hrpsys: RobotHardwareService_impl.h Source File

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00001 // -*-C++-*-
00002 
00003 #ifndef ROBOTHARDWARESERVICE_IMPL_H
00004 #define ROBOTHARDWARESERVICE_IMPL_H
00005 
00006 #include <boost/intrusive_ptr.hpp>
00007 #include "hrpsys/idl/RobotHardwareService.hh"
00008 
00009 #include "robot.h"
00010 
00011 class RobotHardwareService_impl
00012     : public virtual POA_OpenHRP::RobotHardwareService,
00013       public virtual PortableServer::RefCountServantBase
00014 {
00015 public:
00016     RobotHardwareService_impl();
00017     virtual ~RobotHardwareService_impl();
00018 
00019     void getStatus(OpenHRP::RobotHardwareService::RobotState_out rs);
00020     void getStatus2(OpenHRP::RobotHardwareService::RobotState2_out rs);
00021 
00022     CORBA::Boolean power(const char* jname, OpenHRP::RobotHardwareService::SwitchStatus ss);
00023     CORBA::Boolean servo(const char* jname, OpenHRP::RobotHardwareService::SwitchStatus ss);
00024     void setServoGainPercentage(const char *jname, double limit);
00025     void setServoTorqueGainPercentage(const char *jname, double limit);
00026     void setServoErrorLimit(const char *jname, double limit);
00027     void calibrateInertiaSensor();
00028     void removeForceSensorOffset();
00029     void initializeJointAngle(const char* name, const char* option);
00030     CORBA::Boolean addJointGroup(const char* gname, const OpenHRP::RobotHardwareService::StrSequence& jnames);
00031     CORBA::Boolean readDigitalInput(::OpenHRP::RobotHardwareService::OctSequence_out din);
00032     CORBA::Long lengthDigitalInput();
00033     CORBA::Boolean writeDigitalOutput(const ::OpenHRP::RobotHardwareService::OctSequence& dout);
00034     CORBA::Boolean writeDigitalOutputWithMask(const ::OpenHRP::RobotHardwareService::OctSequence& dout, const ::OpenHRP::RobotHardwareService::OctSequence& mask);
00035     CORBA::Long lengthDigitalOutput();
00036     CORBA::Boolean readDigitalOutput(::OpenHRP::RobotHardwareService::OctSequence_out dout);
00037     CORBA::Boolean setJointInertia(const char* name, ::CORBA::Double mn);
00038     void setJointInertias(const ::OpenHRP::RobotHardwareService::DblSequence& mns);
00039     void enableDisturbanceObserver();
00040     void disableDisturbanceObserver();
00041     void setDisturbanceObserverGain(::CORBA::Double gain);
00042     void setJointControlMode(const char *jname, OpenHRP::RobotHardwareService::JointControlMode jcm);
00043     //
00044     void setRobot(boost::shared_ptr<robot>& i_robot) { m_robot = i_robot; }
00045 private:
00046     boost::shared_ptr<robot> m_robot;
00047 };
00048 #endif