// This file is generated by omniidl (C++ backend)- omniORB_4_3. Do not edit.
#ifndef pp_pinocchio_idl__robots_hh__
#define pp_pinocchio_idl__robots_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_robots
#endif
#ifndef  USE_core_stub_in_nt_dll
# define USE_core_stub_in_nt_dll_NOT_DEFINED_robots
#endif
#ifndef  USE_dyn_stub_in_nt_dll
# define USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots
#endif



#ifndef pp_pinocchio_idl__common_hh_EXTERNAL_GUARD__
#define pp_pinocchio_idl__common_hh_EXTERNAL_GUARD__
#include <hpp/common-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_mCenterOfMassComputation__
#define __hpp_mpinocchio__idl_mCenterOfMassComputation__
    class CenterOfMassComputation;
    class _objref_CenterOfMassComputation;
    class _impl_CenterOfMassComputation;
    
    typedef _objref_CenterOfMassComputation* CenterOfMassComputation_ptr;
    typedef CenterOfMassComputation_ptr CenterOfMassComputationRef;

    class CenterOfMassComputation_Helper {
    public:
      typedef CenterOfMassComputation_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_CenterOfMassComputation, CenterOfMassComputation_Helper> CenterOfMassComputation_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_CenterOfMassComputation,CenterOfMassComputation_Helper > CenterOfMassComputation_out;

#endif

    // interface CenterOfMassComputation
    class CenterOfMassComputation {
    public:
      // Declarations for this interface type.
      typedef CenterOfMassComputation_ptr _ptr_type;
      typedef CenterOfMassComputation_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_CenterOfMassComputation :
      public virtual ::CORBA::Object,
      public virtual omniObjRef
    {
    public:
      // IDL operations
      void deleteThis();
      ::CORBA::Boolean deleteIfExpired();
      void persistantStorage(::CORBA::Boolean persistant);
      void compute();
      floatSeq* com();
      value_type mass();
      floatSeqSeq* jacobian();

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

    protected:
      virtual ~_objref_CenterOfMassComputation();

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

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

      friend class CenterOfMassComputation;
    };

    class _pof_CenterOfMassComputation : public _OMNI_NS(proxyObjectFactory) {
    public:
      inline _pof_CenterOfMassComputation() : _OMNI_NS(proxyObjectFactory)(CenterOfMassComputation::_PD_repoId) {}
      virtual ~_pof_CenterOfMassComputation();

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

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

      virtual void deleteThis() = 0;
      virtual ::CORBA::Boolean deleteIfExpired() = 0;
      virtual void persistantStorage(::CORBA::Boolean persistant) = 0;
      virtual void compute() = 0;
      virtual floatSeq* com() = 0;
      virtual value_type mass() = 0;
      virtual floatSeqSeq* jacobian() = 0;
      
    public:  // Really protected, workaround for xlC
      virtual _CORBA_Boolean _dispatch(omniCallHandle&);

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


#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

    // interface Device
    class Device {
    public:
      // Declarations for this interface type.
      typedef Device_ptr _ptr_type;
      typedef Device_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_Device :
      public virtual ::CORBA::Object,
      public virtual omniObjRef
    {
    public:
      // IDL operations
      void deleteThis();
      ::CORBA::Boolean deleteIfExpired();
      void persistantStorage(::CORBA::Boolean persistant);
      char* name();
      floatSeq* neutralConfiguration();
      size_type configSize();
      size_type numberDof();
      void integrate(const ::hpp::floatSeq& config_in, const ::hpp::floatSeq& velocity, ::hpp::floatSeq_out result);
      void difference(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::hpp::floatSeq_out result);
      void interpolate(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::CORBA::Float u, ::hpp::floatSeq_out result);
      void saturate(const ::hpp::floatSeq& qin, ::hpp::floatSeq_out qout, ::hpp::boolSeq_out saturation);
      void replaceGeometryByConvexHull(const ::hpp::Names_t& geometryNames);
      floatSeq* getCurrentConfiguration();
      ::CORBA::Boolean setCurrentConfiguration(const ::hpp::floatSeq& configuration);
      floatSeq* getCurrentVelocity();
      ::CORBA::Boolean setCurrentVelocity(const ::hpp::floatSeq& velocity);
      floatSeq* getCurrentAcceleration();
      ::CORBA::Boolean setCurrentAcceleration(const ::hpp::floatSeq& acceleration);
      ::CORBA::Short computationFlag();
      void controlComputation(::CORBA::Short flag);
      void computeForwardKinematics(::CORBA::Short computationFlag);
      void computeFramesForwardKinematics();
      void updateGeometryPlacements();
      frame_index getFrameByName(const char* name);
      Transform__slice* getFramePosition(::hpp::frame_index frame_id);
      floatSeqSeq* getFrameJacobian(::hpp::frame_index frame_id);
      void removeJoints(const ::hpp::Names_t& joints, const ::hpp::floatSeq& refConfig);

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

    protected:
      virtual ~_objref_Device();

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

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

      friend class Device;
    };

    class _pof_Device : public _OMNI_NS(proxyObjectFactory) {
    public:
      inline _pof_Device() : _OMNI_NS(proxyObjectFactory)(Device::_PD_repoId) {}
      virtual ~_pof_Device();

