// This file is generated by omniidl (C++ backend)- omniORB_4_3. Do not edit.
#ifndef pp_manipulation_idl____path__planners_hh__
#define pp_manipulation_idl____path__planners_hh__

#ifndef __CORBA_H_EXTERNAL_GUARD__
#include <omniORB4/CORBA.h>
#endif

#ifndef  USE_stub_in_nt_dll
# define USE_stub_in_nt_dll_NOT_DEFINED___path__planners
#endif
#ifndef  USE_core_stub_in_nt_dll
# define USE_core_stub_in_nt_dll_NOT_DEFINED___path__planners
#endif
#ifndef  USE_dyn_stub_in_nt_dll
# define USE_dyn_stub_in_nt_dll_NOT_DEFINED___path__planners
#endif



#ifndef pp_manipulation_idl__common_hh_EXTERNAL_GUARD__
#define pp_manipulation_idl__common_hh_EXTERNAL_GUARD__
#include <hpp/common-idl.hh>
#endif
#ifndef pp_manipulation_idl__paths_hh_EXTERNAL_GUARD__
#define pp_manipulation_idl__paths_hh_EXTERNAL_GUARD__
#include <hpp/core_idl/paths-idl.hh>
#endif
#ifndef pp_manipulation_idl__constraints_hh_EXTERNAL_GUARD__
#define pp_manipulation_idl__constraints_hh_EXTERNAL_GUARD__
#include <hpp/constraints_idl/constraints-idl.hh>
#endif
#ifndef pp_manipulation_idl____constraints_hh_EXTERNAL_GUARD__
#define pp_manipulation_idl____constraints_hh_EXTERNAL_GUARD__
#include <hpp/core_idl/_constraints-idl.hh>
#endif
#ifndef pp_manipulation_idl__path__planners_hh_EXTERNAL_GUARD__
#define pp_manipulation_idl__path__planners_hh_EXTERNAL_GUARD__
#include <hpp/core_idl/path_planners-idl.hh>
#endif
#ifndef pp_manipulation_idl__gcommon_hh_EXTERNAL_GUARD__
#define pp_manipulation_idl__gcommon_hh_EXTERNAL_GUARD__
#include <hpp/corbaserver/manipulation/gcommon-idl.hh>
#endif
#ifndef pp_manipulation_idl__steering__methods_hh_EXTERNAL_GUARD__
#define pp_manipulation_idl__steering__methods_hh_EXTERNAL_GUARD__
#include <hpp/core_idl/steering_methods-idl.hh>
#endif
#ifndef pp_manipulation_idl__path__validations_hh_EXTERNAL_GUARD__
#define pp_manipulation_idl__path__validations_hh_EXTERNAL_GUARD__
#include <hpp/core_idl/path_validations-idl.hh>
#endif
#ifndef pp_manipulation_idl____graph_hh_EXTERNAL_GUARD__
#define pp_manipulation_idl____graph_hh_EXTERNAL_GUARD__
#include <hpp/manipulation_idl/_graph-idl.hh>
#endif



#ifdef USE_stub_in_nt_dll
# ifndef USE_core_stub_in_nt_dll
#  define USE_core_stub_in_nt_dll
# endif
# ifndef USE_dyn_stub_in_nt_dll
#  define USE_dyn_stub_in_nt_dll
# endif
#endif

#ifdef _core_attr
# error "A local CPP macro _core_attr has already been defined."
#else
# ifdef  USE_core_stub_in_nt_dll
#  define _core_attr _OMNIORB_NTDLL_IMPORT
# else
#  define _core_attr
# endif
#endif

#ifdef _dyn_attr
# error "A local CPP macro _dyn_attr has already been defined."
#else
# ifdef  USE_dyn_stub_in_nt_dll
#  define _dyn_attr _OMNIORB_NTDLL_IMPORT
# else
#  define _dyn_attr
# endif
#endif



