl/_problem-idl.hh>
#include "hpp/corbaserver/servant-base.hh"

#include <hpp/core_idl/_problem.hh>
#include <hpp/manipulation_idl/_graph.hh>
#include <hpp/manipulation/problem.hh>
#include <hpp/manipulation/steering-method/graph.hh>
#include <hpp/manipulation/graph-path-validation.hh>




//
// Class implementing IDL interface hpp::manipulation_idl::Problem
//
namespace hpp {

namespace manipulation_impl {
template <typename _Base, typename _Storage>
class ProblemServant: public hpp::core_impl::ProblemServant<_Base, _Storage>
{
public:
  typedef typename hpp::core_impl::ProblemServant<_Base, _Storage>::HppBase HppBase;

  SERVANT_BASE_TYPEDEFS(hpp::manipulation_idl::Problem, HppBase);

public:
  // standard constructor
  ProblemServant(::hpp::corbaServer::Server* server, const _Storage& s);
  virtual ~ProblemServant();

  // methods corresponding to defined IDL attributes and operations
  
  hpp::manipulation_idl::graph_idl::Graph_ptr getConstraintGraph ();


};

typedef ProblemServant<POA_hpp::manipulation_idl::Problem,hpp::weak_ptr<hpp::manipulation::Problem> > Problem;
} // namespace manipulation_impl

} // namespace hpp

namespace hpp {
namespace corbaServer {
template<> struct hpp_traits<hpp::manipulation::Problem>{ typedef hpp::core::Problem Base; };
} // namespace corbaServer
} // namespace corbaServer





#endif // hpp_manipulation_idl____problem_hpp__

