Go to the documentation of this file.00001 #include "ObjectContactTurnaroundDetectorService_impl.h"
00002 #include "ObjectContactTurnaroundDetector.h"
00003 #include <hrpModel/Body.h>
00004 #include <hrpModel/Link.h>
00005
00006 ObjectContactTurnaroundDetectorService_impl::ObjectContactTurnaroundDetectorService_impl() : m_otd(NULL)
00007 {
00008 }
00009
00010 ObjectContactTurnaroundDetectorService_impl::~ObjectContactTurnaroundDetectorService_impl()
00011 {
00012 }
00013
00014 void ObjectContactTurnaroundDetectorService_impl::startObjectContactTurnaroundDetection(const CORBA::Double i_ref_diff_wrench, const CORBA::Double i_max_time, const OpenHRP::ObjectContactTurnaroundDetectorService::StrSequence& i_ee_names)
00015 {
00016 m_otd->startObjectContactTurnaroundDetection(i_ref_diff_wrench, i_max_time, i_ee_names);
00017 }
00018
00019 OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode ObjectContactTurnaroundDetectorService_impl::checkObjectContactTurnaroundDetection()
00020 {
00021 return m_otd->checkObjectContactTurnaroundDetection();
00022 }
00023
00024 CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::setObjectContactTurnaroundDetectorParam(const OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam &i_param_)
00025 {
00026 return m_otd->setObjectContactTurnaroundDetectorParam(i_param_);
00027 }
00028
00029 CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::getObjectContactTurnaroundDetectorParam(OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam& i_param_)
00030 {
00031 i_param_ = OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam();
00032 return m_otd->getObjectContactTurnaroundDetectorParam(i_param_);
00033 }
00034
00035 CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::getObjectForcesMoments(OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out o_forces, OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out o_moments, OpenHRP::ObjectContactTurnaroundDetectorService::DblSequence3_out o_3dofwrench, CORBA::Double& o_fric_coeff_wrench)
00036 {
00037 return m_otd->getObjectForcesMoments(o_forces, o_moments, o_3dofwrench, o_fric_coeff_wrench);
00038 }
00039
00040 void ObjectContactTurnaroundDetectorService_impl::otd(ObjectContactTurnaroundDetector *i_otd)
00041 {
00042 m_otd = i_otd;
00043 }
00044