// This file is generated by omniidl (C++ backend)- omniORB_4_3. Do not edit.
#ifndef pp_core_idl____problem_hh__
#define pp_core_idl____problem_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___problem
#endif
#ifndef  USE_core_stub_in_nt_dll
# define USE_core_stub_in_nt_dll_NOT_DEFINED___problem
#endif
#ifndef  USE_dyn_stub_in_nt_dll
# define USE_dyn_stub_in_nt_dll_NOT_DEFINED___problem
#endif



#ifndef pp_core_idl__common_hh_EXTERNAL_GUARD__
#define pp_core_idl__common_hh_EXTERNAL_GUARD__
#include <hpp/common-idl.hh>
#endif
#ifndef pp_core_idl__robots_hh_EXTERNAL_GUARD__
#define pp_core_idl__robots_hh_EXTERNAL_GUARD__
#include <hpp/pinocchio_idl/robots-idl.hh>
#endif
#ifndef pp_core_idl__distances_hh_EXTERNAL_GUARD__
#define pp_core_idl__distances_hh_EXTERNAL_GUARD__
#include <hpp/core_idl/distances-idl.hh>
#endif
#ifndef pp_core_idl__paths_hh_EXTERNAL_GUARD__
#define pp_core_idl__paths_hh_EXTERNAL_GUARD__
#include <hpp/core_idl/paths-idl.hh>
#endif
#ifndef pp_core_idl__constraints_hh_EXTERNAL_GUARD__
#define pp_core_idl__constraints_hh_EXTERNAL_GUARD__
#include <hpp/constraints_idl/constraints-idl.hh>
#endif
#ifndef pp_core_idl____constraints_hh_EXTERNAL_GUARD__
#define pp_core_idl____constraints_hh_EXTERNAL_GUARD__
#include <hpp/core_idl/_constraints-idl.hh>
#endif
#ifndef pp_core_idl__steering__methods_hh_EXTERNAL_GUARD__
#define pp_core_idl__steering__methods_hh_EXTERNAL_GUARD__
#include <hpp/core_idl/steering_methods-idl.hh>
#endif
#ifndef pp_core_idl__path__projectors_hh_EXTERNAL_GUARD__
#define pp_core_idl__path__projectors_hh_EXTERNAL_GUARD__
#include <hpp/core_idl/path_projectors-idl.hh>
#endif
#ifndef pp_core_idl__path__validations_hh_EXTERNAL_GUARD__
#define pp_core_idl__path__validations_hh_EXTERNAL_GUARD__
#include <hpp/core_idl/path_validations-idl.hh>
#endif
#ifndef pp_core_idl__configuration__shooters_hh_EXTERNAL_GUARD__
#define pp_core_idl__configuration__shooters_hh_EXTERNAL_GUARD__
#include <hpp/core_idl/configuration_shooters-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 pinocchio_idl

  _CORBA_MODULE_BEG

#ifndef __hpp_mpinocchio__idl_mDevice__
#define __hpp_mpinocchio__idl_mDevice__
    class Device;
    class _objref_Device;
    class _impl_Device;
    
    typedef _objref_Device* Device_ptr;
    typedef Device_ptr DeviceRef;

    class Device_Helper {
    public:
      typedef Device_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_Device, Device_Helper> Device_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_Device,Device_Helper > Device_out;

#endif

#ifndef __hpp_mpinocchio__idl_mCollisionObject__
#define __hpp_mpinocchio__idl_mCollisionObject__
    class CollisionObject;
    class _objref_CollisionObject;
    class _impl_CollisionObject;
    
    typedef _objref_CollisionObject* CollisionObject_ptr;
    typedef CollisionObject_ptr CollisionObjectRef;

    class CollisionObject_Helper {
    public:
      typedef CollisionObject_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_CollisionObject, CollisionObject_Helper> CollisionObject_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_CollisionObject,CollisionObject_Helper > CollisionObject_out;

#endif

  _CORBA_MODULE_END

  _CORBA_MODULE core_idl

  _CORBA_MODULE_BEG

#ifndef __hpp_mcore__idl_mDistance__
#define __hpp_mcore__idl_mDistance__
    class Distance;
    class _objref_Distance;
    class _impl_Distance;
    
    typedef _objref_Distance* Distance_ptr;
    typedef Distance_ptr DistanceRef;

    class Distance_Helper {
    public:
      typedef Distance_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_Distance, Distance_Helper> Distance_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_Distance,Distance_Helper > Distance_out;

#endif

#ifndef __hpp_mcore__idl_mSteeringMethod__
#define __hpp_mcore__idl_mSteeringMethod__
    class SteeringMethod;
    class _objref_SteeringMethod;
    class _impl_SteeringMethod;
    
    typedef _objref_SteeringMethod* SteeringMethod_ptr;
    typedef SteeringMethod_ptr SteeringMethodRef;

    class SteeringMethod_Helper {
    public:
      typedef SteeringMethod_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_SteeringMethod, SteeringMethod_Helper> SteeringMethod_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_SteeringMethod,SteeringMethod_Helper > SteeringMethod_out;

