hrpsys: SequencePlayerService

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00001 // -*-C++-*-
00002 #ifndef SEQPLAYSERVICESVC_IMPL_H
00003 #define SEQPLAYSERVICESVC_IMPL_H
00004 
00005 #include "hrpsys/idl/SequencePlayerService.hh"
00006 
00007 using namespace OpenHRP;
00008 
00009 class SequencePlayer;
00010 
00011 class SequencePlayerService_impl 
00012   : public virtual POA_OpenHRP::SequencePlayerService,
00013     public virtual PortableServer::RefCountServantBase
00014 {
00015 public:
00016   SequencePlayerService_impl();
00017   virtual ~SequencePlayerService_impl();
00018   //
00019   void waitInterpolation();
00020   CORBA::Boolean waitInterpolationOfGroup(const char *gname);
00021   CORBA::Boolean setJointAnglesSequence(const dSequenceSequence& jvs, const dSequence &tms);
00022   CORBA::Boolean setJointAnglesSequenceWithMask(const dSequenceSequence& jvs, const bSequence& mask, const dSequence &tms);
00023   CORBA::Boolean setJointAnglesSequenceFull(const dSequenceSequence& jvss, const dSequenceSequence& vels, const dSequenceSequence& torques, const dSequenceSequence& poss, const dSequenceSequence& rpys, const dSequenceSequence& accs, const dSequenceSequence& zmps, const dSequenceSequence& wrenches, const dSequenceSequence& optionals, const dSequence &tms);
00024   CORBA::Boolean clearJointAngles();
00025   CORBA::Boolean setJointAngles(const dSequence& jvs, CORBA::Double tm);
00026   CORBA::Boolean setJointAnglesWithMask(const dSequence& jvs, const bSequence& mask, CORBA::Double tm);
00027   CORBA::Boolean setJointAngle(const char *jname, CORBA::Double jv, CORBA::Double tm);
00028   CORBA::Boolean setBasePos(const dSequence& pos, CORBA::Double tm);
00029   CORBA::Boolean setBaseRpy(const dSequence& rpy, CORBA::Double tm);
00030   CORBA::Boolean setZmp(const dSequence& zmp, CORBA::Double tm);
00031   CORBA::Boolean setWrenches(const dSequence& wrenches, CORBA::Double tm);
00032   CORBA::Boolean setTargetPose(const char* gname, const dSequence& xyz, const dSequence& rpy, CORBA::Double tm);
00033   CORBA::Boolean isEmpty();
00034   void loadPattern(const char* basename, CORBA::Double tm);
00035   void playPattern(const dSequenceSequence& pos, const dSequenceSequence& rpy, const dSequenceSequence& zmp, const dSequence& tm);
00036   void clear();
00037   void clearNoWait();
00038   CORBA::Boolean setInterpolationMode(OpenHRP::SequencePlayerService::interpolationMode i_mode_);
00039   CORBA::Boolean setInitialState();
00040   CORBA::Boolean addJointGroup(const char* gname, const OpenHRP::SequencePlayerService::StrSequence& jnames);
00041   CORBA::Boolean removeJointGroup(const char* gname);
00042   CORBA::Boolean setJointAnglesOfGroup(const char *gname, const dSequence& jvs, CORBA::Double tm);
00043   CORBA::Boolean setJointAnglesSequenceOfGroup(const char *gname, const dSequenceSequence& jvs, const dSequence &tms);
00044   CORBA::Boolean clearJointAnglesOfGroup(const char *gname);
00045   CORBA::Boolean clearOfGroup(const char *gname, CORBA::Double  i_timelimit);
00046   CORBA::Boolean playPatternOfGroup(const char *gname, const dSequenceSequence& pos, const dSequence& tm);
00047   void setMaxIKError(CORBA::Double pos, CORBA::Double rot);
00048   void setMaxIKIteration(CORBA::Short iter);
00049   //
00050   void player(SequencePlayer *i_player);
00051   SequencePlayer *m_player;
00052 };                               
00053 
00054 #endif