// This file is generated by omniidl (C++ backend)- omniORB_4_3. Do not edit.
#ifndef pp_core_idl__path__planners_hh__
#define pp_core_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_core_idl__common_hh_EXTERNAL_GUARD__
#define pp_core_idl__common_hh_EXTERNAL_GUARD__
#include <hpp/common-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



#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_mPath__
#define __hpp_mcore__idl_mPath__
    class Path;
    class _objref_Path;
    class _impl_Path;
    
    typedef _objref_Path* Path_ptr;
    typedef Path_ptr PathRef;

    class Path_Helper {
    public:
      typedef Path_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_Path, Path_Helper> Path_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_Path,Path_Helper > Path_out;

#endif

#ifndef __hpp_mcore__idl_mConnectedComponent__
#define __hpp_mcore__idl_mConnectedComponent__
    class ConnectedComponent;
    class _objref_ConnectedComponent;
    class _impl_ConnectedComponent;
    
    typedef _objref_ConnectedComponent* ConnectedComponent_ptr;
    typedef ConnectedComponent_ptr ConnectedComponentRef;

    class ConnectedComponent_Helper {
    public:
      typedef ConnectedComponent_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_ConnectedComponent, ConnectedComponent_Helper> ConnectedComponent_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_ConnectedComponent,ConnectedComponent_Helper > ConnectedComponent_out;

#endif

    // interface ConnectedComponent
    class ConnectedComponent {
    public:
      // Declarations for this interface type.
      typedef ConnectedComponent_ptr _ptr_type;
      typedef ConnectedComponent_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_ConnectedComponent :
      public virtual ::CORBA::Object,
      public virtual omniObjRef
    {
    public:
      // IDL operations
      void deleteThis();
      ::CORBA::Boolean deleteIfExpired();
      void persistantStorage(::CORBA::Boolean persistant);
      floatSeqSeq* nodes();

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

    protected:
      virtual ~_objref_ConnectedComponent();

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

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

      friend class ConnectedComponent;
    };

    class _pof_ConnectedComponent : public _OMNI_NS(proxyObjectFactory) {
    public:
      inline _pof_ConnectedComponent() : _OMNI_NS(proxyObjectFactory)(ConnectedComponent::_PD_repoId) {}
      virtual ~_pof_ConnectedComponent();

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

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

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

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


    class ConnectedComponentSeq_var;

    class ConnectedComponentSeq : public _CORBA_Unbounded_Sequence_ObjRef< _objref_ConnectedComponent, _CORBA_ObjRef_Element< _objref_ConnectedComponent, ConnectedComponent_Helper> , ConnectedComponent_Helper >  {
    public:
      typedef ConnectedComponentSeq_var _var_type;
      inline ConnectedComponentSeq() {}
      inline ConnectedComponentSeq(const ConnectedComponentSeq& _s)
        : _CORBA_Unbounded_Sequence_ObjRef< _objref_ConnectedComponent, _CORBA_ObjRef_Element< _objref_ConnectedComponent, ConnectedComponent_Helper> , ConnectedComponent_Helper > (_s) {}

      inline ConnectedComponentSeq(_CORBA_ULong _max)
        : _CORBA_Unbounded_Sequence_ObjRef< _objref_ConnectedComponent, _CORBA_ObjRef_Element< _objref_ConnectedComponent, ConnectedComponent_Helper> , ConnectedComponent_Helper > (_max) {}
      inline ConnectedComponentSeq(_CORBA_ULong _max, _CORBA_ULong _len, ConnectedComponent_ptr* _val, _CORBA_Boolean _rel=0)
        : _CORBA_Unbounded_Sequence_ObjRef< _objref_ConnectedComponent, _CORBA_ObjRef_Element< _objref_ConnectedComponent, ConnectedComponent_Helper> , ConnectedComponent_Helper > (_max, _len, _val, _rel) {}