_CORBA_MODULE hpp

_CORBA_MODULE_BEG

  _CORBA_MODULE core_idl

  _CORBA_MODULE_BEG

#ifndef __hpp_mcore__idl_mPathPlanner__
#define __hpp_mcore__idl_mPathPlanner__
    class PathPlanner;
    class _objref_PathPlanner;
    class _impl_PathPlanner;
    
    typedef _objref_PathPlanner* PathPlanner_ptr;
    typedef PathPlanner_ptr PathPlannerRef;

    class PathPlanner_Helper {
    public:
      typedef PathPlanner_ptr _ptr_type;

      static _ptr_type _nil();
      static _CORBA_Boolean is_nil(_ptr_type);
      static void release(_ptr_type);
      static void duplicate(_ptr_type);
      static void marshalObjRef(_ptr_type, cdrStream&);
      static _ptr_type unmarshalObjRef(cdrStream&);
    };

    typedef _CORBA_ObjRef_Var<_objref_PathPlanner, PathPlanner_Helper> PathPlanner_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_PathPlanner,PathPlanner_Helper > PathPlanner_out;

#endif

#ifndef __hpp_mcore__idl_mPathProjector__
#define __hpp_mcore__idl_mPathProjector__
    class PathProjector;
    class _objref_PathProjector;
    class _impl_PathProjector;
    
    typedef _objref_PathProjector* PathProjector_ptr;
    typedef PathProjector_ptr PathProjectorRef;

    class PathProjector_Helper {
    public:
      typedef PathProjector_ptr _ptr_type;

      static _ptr_type _nil();
      static _CORBA_Boolean is_nil(_ptr_type);
      static void release(_ptr_type);
      static void duplicate(_ptr_type);
      static void marshalObjRef(_ptr_type, cdrStream&);
      static _ptr_type unmarshalObjRef(cdrStream&);
    };

    typedef _CORBA_ObjRef_Var<_objref_PathProjector, PathProjector_Helper> PathProjector_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_PathProjector,PathProjector_Helper > PathProjector_out;

#endif

  _CORBA_MODULE_END

  _CORBA_MODULE manipulation_idl

  _CORBA_MODULE_BEG

    typedef char* ValidationReport;
    typedef ::CORBA::String_var ValidationReport_var;
    typedef ::CORBA::String_out ValidationReport_out;

    typedef ::CORBA::ULongLong size_t;
    typedef ::CORBA::ULongLong_out size_t_out;

#ifndef __hpp_mmanipulation__idl_mRoadmap__
#define __hpp_mmanipulation__idl_mRoadmap__
    class Roadmap;
    class _objref_Roadmap;
    class _impl_Roadmap;
    
    typedef _objref_Roadmap* Roadmap_ptr;
    typedef Roadmap_ptr RoadmapRef;

    class Roadmap_Helper {
    public:
      typedef Roadmap_ptr _ptr_type;

      static _ptr_type _nil();
      static _CORBA_Boolean is_nil(_ptr_type);
      static void release(_ptr_type);
      static void duplicate(_ptr_type);
      static void marshalObjRef(_ptr_type, cdrStream&);
      static _ptr_type unmarshalObjRef(cdrStream&);
    };

    typedef _CORBA_ObjRef_Var<_objref_Roadmap, Roadmap_Helper> Roadmap_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_Roadmap,Roadmap_Helper > Roadmap_out;

#endif

    // interface Roadmap
    class Roadmap {
    public:
      // Declarations for this interface type.
      typedef Roadmap_ptr _ptr_type;
      typedef Roadmap_var _var_type;

      static _ptr_type _duplicate(_ptr_type);
      static _ptr_type _narrow(::CORBA::Object_ptr);
      static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
      
      static _ptr_type _nil();

      static inline void _marshalObjRef(_ptr_type, cdrStream&);

      static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
        omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
        if (o)
          return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
        else
          return _nil();
      }

      static inline _ptr_type _fromObjRef(omniObjRef* o) {
        if (o)
          return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
        else
          return _nil();
      }

      static _core_attr const char* _PD_repoId;

      // Other IDL defined within this scope.
      
