ImpedanceControllerService_idl.py
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00001 # Python stubs generated by omniidl from /home/k-okada/catkin_ws/ws_old_hrpsys/build_isolated/hrpsys/build/hrpsys-base-source/idl/ImpedanceControllerService.idl
00002 
00003 print ";;"
00004 print ";; Loading ImpedanceController < 315.1.9"
00005 print ";;"
00006 
00007 import omniORB, _omnipy
00008 from omniORB import CORBA, PortableServer
00009 _0_CORBA = CORBA
00010 
00011 _omnipy.checkVersion(3,0, __file__)
00012 
00013 
00014 #
00015 # Start of module "OpenHRP"
00016 #
00017 __name__ = "OpenHRP"
00018 _0_OpenHRP = omniORB.openModule("OpenHRP", r"/home/k-okada/catkin_ws/ws_old_hrpsys/build_isolated/hrpsys/build/hrpsys-base-source/idl/ImpedanceControllerService.idl")
00019 _0_OpenHRP__POA = omniORB.openModule("OpenHRP__POA", r"/home/k-okada/catkin_ws/ws_old_hrpsys/build_isolated/hrpsys/build/hrpsys-base-source/idl/ImpedanceControllerService.idl")
00020 
00021 
00022 # interface ImpedanceControllerService
00023 _0_OpenHRP._d_ImpedanceControllerService = (omniORB.tcInternal.tv_objref, "IDL:OpenHRP/ImpedanceControllerService:1.0", "ImpedanceControllerService")
00024 omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService:1.0"] = _0_OpenHRP._d_ImpedanceControllerService
00025 _0_OpenHRP.ImpedanceControllerService = omniORB.newEmptyClass()
00026 class ImpedanceControllerService :
00027     _NP_RepositoryId = _0_OpenHRP._d_ImpedanceControllerService[1]
00028 
00029     def __init__(self, *args, **kw):
00030         raise RuntimeError("Cannot construct objects of this type.")
00031 
00032     _nil = CORBA.Object._nil
00033 
00034     
00035     # typedef ... DblSequence3
00036     class DblSequence3:
00037         _NP_RepositoryId = "IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"
00038         def __init__(self, *args, **kw):
00039             raise RuntimeError("Cannot construct objects of this type.")
00040     _d_DblSequence3  = (omniORB.tcInternal.tv_sequence, omniORB.tcInternal.tv_double, 3)
00041     _ad_DblSequence3 = (omniORB.tcInternal.tv_alias, DblSequence3._NP_RepositoryId, "DblSequence3", (omniORB.tcInternal.tv_sequence, omniORB.tcInternal.tv_double, 3))
00042     _tc_DblSequence3 = omniORB.tcInternal.createTypeCode(_ad_DblSequence3)
00043     omniORB.registerType(DblSequence3._NP_RepositoryId, _ad_DblSequence3, _tc_DblSequence3)
00044     
00045     # struct impedanceParam
00046     _0_OpenHRP.ImpedanceControllerService.impedanceParam = omniORB.newEmptyClass()
00047     class impedanceParam (omniORB.StructBase):
00048         _NP_RepositoryId = "IDL:OpenHRP/ImpedanceControllerService/impedanceParam:1.0"
00049 
00050         _NP_ClassName = "OpenHRP.ImpedanceControllerService.impedanceParam"
00051 
00052         def __init__(self, name, base_name, target_name, M_p, D_p, K_p, M_r, D_r, K_r, ref_force, force_gain, ref_moment, moment_gain, sr_gain, avoid_gain, reference_gain, manipulability_limit):
00053             self.name = name
00054             self.base_name = base_name
00055             self.target_name = target_name
00056             self.M_p = M_p
00057             self.D_p = D_p
00058             self.K_p = K_p
00059             self.M_r = M_r
00060             self.D_r = D_r
00061             self.K_r = K_r
00062             self.ref_force = ref_force
00063             self.force_gain = force_gain
00064             self.ref_moment = ref_moment
00065             self.moment_gain = moment_gain
00066             self.sr_gain = sr_gain
00067             self.avoid_gain = avoid_gain
00068             self.reference_gain = reference_gain
00069             self.manipulability_limit = manipulability_limit
00070     
00071     _d_impedanceParam  = _0_OpenHRP.ImpedanceControllerService._d_impedanceParam = (omniORB.tcInternal.tv_struct, impedanceParam, impedanceParam._NP_RepositoryId, "impedanceParam", "name", (omniORB.tcInternal.tv_string,0), "base_name", (omniORB.tcInternal.tv_string,0), "target_name", (omniORB.tcInternal.tv_string,0), "M_p", omniORB.tcInternal.tv_double, "D_p", omniORB.tcInternal.tv_double, "K_p", omniORB.tcInternal.tv_double, "M_r", omniORB.tcInternal.tv_double, "D_r", omniORB.tcInternal.tv_double, "K_r", omniORB.tcInternal.tv_double, "ref_force", omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"], "force_gain", omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"], "ref_moment", omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"], "moment_gain", omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"], "sr_gain", omniORB.tcInternal.tv_double, "avoid_gain", omniORB.tcInternal.tv_double, "reference_gain", omniORB.tcInternal.tv_double, "manipulability_limit", omniORB.tcInternal.tv_double)
