ServoControllerService_impl.cpp
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00001 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
00002 #include <iostream>
00003 #include "ServoControllerService_impl.h"
00004 #include "ServoController.h"
00005 #include <hrpModel/Body.h>
00006 #include <hrpModel/Link.h>
00007 
00008 ServoControllerService_impl::ServoControllerService_impl() : m_servo(NULL)
00009 {
00010 }
00011 
00012 ServoControllerService_impl::~ServoControllerService_impl()
00013 {
00014 }
00015 
00016 CORBA::Boolean ServoControllerService_impl::setJointAngle(const CORBA::Short id, CORBA::Double jv, CORBA::Double tm)
00017 {
00018         return m_servo->setJointAngle(id, jv, tm);
00019 }
00020 
00021 CORBA::Boolean ServoControllerService_impl::setJointAngles(const OpenHRP::ServoControllerService::dSequence& jvs, CORBA::Double tm)
00022 {
00023         return m_servo->setJointAngles(jvs, tm);
00024 }
00025 
00026 CORBA::Boolean ServoControllerService_impl::getJointAngle(const CORBA::Short id, CORBA::Double &jv)
00027 {
00028         return m_servo->getJointAngle(id, jv);
00029 }
00030 
00031 CORBA::Boolean ServoControllerService_impl::getJointAngles(OpenHRP::ServoControllerService::dSequence_out jvs)
00032 {
00033         return m_servo->getJointAngles(jvs);
00034 }
00035 
00036 CORBA::Boolean ServoControllerService_impl::addJointGroup(const char* gname, const OpenHRP::ServoControllerService::iSequence& ids)
00037 {
00038     return m_servo->addJointGroup(gname, ids);
00039 }
00040 
00041 CORBA::Boolean ServoControllerService_impl::removeJointGroup(const char* gname)
00042 {
00043     return m_servo->removeJointGroup(gname);
00044 }
00045 
00046 CORBA::Boolean ServoControllerService_impl::setJointAnglesOfGroup(const char *gname, const OpenHRP::ServoControllerService::dSequence& jvs, CORBA::Double tm)
00047 {
00048     return m_servo->setJointAnglesOfGroup(gname, jvs, tm);
00049 }
00050 
00051 CORBA::Boolean ServoControllerService_impl::setMaxTorque(const CORBA::Short id, const CORBA::Short percentage)
00052 {
00053     return m_servo->setMaxTorque(id, percentage);
00054 }
00055 CORBA::Boolean ServoControllerService_impl::setReset(const CORBA::Short id)
00056 {
00057     return m_servo->setReset(id);
00058 }
00059 CORBA::Boolean ServoControllerService_impl::getDuration(const CORBA::Short id, CORBA::Double &duration)
00060 {
00061     return m_servo->getDuration(id, duration);
00062 }
00063 CORBA::Boolean ServoControllerService_impl::getSpeed(const CORBA::Short id, CORBA::Double &speed)
00064 {
00065     return m_servo->getSpeed(id, speed);
00066 }
00067 CORBA::Boolean ServoControllerService_impl::getMaxTorque(const CORBA::Short id, CORBA::Short &percentage)
00068 {
00069     return m_servo->getMaxTorque(id, percentage);
00070 }
00071 CORBA::Boolean ServoControllerService_impl::getTorque(const CORBA::Short id, CORBA::Double &torque)
00072 {
00073     return m_servo->getTorque(id, torque);
00074 }
00075 CORBA::Boolean ServoControllerService_impl::getTemperature(const CORBA::Short id, CORBA::Double &temperature)
00076 {
00077     return m_servo->getTemperature(id, temperature);
00078 }
00079 CORBA::Boolean ServoControllerService_impl::getVoltage(const CORBA::Short id, CORBA::Double &voltage)
00080 {
00081     return m_servo->getVoltage(id, voltage);
00082 }
00083 CORBA::Boolean ServoControllerService_impl::servoOn()
00084 {
00085     return m_servo->servoOn();
00086 }
00087 CORBA::Boolean ServoControllerService_impl::servoOff()
00088 {
00089     return m_servo->servoOff();
00090 }
00091 
00092 
00093 void ServoControllerService_impl::servo(ServoController *i_servo)
00094 {
00095   m_servo = i_servo;
00096 } 


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:56