    };

    class _objref_Roadmap :
      public virtual core_idl::_objref_Roadmap
    {
    public:
      // IDL operations
      void constraintGraph(::hpp::manipulation_idl::graph_idl::Graph_ptr graph);

      // Constructors
      inline _objref_Roadmap()  { _PR_setobj(0); }  // nil
      _objref_Roadmap(omniIOR*, omniIdentity*);

    protected:
      virtual ~_objref_Roadmap();

      
    private:
      virtual void* _ptrToObjRef(const char*);

      _objref_Roadmap(const _objref_Roadmap&);
      _objref_Roadmap& operator = (const _objref_Roadmap&);
      // not implemented

      friend class Roadmap;
    };

    class _pof_Roadmap : public _OMNI_NS(proxyObjectFactory) {
    public:
      inline _pof_Roadmap() : _OMNI_NS(proxyObjectFactory)(Roadmap::_PD_repoId) {}
      virtual ~_pof_Roadmap();

      virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
      virtual _CORBA_Boolean is_a(const char*) const;
    };

    class _impl_Roadmap :
      public virtual core_idl::_impl_Roadmap
    {
    public:
      virtual ~_impl_Roadmap();

      virtual void constraintGraph(::hpp::manipulation_idl::graph_idl::Graph_ptr graph) = 0;
      
    public:  // Really protected, workaround for xlC
      virtual _CORBA_Boolean _dispatch(omniCallHandle&);

    private:
      virtual void* _ptrToInterface(const char*);
      virtual const char* _mostDerivedRepoId();
      
    };


    _CORBA_MODULE pathPlanner_idl

    _CORBA_MODULE_BEG

#ifndef __hpp_mmanipulation__idl_mpathPlanner__idl_mIkSolverInitialization__
#define __hpp_mmanipulation__idl_mpathPlanner__idl_mIkSolverInitialization__
      class IkSolverInitialization;
      class _objref_IkSolverInitialization;
      class _impl_IkSolverInitialization;
      
      typedef _objref_IkSolverInitialization* IkSolverInitialization_ptr;
      typedef IkSolverInitialization_ptr IkSolverInitializationRef;

      class IkSolverInitialization_Helper {
      public:
        typedef IkSolverInitialization_ptr _ptr_type;

        static _ptr_type _nil();
        static _CORBA_Boolean is_nil(_ptr_type);
        static void release(_ptr_type);
        static void duplicate(_ptr_type);
        static void marshalObjRef(_ptr_type, cdrStream&);
        static _ptr_type unmarshalObjRef(cdrStream&);
      };

      typedef _CORBA_ObjRef_Var<_objref_IkSolverInitialization, IkSolverInitialization_Helper> IkSolverInitialization_var;
      typedef _CORBA_ObjRef_OUT_arg<_objref_IkSolverInitialization,IkSolverInitialization_Helper > IkSolverInitialization_out;

#endif

      // interface IkSolverInitialization
      class IkSolverInitialization {
      public:
        // Declarations for this interface type.
        typedef IkSolverInitialization_ptr _ptr_type;
        typedef IkSolverInitialization_var _var_type;

        static _ptr_type _duplicate(_ptr_type);
        static _ptr_type _narrow(::CORBA::Object_ptr);
        static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
        
        static _ptr_type _nil();

        static inline void _marshalObjRef(_ptr_type, cdrStream&);

        static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
          omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
          if (o)
            return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
          else
            return _nil();
        }

        static inline _ptr_type _fromObjRef(omniObjRef* o) {
          if (o)
            return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
          else
            return _nil();
        }

        static _core_attr const char* _PD_repoId;

        // Other IDL defined within this scope.
        
      };

      class _objref_IkSolverInitialization :
        public virtual ::CORBA::Object,
        public virtual omniObjRef
      {
      public:
        // IDL operations
        

        // Constructors
        inline _objref_IkSolverInitialization()  { _PR_setobj(0); }  // nil
        _objref_IkSolverInitialization(omniIOR*, omniIdentity*);

      protected:
        virtual ~_objref_IkSolverInitialization();

        
      private:
        virtual void* _ptrToObjRef(const char*);

