// Copyright (C) 2014 CNRS-LAAS // Author: Florent Lamiraux. // // This file is part of the hpp-manipulation-corba. // // hpp-manipulation-corba is free software: you can redistribute // it and/or modify it under the terms of the GNU Lesser General // Public License as published by the Free Software Foundation, either // version 3 of the License, or (at your option) any later version. // // hpp-manipulation-corba is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU Lesser General Public License for more details. // // You should have received a copy of the GNU Lesser General Public // License along with hpp-manipulation-corba. If not, see // <http://www.gnu.org/licenses/>. #ifndef HPP_RBPRM_CORBA_SERVER_HH # define HPP_RBPRM_CORBA_SERVER_HH # include <hpp/corba/template/server.hh> # include <hpp/corbaserver/rbprm/config.hh> namespace hpp { namespace rbprm { namespace impl { class RbprmBuilder; } class HPP_RBPRM_CORBA_DLLAPI Server { public: Server (int argc, const char *argv[], bool multiThread = false, const std::string& poaName = "child"); ~Server (); /// Set planner that will be controlled by server void setProblemSolver (hpp::core::ProblemSolverPtr_t problemSolver); /// Start corba server /// Call hpp::corba::Server <impl::Problem>::startCorbaServer void startCorbaServer(const std::string& contextId, const std::string& contextKind, const std::string& objectId); private: corba::Server <impl::RbprmBuilder>* rbprmBuilder_; }; // class Server } // namespace rbprm } // namespace hpp #endif // HPP_RBPRM_CORBA_SERVER_HH