Go to the documentation of this file.00001 #include "AutoBalancerService_impl.h"
00002 #include "AutoBalancer.h"
00003
00004 AutoBalancerService_impl::AutoBalancerService_impl() : m_autobalancer(NULL)
00005 {
00006 }
00007
00008 AutoBalancerService_impl::~AutoBalancerService_impl()
00009 {
00010 }
00011
00012 CORBA::Boolean AutoBalancerService_impl::goPos( CORBA::Double x, CORBA::Double y, CORBA::Double th)
00013 {
00014 return m_autobalancer->goPos(x, y, th);
00015 };
00016
00017 CORBA::Boolean AutoBalancerService_impl::goVelocity( CORBA::Double vx, CORBA::Double vy, CORBA::Double vth)
00018 {
00019 return m_autobalancer->goVelocity(vx, vy, vth);
00020 };
00021
00022 CORBA::Boolean AutoBalancerService_impl::goStop()
00023 {
00024 return m_autobalancer->goStop();
00025 };
00026
00027 CORBA::Boolean AutoBalancerService_impl::emergencyStop()
00028 {
00029 return m_autobalancer->emergencyStop();
00030 };
00031
00032 CORBA::Boolean AutoBalancerService_impl::setFootSteps(const OpenHRP::AutoBalancerService::FootstepsSequence& fss, CORBA::Long overwrite_fs_idx)
00033 {
00034 return m_autobalancer->setFootSteps(fss, overwrite_fs_idx);
00035 }
00036
00037 CORBA::Boolean AutoBalancerService_impl::setFootStepsWithParam(const OpenHRP::AutoBalancerService::FootstepsSequence& fss, const OpenHRP::AutoBalancerService::StepParamsSequence& spss, CORBA::Long overwrite_fs_idx)
00038 {
00039 return m_autobalancer->setFootStepsWithParam(fss, spss, overwrite_fs_idx);
00040 }
00041
00042 void AutoBalancerService_impl::waitFootSteps()
00043 {
00044 return m_autobalancer->waitFootSteps();
00045 };
00046
00047 void AutoBalancerService_impl::waitFootStepsEarly(CORBA::Double tm)
00048 {
00049 return m_autobalancer->waitFootStepsEarly(tm);
00050 };
00051
00052 CORBA::Boolean AutoBalancerService_impl::startAutoBalancer(const OpenHRP::AutoBalancerService::StrSequence& limbs)
00053 {
00054 return m_autobalancer->startAutoBalancer(limbs);
00055 };
00056
00057 CORBA::Boolean AutoBalancerService_impl::stopAutoBalancer()
00058 {
00059 return m_autobalancer->stopAutoBalancer();
00060 };
00061
00062 CORBA::Boolean AutoBalancerService_impl::setGaitGeneratorParam(const OpenHRP::AutoBalancerService::GaitGeneratorParam& i_param)
00063 {
00064 return m_autobalancer->setGaitGeneratorParam(i_param);
00065 };
00066
00067 CORBA::Boolean AutoBalancerService_impl::getGaitGeneratorParam(OpenHRP::AutoBalancerService::GaitGeneratorParam_out i_param)
00068 {
00069 i_param = new OpenHRP::AutoBalancerService::GaitGeneratorParam();
00070 i_param->stride_parameter.length(6);
00071 i_param->toe_heel_phase_ratio.length(7);
00072 i_param->zmp_weight_map.length(4);
00073 return m_autobalancer->getGaitGeneratorParam(*i_param);
00074 };
00075
00076 CORBA::Boolean AutoBalancerService_impl::setAutoBalancerParam(const OpenHRP::AutoBalancerService::AutoBalancerParam& i_param)
00077 {
00078 return m_autobalancer->setAutoBalancerParam(i_param);
00079 };
00080
00081 CORBA::Boolean AutoBalancerService_impl::getAutoBalancerParam(OpenHRP::AutoBalancerService::AutoBalancerParam_out i_param)
00082 {
00083 i_param = new OpenHRP::AutoBalancerService::AutoBalancerParam();
00084 return m_autobalancer->getAutoBalancerParam(*i_param);
00085 };
00086
00087 CORBA::Boolean AutoBalancerService_impl::getFootstepParam(OpenHRP::AutoBalancerService::FootstepParam_out i_param)
00088 {
00089 i_param = new OpenHRP::AutoBalancerService::FootstepParam();
00090 return m_autobalancer->getFootstepParam(*i_param);
00091 };
00092
00093 CORBA::Boolean AutoBalancerService_impl::adjustFootSteps(const OpenHRP::AutoBalancerService::Footstep& rfootstep, const OpenHRP::AutoBalancerService::Footstep& lfootstep)
00094 {
00095 return m_autobalancer->adjustFootSteps(rfootstep, lfootstep);
00096 };
00097
00098 CORBA::Boolean AutoBalancerService_impl::getRemainingFootstepSequence(OpenHRP::AutoBalancerService::FootstepSequence_out o_footstep, CORBA::Long& o_current_fs_idx)
00099 {
00100 return m_autobalancer->getRemainingFootstepSequence(o_footstep, o_current_fs_idx);
00101 };
00102
00103 CORBA::Boolean AutoBalancerService_impl::getGoPosFootstepsSequence(CORBA::Double x, CORBA::Double y, CORBA::Double th, OpenHRP::AutoBalancerService::FootstepsSequence_out o_footstep)
00104 {
00105 return m_autobalancer->getGoPosFootstepsSequence(x, y, th, o_footstep);
00106 };
00107
00108 CORBA::Boolean AutoBalancerService_impl::releaseEmergencyStop()
00109 {
00110 return m_autobalancer->releaseEmergencyStop();
00111 };
00112
00113 void AutoBalancerService_impl::autobalancer(AutoBalancer *i_autobalancer)
00114 {
00115 m_autobalancer = i_autobalancer;
00116 }
00117