        _objref_IkSolverInitialization(const _objref_IkSolverInitialization&);
        _objref_IkSolverInitialization& operator = (const _objref_IkSolverInitialization&);
        // not implemented

        friend class IkSolverInitialization;
      };

      class _pof_IkSolverInitialization : public _OMNI_NS(proxyObjectFactory) {
      public:
        inline _pof_IkSolverInitialization() : _OMNI_NS(proxyObjectFactory)(IkSolverInitialization::_PD_repoId) {}
        virtual ~_pof_IkSolverInitialization();

        virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
        virtual _CORBA_Boolean is_a(const char*) const;
      };

      class _impl_IkSolverInitialization :
        public virtual omniServant
      {
      public:
        virtual ~_impl_IkSolverInitialization();

        
        
      public:  // Really protected, workaround for xlC
        virtual _CORBA_Boolean _dispatch(omniCallHandle&);

      private:
        virtual void* _ptrToInterface(const char*);
        virtual const char* _mostDerivedRepoId();
        
      };


#ifndef __hpp_mmanipulation__idl_mpathPlanner__idl_mEndEffectorTrajectory__
#define __hpp_mmanipulation__idl_mpathPlanner__idl_mEndEffectorTrajectory__
      class EndEffectorTrajectory;
      class _objref_EndEffectorTrajectory;
      class _impl_EndEffectorTrajectory;
      
      typedef _objref_EndEffectorTrajectory* EndEffectorTrajectory_ptr;
      typedef EndEffectorTrajectory_ptr EndEffectorTrajectoryRef;

      class EndEffectorTrajectory_Helper {
      public:
        typedef EndEffectorTrajectory_ptr _ptr_type;

        static _ptr_type _nil();
        static _CORBA_Boolean is_nil(_ptr_type);
        static void release(_ptr_type);
        static void duplicate(_ptr_type);
        static void marshalObjRef(_ptr_type, cdrStream&);
        static _ptr_type unmarshalObjRef(cdrStream&);
      };

      typedef _CORBA_ObjRef_Var<_objref_EndEffectorTrajectory, EndEffectorTrajectory_Helper> EndEffectorTrajectory_var;
      typedef _CORBA_ObjRef_OUT_arg<_objref_EndEffectorTrajectory,EndEffectorTrajectory_Helper > EndEffectorTrajectory_out;

#endif

      // interface EndEffectorTrajectory
      class EndEffectorTrajectory {
      public:
        // Declarations for this interface type.
        typedef EndEffectorTrajectory_ptr _ptr_type;
        typedef EndEffectorTrajectory_var _var_type;

        static _ptr_type _duplicate(_ptr_type);
        static _ptr_type _narrow(::CORBA::Object_ptr);
        static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
        
        static _ptr_type _nil();

        static inline void _marshalObjRef(_ptr_type, cdrStream&);

        static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
          omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
          if (o)
            return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
          else
            return _nil();
        }

        static inline _ptr_type _fromObjRef(omniObjRef* o) {
          if (o)
            return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
          else
            return _nil();
        }

        static _core_attr const char* _PD_repoId;

        // Other IDL defined within this scope.
        
      };

      class _objref_EndEffectorTrajectory :
        public virtual core_idl::_objref_PathPlanner
      {
      public:
        // IDL operations
        ::CORBA::Long getNRandomConfig();
        void setNRandomConfig(::CORBA::Long n);
        ::CORBA::Long getNDiscreteSteps();
        void setNDiscreteSteps(::CORBA::Long n);
        ::CORBA::Boolean getCheckFeasibilityOnly();
        void setCheckFeasibilityOnly(::CORBA::Boolean n);
        void setIkSolverInitialization(::hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization_ptr solver);

        // Constructors
        inline _objref_EndEffectorTrajectory()  { _PR_setobj(0); }  // nil
        _objref_EndEffectorTrajectory(omniIOR*, omniIdentity*);

      protected:
        virtual ~_objref_EndEffectorTrajectory();

        
      private:
        virtual void* _ptrToObjRef(const char*);