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

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

      virtual void deleteThis() = 0;
      virtual ::CORBA::Boolean deleteIfExpired() = 0;
      virtual void persistantStorage(::CORBA::Boolean persistant) = 0;
      virtual char* name() = 0;
      virtual floatSeq* neutralConfiguration() = 0;
      virtual size_type configSize() = 0;
      virtual size_type numberDof() = 0;
      virtual void integrate(const ::hpp::floatSeq& config_in, const ::hpp::floatSeq& velocity, ::hpp::floatSeq_out result) = 0;
      virtual void difference(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::hpp::floatSeq_out result) = 0;
      virtual void interpolate(const ::hpp::floatSeq& q1, const ::hpp::floatSeq& q2, ::CORBA::Float u, ::hpp::floatSeq_out result) = 0;
      virtual void saturate(const ::hpp::floatSeq& qin, ::hpp::floatSeq_out qout, ::hpp::boolSeq_out saturation) = 0;
      virtual void replaceGeometryByConvexHull(const ::hpp::Names_t& geometryNames) = 0;
      virtual floatSeq* getCurrentConfiguration() = 0;
      virtual ::CORBA::Boolean setCurrentConfiguration(const ::hpp::floatSeq& configuration) = 0;
      virtual floatSeq* getCurrentVelocity() = 0;
      virtual ::CORBA::Boolean setCurrentVelocity(const ::hpp::floatSeq& velocity) = 0;
      virtual floatSeq* getCurrentAcceleration() = 0;
      virtual ::CORBA::Boolean setCurrentAcceleration(const ::hpp::floatSeq& acceleration) = 0;
      virtual ::CORBA::Short computationFlag() = 0;
      virtual void controlComputation(::CORBA::Short flag) = 0;
      virtual void computeForwardKinematics(::CORBA::Short computationFlag) = 0;
      virtual void computeFramesForwardKinematics() = 0;
      virtual void updateGeometryPlacements() = 0;
      virtual frame_index getFrameByName(const char* name) = 0;
      virtual Transform__slice* getFramePosition(::hpp::frame_index frame_id) = 0;
      virtual floatSeqSeq* getFrameJacobian(::hpp::frame_index frame_id) = 0;
      virtual void removeJoints(const ::hpp::Names_t& joints, const ::hpp::floatSeq& refConfig) = 0;
      
    public:  // Really protected, workaround for xlC
      virtual _CORBA_Boolean _dispatch(omniCallHandle&);

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


#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

    // interface CollisionObject
    class CollisionObject {
    public:
      // Declarations for this interface type.
      typedef CollisionObject_ptr _ptr_type;
      typedef CollisionObject_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_CollisionObject :
      public virtual ::CORBA::Object,
      public virtual omniObjRef
    {
    public:
      // IDL operations
      void deleteThis();
      ::CORBA::Boolean deleteIfExpired();
      void persistantStorage(::CORBA::Boolean persistant);

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

    protected:
      virtual ~_objref_CollisionObject();

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

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

      friend class CollisionObject;
    };

    class _pof_CollisionObject : public _OMNI_NS(proxyObjectFactory) {
    public:
      inline _pof_CollisionObject() : _OMNI_NS(proxyObjectFactory)(CollisionObject::_PD_repoId) {}
      virtual ~_pof_CollisionObject();

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

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

      virtual void deleteThis() = 0;
      virtual ::CORBA::Boolean deleteIfExpired() = 0;
      virtual void persistantStorage(::CORBA::Boolean persistant) = 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

    class CenterOfMassComputation :
      public virtual hpp::pinocchio_idl::_impl_CenterOfMassComputation,
      public virtual ::PortableServer::ServantBase
    {
    public:
      virtual ~CenterOfMassComputation();

      inline ::hpp::pinocchio_idl::CenterOfMassComputation_ptr _this() {
        return (::hpp::pinocchio_idl::CenterOfMassComputation_ptr) _do_this(::hpp::pinocchio_idl::CenterOfMassComputation::_PD_repoId);
      }
    };

    class Device :
      public virtual hpp::pinocchio_idl::_impl_Device,
      public virtual ::PortableServer::ServantBase
    {
    public:
      virtual ~Device();

      inline ::hpp::pinocchio_idl::Device_ptr _this() {
        return (::hpp::pinocchio_idl::Device_ptr) _do_this(::hpp::pinocchio_idl::Device::_PD_repoId);
      }
    };

    class CollisionObject :
      public virtual hpp::pinocchio_idl::_impl_CollisionObject,
      public virtual ::PortableServer::ServantBase
    {
    public:
      virtual ~CollisionObject();

      inline ::hpp::pinocchio_idl::CollisionObject_ptr _this() {
        return (::hpp::pinocchio_idl::CollisionObject_ptr) _do_this(::hpp::pinocchio_idl::CollisionObject::_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_END





#undef _core_attr
#undef _dyn_attr



inline void
hpp::pinocchio_idl::CenterOfMassComputation::_marshalObjRef(::hpp::pinocchio_idl::CenterOfMassComputation_ptr obj, cdrStream& s) {
  omniObjRef::_marshal(obj->_PR_getobj(),s);
}

inline void
hpp::pinocchio_idl::Device::_marshalObjRef(::hpp::pinocchio_idl::Device_ptr obj, cdrStream& s) {
  omniObjRef::_marshal(obj->_PR_getobj(),s);
}

inline void
hpp::pinocchio_idl::CollisionObject::_marshalObjRef(::hpp::pinocchio_idl::CollisionObject_ptr obj, cdrStream& s) {
  omniObjRef::_marshal(obj->_PR_getobj(),s);
}



#ifdef   USE_stub_in_nt_dll_NOT_DEFINED_robots
# undef  USE_stub_in_nt_dll
# undef  USE_stub_in_nt_dll_NOT_DEFINED_robots
#endif
#ifdef   USE_core_stub_in_nt_dll_NOT_DEFINED_robots
# undef  USE_core_stub_in_nt_dll
# undef  USE_core_stub_in_nt_dll_NOT_DEFINED_robots
#endif
#ifdef   USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots
# undef  USE_dyn_stub_in_nt_dll
# undef  USE_dyn_stub_in_nt_dll_NOT_DEFINED_robots
#endif

#endif  // __robots_hh__

