text: #ifndef MANIPULATIONPLANNERCOORDINATIONSERVICECORE_H_
  #define MANIPULATIONPLANNERCOORDINATIONSERVICECORE_H_
  #include "aceSmartSoft.hh"
  #include "runTimeInterface.hh"
  
  #include <string>
  #include <map>
  #include <iostream>
  
  #include "ManipulationPlannerCoordinationService.hh"
  
   class ManipulationPlannerCoordinationServiceCore {
   	friend class ACE_Singleton<ManipulationPlannerCoordinationServiceCore, ACE_Thread_Mutex>;
  private:
  	ManipulationPlannerCoordinationServiceCore (){
  		std::cout<<"Create ManipulationPlannerCoordinationService Module Singelton..."<<std::endl;
  	}
  	~ManipulationPlannerCoordinationServiceCore (){
  		std::cout<<"Destroy ManipulationPlannerCoordinationService Module Singelton..."<<std::endl;
  	}
  	
  	std::map<std::string, ManipulationPlannerCoordinationService, ciLessLibC> ciInstanceMap;
  public:
  	void addNewModuleInstance(const std::string& name);
  	int initCiInstance(SmartACE::SmartComponent * component, const std::string& ciInstanceName, const std::map< std::string, CiConnection, ciLessLibC> &ciConnectionsMap);
  	int finiCiInstance(const std::string& ciInstanceName);
  	std::string switchCi(const std::string& ciInstanceName, const std::string& componentName, const std::string& componentInstanceName, const std::string& service, const std::string& inString);
  
   };
  #endif /* MANIPULATIONPLANNERCOORDINATIONSERVICECORE_H_ */
  