        _objref_EndEffectorTrajectory(const _objref_EndEffectorTrajectory&);
        _objref_EndEffectorTrajectory& operator = (const _objref_EndEffectorTrajectory&);
        // not implemented

        friend class EndEffectorTrajectory;
      };

      class _pof_EndEffectorTrajectory : public _OMNI_NS(proxyObjectFactory) {
      public:
        inline _pof_EndEffectorTrajectory() : _OMNI_NS(proxyObjectFactory)(EndEffectorTrajectory::_PD_repoId) {}
        virtual ~_pof_EndEffectorTrajectory();

        virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
        virtual _CORBA_Boolean is_a(const char*) const;
      };

      class _impl_EndEffectorTrajectory :
        public virtual core_idl::_impl_PathPlanner
      {
      public:
        virtual ~_impl_EndEffectorTrajectory();

        virtual ::CORBA::Long getNRandomConfig() = 0;
        virtual void setNRandomConfig(::CORBA::Long n) = 0;
        virtual ::CORBA::Long getNDiscreteSteps() = 0;
        virtual void setNDiscreteSteps(::CORBA::Long n) = 0;
        virtual ::CORBA::Boolean getCheckFeasibilityOnly() = 0;
        virtual void setCheckFeasibilityOnly(::CORBA::Boolean n) = 0;
        virtual void setIkSolverInitialization(::hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization_ptr solver) = 0;
        
      public:  // Really protected, workaround for xlC
        virtual _CORBA_Boolean _dispatch(omniCallHandle&);

      private:
        virtual void* _ptrToInterface(const char*);
        virtual const char* _mostDerivedRepoId();
        
      };


#ifndef __hpp_mmanipulation__idl_mpathPlanner__idl_mTransitionPlanner__
#define __hpp_mmanipulation__idl_mpathPlanner__idl_mTransitionPlanner__
      class TransitionPlanner;
      class _objref_TransitionPlanner;
      class _impl_TransitionPlanner;
      
      typedef _objref_TransitionPlanner* TransitionPlanner_ptr;
      typedef TransitionPlanner_ptr TransitionPlannerRef;

      class TransitionPlanner_Helper {
      public:
        typedef TransitionPlanner_ptr _ptr_type;

        static _ptr_type _nil();
        static _CORBA_Boolean is_nil(_ptr_type);
        static void release(_ptr_type);
        static void duplicate(_ptr_type);
        static void marshalObjRef(_ptr_type, cdrStream&);
        static _ptr_type unmarshalObjRef(cdrStream&);
      };

      typedef _CORBA_ObjRef_Var<_objref_TransitionPlanner, TransitionPlanner_Helper> TransitionPlanner_var;
      typedef _CORBA_ObjRef_OUT_arg<_objref_TransitionPlanner,TransitionPlanner_Helper > TransitionPlanner_out;

#endif

      // interface TransitionPlanner
      class TransitionPlanner {
      public:
        // Declarations for this interface type.
        typedef TransitionPlanner_ptr _ptr_type;
        typedef TransitionPlanner_var _var_type;

        static _ptr_type _duplicate(_ptr_type);
        static _ptr_type _narrow(::CORBA::Object_ptr);
        static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
        
        static _ptr_type _nil();

        static inline void _marshalObjRef(_ptr_type, cdrStream&);

        static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
          omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
          if (o)
            return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
          else
            return _nil();
        }

        static inline _ptr_type _fromObjRef(omniObjRef* o) {
          if (o)
            return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
          else
            return _nil();
        }

        static _core_attr const char* _PD_repoId;

        // Other IDL defined within this scope.
        
      };

      class _objref_TransitionPlanner :
        public virtual core_idl::_objref_PathPlanner
      {
      public:
        // IDL operations
        core_idl::PathVector_ptr planPath(const ::hpp::floatSeq& qInit, const ::hpp::floatSeqSeq& qGoals, ::CORBA::Boolean resetRoadmap);
        core_idl::Path_ptr directPath(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::CORBA::Boolean validate, ::CORBA::Boolean& success, ::CORBA::String_out status);
        ::CORBA::Boolean validateConfiguration(const ::hpp::floatSeq& config, ::hpp::manipulation_idl::size_t id, ::hpp::manipulation_idl::ValidationReport_out report);
        core_idl::PathVector_ptr optimizePath(::hpp::core_idl::Path_ptr path);
        core_idl::PathVector_ptr timeParameterization(::hpp::core_idl::PathVector_ptr path);
        void setReedsAndSheppSteeringMethod(::CORBA::Double turningRadius);
        void setEdge(::CORBA::Long id);
        void setPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance);
        void clearPathOptimizers();
        void addPathOptimizer(const char* pathOptimizerType);
        void setParameter(const char* name, const ::CORBA::Any& value);