00072     _tc_impedanceParam = omniORB.tcInternal.createTypeCode(_d_impedanceParam)
00073     omniORB.registerType(impedanceParam._NP_RepositoryId, _d_impedanceParam, _tc_impedanceParam)
00074 
00075 
00076 _0_OpenHRP.ImpedanceControllerService = ImpedanceControllerService
00077 _0_OpenHRP._tc_ImpedanceControllerService = omniORB.tcInternal.createTypeCode(_0_OpenHRP._d_ImpedanceControllerService)
00078 omniORB.registerType(ImpedanceControllerService._NP_RepositoryId, _0_OpenHRP._d_ImpedanceControllerService, _0_OpenHRP._tc_ImpedanceControllerService)
00079 
00080 # ImpedanceControllerService operations and attributes
00081 ImpedanceControllerService._d_setImpedanceControllerParam = ((omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/impedanceParam:1.0"], ), (omniORB.tcInternal.tv_boolean, ), None)
00082 ImpedanceControllerService._d_getImpedanceControllerParam = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_boolean, omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/impedanceParam:1.0"]), None)
00083 ImpedanceControllerService._d_deleteImpedanceController = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_boolean, ), None)
00084 ImpedanceControllerService._d_waitDeletingImpedanceController = (((omniORB.tcInternal.tv_string,0), ), (), None)
00085 ImpedanceControllerService._d_deleteImpedanceControllerAndWait = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_boolean, ), None)
00086 
00087 # ImpedanceControllerService object reference
00088 class _objref_ImpedanceControllerService (CORBA.Object):
00089     _NP_RepositoryId = ImpedanceControllerService._NP_RepositoryId
00090 
00091     def __init__(self):
00092         CORBA.Object.__init__(self)
00093 
00094     def setImpedanceControllerParam(self, *args):
00095         return _omnipy.invoke(self, "setImpedanceControllerParam", _0_OpenHRP.ImpedanceControllerService._d_setImpedanceControllerParam, args)
00096 
00097     def getImpedanceControllerParam(self, *args):
00098         return _omnipy.invoke(self, "getImpedanceControllerParam", _0_OpenHRP.ImpedanceControllerService._d_getImpedanceControllerParam, args)
00099 
00100     def deleteImpedanceController(self, *args):
00101         return _omnipy.invoke(self, "deleteImpedanceController", _0_OpenHRP.ImpedanceControllerService._d_deleteImpedanceController, args)
00102 
00103     def waitDeletingImpedanceController(self, *args):
00104         return _omnipy.invoke(self, "waitDeletingImpedanceController", _0_OpenHRP.ImpedanceControllerService._d_waitDeletingImpedanceController, args)
00105 
00106     def deleteImpedanceControllerAndWait(self, *args):
00107         return _omnipy.invoke(self, "deleteImpedanceControllerAndWait", _0_OpenHRP.ImpedanceControllerService._d_deleteImpedanceControllerAndWait, args)
00108 
00109     __methods__ = ["setImpedanceControllerParam", "getImpedanceControllerParam", "deleteImpedanceController", "waitDeletingImpedanceController", "deleteImpedanceControllerAndWait"] + CORBA.Object.__methods__
00110 
00111 omniORB.registerObjref(ImpedanceControllerService._NP_RepositoryId, _objref_ImpedanceControllerService)
00112 _0_OpenHRP._objref_ImpedanceControllerService = _objref_ImpedanceControllerService
00113 del ImpedanceControllerService, _objref_ImpedanceControllerService
00114 
00115 # ImpedanceControllerService skeleton
00116 __name__ = "OpenHRP__POA"
00117 class ImpedanceControllerService (PortableServer.Servant):
00118     _NP_RepositoryId = _0_OpenHRP.ImpedanceControllerService._NP_RepositoryId
00119 
00120 
00121     _omni_op_d = {"setImpedanceControllerParam": _0_OpenHRP.ImpedanceControllerService._d_setImpedanceControllerParam, "getImpedanceControllerParam": _0_OpenHRP.ImpedanceControllerService._d_getImpedanceControllerParam, "deleteImpedanceController": _0_OpenHRP.ImpedanceControllerService._d_deleteImpedanceController, "waitDeletingImpedanceController": _0_OpenHRP.ImpedanceControllerService._d_waitDeletingImpedanceController, "deleteImpedanceControllerAndWait": _0_OpenHRP.ImpedanceControllerService._d_deleteImpedanceControllerAndWait}
00122 
00123 ImpedanceControllerService._omni_skeleton = ImpedanceControllerService
00124 _0_OpenHRP__POA.ImpedanceControllerService = ImpedanceControllerService
00125 omniORB.registerSkeleton(ImpedanceControllerService._NP_RepositoryId, ImpedanceControllerService)
00126 del ImpedanceControllerService
00127 __name__ = "OpenHRP"
00128 
00129 #
00130 # End of module "OpenHRP"
00131 #
00132 __name__ = "ImpedanceControllerService_idl"
00133 
00134 _exported_modules = ( "OpenHRP", )
00135 
00136 # The end.


hironx_ros_bridge
Author(s): Kei Okada
autogenerated on Sun Sep 13 2015 23:21:39