#endif

#ifndef __hpp_mcore__idl_mConfigValidation__
#define __hpp_mcore__idl_mConfigValidation__
    class ConfigValidation;
    class _objref_ConfigValidation;
    class _impl_ConfigValidation;
    
    typedef _objref_ConfigValidation* ConfigValidation_ptr;
    typedef ConfigValidation_ptr ConfigValidationRef;

    class ConfigValidation_Helper {
    public:
      typedef ConfigValidation_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_ConfigValidation, ConfigValidation_Helper> ConfigValidation_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_ConfigValidation,ConfigValidation_Helper > ConfigValidation_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

#ifndef __hpp_mcore__idl_mPathValidation__
#define __hpp_mcore__idl_mPathValidation__
    class PathValidation;
    class _objref_PathValidation;
    class _impl_PathValidation;
    
    typedef _objref_PathValidation* PathValidation_ptr;
    typedef PathValidation_ptr PathValidationRef;

    class PathValidation_Helper {
    public:
      typedef PathValidation_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_PathValidation, PathValidation_Helper> PathValidation_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_PathValidation,PathValidation_Helper > PathValidation_out;

#endif

#ifndef __hpp_mcore__idl_mConfigurationShooter__
#define __hpp_mcore__idl_mConfigurationShooter__
    class ConfigurationShooter;
    class _objref_ConfigurationShooter;
    class _impl_ConfigurationShooter;
    
    typedef _objref_ConfigurationShooter* ConfigurationShooter_ptr;
    typedef ConfigurationShooter_ptr ConfigurationShooterRef;

    class ConfigurationShooter_Helper {
    public:
      typedef ConfigurationShooter_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_ConfigurationShooter, ConfigurationShooter_Helper> ConfigurationShooter_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_ConfigurationShooter,ConfigurationShooter_Helper > ConfigurationShooter_out;

#endif

#ifndef __hpp_mcore__idl_mConstraint__
#define __hpp_mcore__idl_mConstraint__
    class Constraint;
    class _objref_Constraint;
    class _impl_Constraint;
    
    typedef _objref_Constraint* Constraint_ptr;
    typedef Constraint_ptr ConstraintRef;

    class Constraint_Helper {
    public:
      typedef Constraint_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_Constraint, Constraint_Helper> Constraint_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_Constraint,Constraint_Helper > Constraint_out;

#endif

#ifndef __hpp_mcore__idl_mConstraintSet__
#define __hpp_mcore__idl_mConstraintSet__
    class ConstraintSet;
    class _objref_ConstraintSet;
    class _impl_ConstraintSet;
    
    typedef _objref_ConstraintSet* ConstraintSet_ptr;
    typedef ConstraintSet_ptr ConstraintSetRef;

    class ConstraintSet_Helper {
    public:
      typedef ConstraintSet_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_ConstraintSet, ConstraintSet_Helper> ConstraintSet_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_ConstraintSet,ConstraintSet_Helper > ConstraintSet_out;

#endif

#ifndef __hpp_mcore__idl_mProblem__
#define __hpp_mcore__idl_mProblem__
    class Problem;
    class _objref_Problem;
    class _impl_Problem;
    
    typedef _objref_Problem* Problem_ptr;
    typedef Problem_ptr ProblemRef;

    class Problem_Helper {
    public:
      typedef Problem_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_Problem, Problem_Helper> Problem_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_Problem,Problem_Helper > Problem_out;

#endif

    // interface Problem
    class Problem {
    public:
      // Declarations for this interface type.
      typedef Problem_ptr _ptr_type;
      typedef Problem_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_Problem :
      public virtual ::CORBA::Object,
      public virtual omniObjRef
    {
    public:
      // IDL operations
      void deleteThis();
      ::CORBA::Boolean deleteIfExpired();
      void persistantStorage(::CORBA::Boolean persistant);
      pinocchio_idl::Device_ptr robot();
      void setInitConfig(const ::hpp::floatSeq& init);
      floatSeq* getInitConfig();
      void addGoalConfig(const ::hpp::floatSeq& goal);
      void resetGoalConfigs();
      Constraint_ptr getConstraints();
      void setConstraints(::hpp::core_idl::Constraint_ptr constraints);
      Distance_ptr getDistance();
      void setDistance(::hpp::core_idl::Distance_ptr d);
      SteeringMethod_ptr getSteeringMethod();
      void setSteeringMethod(::hpp::core_idl::SteeringMethod_ptr d);
      PathValidation_ptr getPathValidation();
      void setPathValidation(::hpp::core_idl::PathValidation_ptr d);
      PathProjector_ptr getPathProjector();
      void setPathProjector(::hpp::core_idl::PathProjector_ptr p);
      ConfigValidation_ptr getConfigValidations();
      void clearConfigValidations();
      void addConfigValidation(::hpp::core_idl::ConfigValidation_ptr cfgValidation);
      ConfigurationShooter_ptr getConfigurationShooter();
      void setConfigurationShooter(::hpp::core_idl::ConfigurationShooter_ptr d);
      void filterCollisionPairs();
      void setSecurityMargins(const ::hpp::floatSeqSeq& margins);
      void addObstacle(::hpp::pinocchio_idl::CollisionObject_ptr object);
      void setParameter(const char* name, const ::CORBA::Any& value);
      ::CORBA::Any* getParameter(const char* name);