        // Constructors
        inline _objref_TransitionPlanner()  { _PR_setobj(0); }  // nil
        _objref_TransitionPlanner(omniIOR*, omniIdentity*);

      protected:
        virtual ~_objref_TransitionPlanner();

        
      private:
        virtual void* _ptrToObjRef(const char*);

        _objref_TransitionPlanner(const _objref_TransitionPlanner&);
        _objref_TransitionPlanner& operator = (const _objref_TransitionPlanner&);
        // not implemented

        friend class TransitionPlanner;
      };

      class _pof_TransitionPlanner : public _OMNI_NS(proxyObjectFactory) {
      public:
        inline _pof_TransitionPlanner() : _OMNI_NS(proxyObjectFactory)(TransitionPlanner::_PD_repoId) {}
        virtual ~_pof_TransitionPlanner();

        virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
        virtual _CORBA_Boolean is_a(const char*) const;
      };

      class _impl_TransitionPlanner :
        public virtual core_idl::_impl_PathPlanner
      {
      public:
        virtual ~_impl_TransitionPlanner();

        virtual core_idl::PathVector_ptr planPath(const ::hpp::floatSeq& qInit, const ::hpp::floatSeqSeq& qGoals, ::CORBA::Boolean resetRoadmap) = 0;
        virtual core_idl::Path_ptr directPath(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::CORBA::Boolean validate, ::CORBA::Boolean& success, ::CORBA::String_out status) = 0;
        virtual ::CORBA::Boolean validateConfiguration(const ::hpp::floatSeq& config, ::hpp::manipulation_idl::size_t id, ::hpp::manipulation_idl::ValidationReport_out report) = 0;
        virtual core_idl::PathVector_ptr optimizePath(::hpp::core_idl::Path_ptr path) = 0;
        virtual core_idl::PathVector_ptr timeParameterization(::hpp::core_idl::PathVector_ptr path) = 0;
        virtual void setReedsAndSheppSteeringMethod(::CORBA::Double turningRadius) = 0;
        virtual void setEdge(::CORBA::Long id) = 0;
        virtual void setPathProjector(const char* pathProjectorType, ::CORBA::Double tolerance) = 0;
        virtual void clearPathOptimizers() = 0;
        virtual void addPathOptimizer(const char* pathOptimizerType) = 0;
        virtual void setParameter(const char* name, const ::CORBA::Any& value) = 0;
        
      public:  // Really protected, workaround for xlC
        virtual _CORBA_Boolean _dispatch(omniCallHandle&);

      private:
        virtual void* _ptrToInterface(const char*);
        virtual const char* _mostDerivedRepoId();
        
      };


    _CORBA_MODULE_END

  _CORBA_MODULE_END

_CORBA_MODULE_END



_CORBA_MODULE POA_hpp
_CORBA_MODULE_BEG

  _CORBA_MODULE core_idl
  _CORBA_MODULE_BEG

  _CORBA_MODULE_END

  _CORBA_MODULE manipulation_idl
  _CORBA_MODULE_BEG

    class Roadmap :
      public virtual hpp::manipulation_idl::_impl_Roadmap,
      public virtual core_idl::Roadmap
    {
    public:
      virtual ~Roadmap();

      inline ::hpp::manipulation_idl::Roadmap_ptr _this() {
        return (::hpp::manipulation_idl::Roadmap_ptr) _do_this(::hpp::manipulation_idl::Roadmap::_PD_repoId);
      }
    };