    

      inline ConnectedComponentSeq& operator = (const ConnectedComponentSeq& _s) {
        _CORBA_Unbounded_Sequence_ObjRef< _objref_ConnectedComponent, _CORBA_ObjRef_Element< _objref_ConnectedComponent, ConnectedComponent_Helper> , ConnectedComponent_Helper > ::operator=(_s);
        return *this;
      }
    };

    class ConnectedComponentSeq_out;

    class ConnectedComponentSeq_var {
    public:
      inline ConnectedComponentSeq_var() : _pd_seq(0) {}
      inline ConnectedComponentSeq_var(ConnectedComponentSeq* _s) : _pd_seq(_s) {}
      inline ConnectedComponentSeq_var(const ConnectedComponentSeq_var& _s) {
        if (_s._pd_seq)  _pd_seq = new ConnectedComponentSeq(*_s._pd_seq);
        else             _pd_seq = 0;
      }
      inline ~ConnectedComponentSeq_var() { if (_pd_seq)  delete _pd_seq; }
        
      inline ConnectedComponentSeq_var& operator = (ConnectedComponentSeq* _s) {
        if (_pd_seq)  delete _pd_seq;
        _pd_seq = _s;
        return *this;
      }
      inline ConnectedComponentSeq_var& operator = (const ConnectedComponentSeq_var& _s) {
        if (&_s != this) {
          if (_s._pd_seq) {
            if (!_pd_seq)  _pd_seq = new ConnectedComponentSeq;
            *_pd_seq = *_s._pd_seq;
          }
          else if (_pd_seq) {
            delete _pd_seq;
            _pd_seq = 0;
          }
        }
        return *this;
      }
      inline _CORBA_ObjRef_Element< _objref_ConnectedComponent, ConnectedComponent_Helper>  operator [] (_CORBA_ULong _s) {
        return (*_pd_seq)[_s];
      }

    

      inline ConnectedComponentSeq* operator -> () { return _pd_seq; }
      inline const ConnectedComponentSeq* operator -> () const { return _pd_seq; }
#if defined(__GNUG__)
      inline operator ConnectedComponentSeq& () const { return *_pd_seq; }
#else
      inline operator const ConnectedComponentSeq& () const { return *_pd_seq; }
      inline operator ConnectedComponentSeq& () { return *_pd_seq; }
#endif
        
      inline const ConnectedComponentSeq& in() const { return *_pd_seq; }
      inline ConnectedComponentSeq&       inout()    { return *_pd_seq; }
      inline ConnectedComponentSeq*&      out() {
        if (_pd_seq) { delete _pd_seq; _pd_seq = 0; }
        return _pd_seq;
      }
      inline ConnectedComponentSeq* _retn() { ConnectedComponentSeq* tmp = _pd_seq; _pd_seq = 0; return tmp; }
        
      friend class ConnectedComponentSeq_out;
      
    private:
      ConnectedComponentSeq* _pd_seq;
    };

    class ConnectedComponentSeq_out {
    public:
      inline ConnectedComponentSeq_out(ConnectedComponentSeq*& _s) : _data(_s) { _data = 0; }
      inline ConnectedComponentSeq_out(ConnectedComponentSeq_var& _s)
        : _data(_s._pd_seq) { _s = (ConnectedComponentSeq*) 0; }
      inline ConnectedComponentSeq_out(const ConnectedComponentSeq_out& _s) : _data(_s._data) {}
      inline ConnectedComponentSeq_out& operator = (const ConnectedComponentSeq_out& _s) {
        _data = _s._data;
        return *this;
      }
      inline ConnectedComponentSeq_out& operator = (ConnectedComponentSeq* _s) {
        _data = _s;
        return *this;
      }
      inline operator ConnectedComponentSeq*&()  { return _data; }
      inline ConnectedComponentSeq*& ptr()       { return _data; }
      inline ConnectedComponentSeq* operator->() { return _data; }

      inline _CORBA_ObjRef_Element< _objref_ConnectedComponent, ConnectedComponent_Helper>  operator [] (_CORBA_ULong _i) {
        return (*_data)[_i];
      }

    

      ConnectedComponentSeq*& _data;

    private:
      ConnectedComponentSeq_out();
      ConnectedComponentSeq_out& operator=(const ConnectedComponentSeq_var&);
    };