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

    protected:
      virtual ~_objref_Problem();

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

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

      friend class Problem;
    };

    class _pof_Problem : public _OMNI_NS(proxyObjectFactory) {
    public:
      inline _pof_Problem() : _OMNI_NS(proxyObjectFactory)(Problem::_PD_repoId) {}
      virtual ~_pof_Problem();

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

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

      virtual void deleteThis() = 0;
      virtual ::CORBA::Boolean deleteIfExpired() = 0;
      virtual void persistantStorage(::CORBA::Boolean persistant) = 0;
      virtual pinocchio_idl::Device_ptr robot() = 0;
      virtual void setInitConfig(const ::hpp::floatSeq& init) = 0;
      virtual floatSeq* getInitConfig() = 0;
      virtual void addGoalConfig(const ::hpp::floatSeq& goal) = 0;
      virtual void resetGoalConfigs() = 0;
      virtual Constraint_ptr getConstraints() = 0;
      virtual void setConstraints(::hpp::core_idl::Constraint_ptr constraints) = 0;
      virtual Distance_ptr getDistance() = 0;
      virtual void setDistance(::hpp::core_idl::Distance_ptr d) = 0;
      virtual SteeringMethod_ptr getSteeringMethod() = 0;
      virtual void setSteeringMethod(::hpp::core_idl::SteeringMethod_ptr d) = 0;
      virtual PathValidation_ptr getPathValidation() = 0;
      virtual void setPathValidation(::hpp::core_idl::PathValidation_ptr d) = 0;
      virtual PathProjector_ptr getPathProjector() = 0;
      virtual void setPathProjector(::hpp::core_idl::PathProjector_ptr p) = 0;
      virtual ConfigValidation_ptr getConfigValidations() = 0;
      virtual void clearConfigValidations() = 0;
      virtual void addConfigValidation(::hpp::core_idl::ConfigValidation_ptr cfgValidation) = 0;
      virtual ConfigurationShooter_ptr getConfigurationShooter() = 0;
      virtual void setConfigurationShooter(::hpp::core_idl::ConfigurationShooter_ptr d) = 0;
      virtual void filterCollisionPairs() = 0;
      virtual void setSecurityMargins(const ::hpp::floatSeqSeq& margins) = 0;
      virtual void addObstacle(::hpp::pinocchio_idl::CollisionObject_ptr object) = 0;
      virtual void setParameter(const char* name, const ::CORBA::Any& value) = 0;
      virtual ::CORBA::Any* getParameter(const char* name) = 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 POA_hpp
_CORBA_MODULE_BEG

  _CORBA_MODULE pinocchio_idl
  _CORBA_MODULE_BEG

  _CORBA_MODULE_END

  _CORBA_MODULE core_idl
  _CORBA_MODULE_BEG

    class Problem :
      public virtual hpp::core_idl::_impl_Problem,
      public virtual ::PortableServer::ServantBase
    {
    public:
      virtual ~Problem();

      inline ::hpp::core_idl::Problem_ptr _this() {
        return (::hpp::core_idl::Problem_ptr) _do_this(::hpp::core_idl::Problem::_PD_repoId);
      }
    };

  _CORBA_MODULE_END

_CORBA_MODULE_END



_CORBA_MODULE OBV_hpp
_CORBA_MODULE_BEG

  _CORBA_MODULE pinocchio_idl
  _CORBA_MODULE_BEG

  _CORBA_MODULE_END

  _CORBA_MODULE core_idl
  _CORBA_MODULE_BEG

  _CORBA_MODULE_END

_CORBA_MODULE_END





#undef _core_attr
#undef _dyn_attr



inline void
hpp::core_idl::Problem::_marshalObjRef(::hpp::core_idl::Problem_ptr obj, cdrStream& s) {
  omniObjRef::_marshal(obj->_PR_getobj(),s);
}



#ifdef   USE_stub_in_nt_dll_NOT_DEFINED___problem
# undef  USE_stub_in_nt_dll
# undef  USE_stub_in_nt_dll_NOT_DEFINED___problem
#endif
#ifdef   USE_core_stub_in_nt_dll_NOT_DEFINED___problem
# undef  USE_core_stub_in_nt_dll
# undef  USE_core_stub_in_nt_dll_NOT_DEFINED___problem
#endif
#ifdef   USE_dyn_stub_in_nt_dll_NOT_DEFINED___problem
# undef  USE_dyn_stub_in_nt_dll
# undef  USE_dyn_stub_in_nt_dll_NOT_DEFINED___problem
#endif

#endif  // ____problem_hh__