    _CORBA_MODULE pathPlanner_idl
    _CORBA_MODULE_BEG

      class IkSolverInitialization :
        public virtual hpp::manipulation_idl::pathPlanner_idl::_impl_IkSolverInitialization,
        public virtual ::PortableServer::ServantBase
      {
      public:
        virtual ~IkSolverInitialization();

        inline ::hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization_ptr _this() {
          return (::hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization_ptr) _do_this(::hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization::_PD_repoId);
        }
      };

      class EndEffectorTrajectory :
        public virtual hpp::manipulation_idl::pathPlanner_idl::_impl_EndEffectorTrajectory,
        public virtual core_idl::PathPlanner
      {
      public:
        virtual ~EndEffectorTrajectory();

        inline ::hpp::manipulation_idl::pathPlanner_idl::EndEffectorTrajectory_ptr _this() {
          return (::hpp::manipulation_idl::pathPlanner_idl::EndEffectorTrajectory_ptr) _do_this(::hpp::manipulation_idl::pathPlanner_idl::EndEffectorTrajectory::_PD_repoId);
        }
      };

      class TransitionPlanner :
        public virtual hpp::manipulation_idl::pathPlanner_idl::_impl_TransitionPlanner,
        public virtual core_idl::PathPlanner
      {
      public:
        virtual ~TransitionPlanner();

        inline ::hpp::manipulation_idl::pathPlanner_idl::TransitionPlanner_ptr _this() {
          return (::hpp::manipulation_idl::pathPlanner_idl::TransitionPlanner_ptr) _do_this(::hpp::manipulation_idl::pathPlanner_idl::TransitionPlanner::_PD_repoId);
        }
      };

    _CORBA_MODULE_END

  _CORBA_MODULE_END

_CORBA_MODULE_END



_CORBA_MODULE OBV_hpp
_CORBA_MODULE_BEG

  _CORBA_MODULE core_idl
  _CORBA_MODULE_BEG

  _CORBA_MODULE_END

  _CORBA_MODULE manipulation_idl
  _CORBA_MODULE_BEG

    _CORBA_MODULE pathPlanner_idl
    _CORBA_MODULE_BEG

    _CORBA_MODULE_END

  _CORBA_MODULE_END

_CORBA_MODULE_END





#undef _core_attr
#undef _dyn_attr



inline void
hpp::manipulation_idl::Roadmap::_marshalObjRef(::hpp::manipulation_idl::Roadmap_ptr obj, cdrStream& s) {
  omniObjRef::_marshal(obj->_PR_getobj(),s);
}

inline void
hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization::_marshalObjRef(::hpp::manipulation_idl::pathPlanner_idl::IkSolverInitialization_ptr obj, cdrStream& s) {
  omniObjRef::_marshal(obj->_PR_getobj(),s);
}

inline void
hpp::manipulation_idl::pathPlanner_idl::EndEffectorTrajectory::_marshalObjRef(::hpp::manipulation_idl::pathPlanner_idl::EndEffectorTrajectory_ptr obj, cdrStream& s) {
  omniObjRef::_marshal(obj->_PR_getobj(),s);
}

inline void
hpp::manipulation_idl::pathPlanner_idl::TransitionPlanner::_marshalObjRef(::hpp::manipulation_idl::pathPlanner_idl::TransitionPlanner_ptr obj, cdrStream& s) {
  omniObjRef::_marshal(obj->_PR_getobj(),s);
}



#ifdef   USE_stub_in_nt_dll_NOT_DEFINED___path__planners
# undef  USE_stub_in_nt_dll
# undef  USE_stub_in_nt_dll_NOT_DEFINED___path__planners
#endif
#ifdef   USE_core_stub_in_nt_dll_NOT_DEFINED___path__planners
# undef  USE_core_stub_in_nt_dll
# undef  USE_core_stub_in_nt_dll_NOT_DEFINED___path__planners
#endif
#ifdef   USE_dyn_stub_in_nt_dll_NOT_DEFINED___path__planners
# undef  USE_dyn_stub_in_nt_dll
# undef  USE_dyn_stub_in_nt_dll_NOT_DEFINED___path__planners
#endif

#endif  // ____path__planners_hh__