#ifndef __hpp_mcore__idl_mRoadmap__
#define __hpp_mcore__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 ::CORBA::Object,
      public virtual omniObjRef
    {
    public:
      // IDL operations
      void deleteThis();
      ::CORBA::Boolean deleteIfExpired();
      void persistantStorage(::CORBA::Boolean persistant);
      void clear();
      void addNode(const ::hpp::floatSeq& config);
      void addNodeAndEdge(const ::hpp::floatSeq& cfgfrom, const ::hpp::floatSeq& cfgto, ::hpp::core_idl::Path_ptr path_);
      void addNodeAndEdges(const ::hpp::floatSeq& cfgfrom, const ::hpp::floatSeq& cfgto, ::hpp::core_idl::Path_ptr path_);
      floatSeq* nearestNode(const ::hpp::floatSeq& config, ::hpp::value_type& distance, ::CORBA::Boolean reverse);
      floatSeqSeq* nearestNodes(const ::hpp::floatSeq& config, ::hpp::size_type& k);
      size_type getNbNodes();
      floatSeq* getNode(::hpp::size_type i);
      size_type getNbEdges();
      Path_ptr getEdge(::hpp::size_type i);
      ConnectedComponentSeq* getConnectedComponents();

      // 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 omniServant
    {
    public:
      virtual ~_impl_Roadmap();

      virtual void deleteThis() = 0;
      virtual ::CORBA::Boolean deleteIfExpired() = 0;
      virtual void persistantStorage(::CORBA::Boolean persistant) = 0;
      virtual void clear() = 0;
      virtual void addNode(const ::hpp::floatSeq& config) = 0;
      virtual void addNodeAndEdge(const ::hpp::floatSeq& cfgfrom, const ::hpp::floatSeq& cfgto, ::hpp::core_idl::Path_ptr path_) = 0;
      virtual void addNodeAndEdges(const ::hpp::floatSeq& cfgfrom, const ::hpp::floatSeq& cfgto, ::hpp::core_idl::Path_ptr path_) = 0;
      virtual floatSeq* nearestNode(const ::hpp::floatSeq& config, ::hpp::value_type& distance, ::CORBA::Boolean reverse) = 0;
      virtual floatSeqSeq* nearestNodes(const ::hpp::floatSeq& config, ::hpp::size_type& k) = 0;
      virtual size_type getNbNodes() = 0;
      virtual floatSeq* getNode(::hpp::size_type i) = 0;
      virtual size_type getNbEdges() = 0;
      virtual Path_ptr getEdge(::hpp::size_type i) = 0;
      virtual ConnectedComponentSeq* getConnectedComponents() = 0;
      
    public:  // Really protected, workaround for xlC
      virtual _CORBA_Boolean _dispatch(omniCallHandle&);

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


#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

    // interface PathPlanner
    class PathPlanner {
    public:
      // Declarations for this interface type.
      typedef PathPlanner_ptr _ptr_type;
      typedef PathPlanner_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_PathPlanner :
      public virtual ::CORBA::Object,
      public virtual omniObjRef
    {
    public:
      // IDL operations
      void deleteThis();
      ::CORBA::Boolean deleteIfExpired();
      void persistantStorage(::CORBA::Boolean persistant);
      PathVector_ptr solve();
      void startSolve();
      void tryConnectInitAndGoals();
      void oneStep();
      PathVector_ptr computePath();
      PathVector_ptr finishSolve(::hpp::core_idl::PathVector_ptr path);
      void interrupt();
      void maxIterations(::hpp::size_type n);
      void timeOut(::hpp::value_type seconds);
      Roadmap_ptr getRoadmap();
      void stopWhenProblemIsSolved(::CORBA::Boolean enable);

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

    protected:
      virtual ~_objref_PathPlanner();

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

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

      friend class PathPlanner;
    };

    class _pof_PathPlanner : public _OMNI_NS(proxyObjectFactory) {
    public:
      inline _pof_PathPlanner() : _OMNI_NS(proxyObjectFactory)(PathPlanner::_PD_repoId) {}
      virtual ~_pof_PathPlanner();

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

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

      virtual void deleteThis() = 0;
      virtual ::CORBA::Boolean deleteIfExpired() = 0;
      virtual void persistantStorage(::CORBA::Boolean persistant) = 0;
      virtual PathVector_ptr solve() = 0;
      virtual void startSolve() = 0;
      virtual void tryConnectInitAndGoals() = 0;
      virtual void oneStep() = 0;
      virtual PathVector_ptr computePath() = 0;
      virtual PathVector_ptr finishSolve(::hpp::core_idl::PathVector_ptr path) = 0;
      virtual void interrupt() = 0;
      virtual void maxIterations(::hpp::size_type n) = 0;
      virtual void timeOut(::hpp::value_type seconds) = 0;
      virtual Roadmap_ptr getRoadmap() = 0;
      virtual void stopWhenProblemIsSolved(::CORBA::Boolean enable) = 0;
      
    public:  // Really protected, workaround for xlC
      virtual _CORBA_Boolean _dispatch(omniCallHandle&);

