hrpsys: AutoBalancerService_impl.h Source File

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00001 // -*-C++-*-
00002 #ifndef AUTOBALANCERSERVICESVC_IMPL_H
00003 #define AUTOBALANCERSERVICESVC_IMPL_H
00004 
00005 #include "hrpsys/idl/AutoBalancerService.hh"
00006 
00007 using namespace OpenHRP;
00008 
00009 class AutoBalancer;
00010 
00011 class AutoBalancerService_impl 
00012   : public virtual POA_OpenHRP::AutoBalancerService,
00013     public virtual PortableServer::RefCountServantBase
00014 {
00015 public:
00016   AutoBalancerService_impl();
00017   virtual ~AutoBalancerService_impl();
00018   CORBA::Boolean goPos( CORBA::Double x,  CORBA::Double y,  CORBA::Double th);
00019   CORBA::Boolean goVelocity( CORBA::Double vx,  CORBA::Double vy,  CORBA::Double vth);
00020   CORBA::Boolean goStop();
00021   CORBA::Boolean emergencyStop();
00022   CORBA::Boolean setFootSteps(const OpenHRP::AutoBalancerService::FootstepsSequence& fss, CORBA::Long overwrite_fs_idx);
00023   CORBA::Boolean setFootStepsWithParam(const OpenHRP::AutoBalancerService::FootstepsSequence& fss, const OpenHRP::AutoBalancerService::StepParamsSequence& spss, CORBA::Long overwrite_fs_idx);
00024   void waitFootSteps();
00025   void waitFootStepsEarly(CORBA::Double tm);
00026   CORBA::Boolean startAutoBalancer(const OpenHRP::AutoBalancerService::StrSequence& limbs);
00027   CORBA::Boolean stopAutoBalancer();
00028   CORBA::Boolean setGaitGeneratorParam(const OpenHRP::AutoBalancerService::GaitGeneratorParam& i_param);
00029   CORBA::Boolean getGaitGeneratorParam(OpenHRP::AutoBalancerService::GaitGeneratorParam_out i_param);
00030   CORBA::Boolean setAutoBalancerParam(const OpenHRP::AutoBalancerService::AutoBalancerParam& i_param);
00031   CORBA::Boolean getAutoBalancerParam(OpenHRP::AutoBalancerService::AutoBalancerParam_out i_param);
00032   CORBA::Boolean getFootstepParam(OpenHRP::AutoBalancerService::FootstepParam_out i_param);
00033   CORBA::Boolean adjustFootSteps(const OpenHRP::AutoBalancerService::Footstep& rfootstep, const OpenHRP::AutoBalancerService::Footstep& lfootstep);
00034   CORBA::Boolean getRemainingFootstepSequence(OpenHRP::AutoBalancerService::FootstepSequence_out o_footstep , CORBA::Long& o_current_fs_idx);
00035   CORBA::Boolean getGoPosFootstepsSequence(CORBA::Double x, CORBA::Double y, CORBA::Double th, OpenHRP::AutoBalancerService::FootstepsSequence_out o_footstep);
00036   CORBA::Boolean releaseEmergencyStop();
00037   //
00038   //
00039   void autobalancer(AutoBalancer *i_autobalancer);
00040 private:
00041   AutoBalancer *m_autobalancer;
00042 };                               
00043 
00044 #endif