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


#ifndef __hpp_mcore__idl_mPathOptimizer__
#define __hpp_mcore__idl_mPathOptimizer__
    class PathOptimizer;
    class _objref_PathOptimizer;
    class _impl_PathOptimizer;
    
    typedef _objref_PathOptimizer* PathOptimizer_ptr;
    typedef PathOptimizer_ptr PathOptimizerRef;

    class PathOptimizer_Helper {
    public:
      typedef PathOptimizer_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_PathOptimizer, PathOptimizer_Helper> PathOptimizer_var;
    typedef _CORBA_ObjRef_OUT_arg<_objref_PathOptimizer,PathOptimizer_Helper > PathOptimizer_out;

#endif

    // interface PathOptimizer
    class PathOptimizer {
    public:
      // Declarations for this interface type.
      typedef PathOptimizer_ptr _ptr_type;
      typedef PathOptimizer_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_PathOptimizer :
      public virtual ::CORBA::Object,
      public virtual omniObjRef
    {
    public:
      // IDL operations
      void deleteThis();
      ::CORBA::Boolean deleteIfExpired();
      void persistantStorage(::CORBA::Boolean persistant);
      PathVector_ptr optimize(::hpp::core_idl::PathVector_ptr path);
      void interrupt();
      void maxIterations(::hpp::size_type n);
      void timeOut(::hpp::value_type seconds);

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

    protected:
      virtual ~_objref_PathOptimizer();

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

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

      friend class PathOptimizer;
    };

    class _pof_PathOptimizer : public _OMNI_NS(proxyObjectFactory) {
    public:
      inline _pof_PathOptimizer() : _OMNI_NS(proxyObjectFactory)(PathOptimizer::_PD_repoId) {}
      virtual ~_pof_PathOptimizer();

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

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

      virtual void deleteThis() = 0;
      virtual ::CORBA::Boolean deleteIfExpired() = 0;
      virtual void persistantStorage(::CORBA::Boolean persistant) = 0;
      virtual PathVector_ptr optimize(::hpp::core_idl::PathVector_ptr path) = 0;
      virtual void interrupt() = 0;
      virtual void maxIterations(::hpp::size_type n) = 0;
      virtual void timeOut(::hpp::value_type seconds) = 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 core_idl
  _CORBA_MODULE_BEG

    class ConnectedComponent :
      public virtual hpp::core_idl::_impl_ConnectedComponent,
      public virtual ::PortableServer::ServantBase
    {
    public:
      virtual ~ConnectedComponent();

      inline ::hpp::core_idl::ConnectedComponent_ptr _this() {
        return (::hpp::core_idl::ConnectedComponent_ptr) _do_this(::hpp::core_idl::ConnectedComponent::_PD_repoId);
      }
    };

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

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

    class PathPlanner :
      public virtual hpp::core_idl::_impl_PathPlanner,
      public virtual ::PortableServer::ServantBase
    {
    public:
      virtual ~PathPlanner();

      inline ::hpp::core_idl::PathPlanner_ptr _this() {
        return (::hpp::core_idl::PathPlanner_ptr) _do_this(::hpp::core_idl::PathPlanner::_PD_repoId);
      }
    };

    class PathOptimizer :
      public virtual hpp::core_idl::_impl_PathOptimizer,
      public virtual ::PortableServer::ServantBase
    {
    public:
      virtual ~PathOptimizer();

      inline ::hpp::core_idl::PathOptimizer_ptr _this() {
        return (::hpp::core_idl::PathOptimizer_ptr) _do_this(::hpp::core_idl::PathOptimizer::_PD_repoId);
      }
    };

  _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_END





#undef _core_attr
#undef _dyn_attr



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

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

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

inline void
hpp::core_idl::PathOptimizer::_marshalObjRef(::hpp::core_idl::PathOptimizer_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__

