hrpsys: ServoControllerService

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00001 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
00002 #ifndef __SERVOCONTROLLER_SERVICE_H__
00003 #define __SERVOCONTROLLER_SERVICE_H__
00004 
00005 #include "hrpsys/idl/ServoControllerService.hh"
00006 
00007 using namespace OpenHRP;
00008 
00009 class ServoController;
00010 
00011 class ServoControllerService_impl
00012         : public virtual POA_OpenHRP::ServoControllerService,
00013           public virtual PortableServer::RefCountServantBase
00014 {
00015 public:
00019         ServoControllerService_impl();
00020 
00024         virtual ~ServoControllerService_impl();
00025 
00026         CORBA::Boolean setJointAngle(const CORBA::Short id, CORBA::Double jv, CORBA::Double tm);
00027         CORBA::Boolean setJointAngles(const OpenHRP::ServoControllerService::dSequence& jvs, CORBA::Double tm);
00028         CORBA::Boolean getJointAngle(const CORBA::Short id, CORBA::Double &jv);
00029         CORBA::Boolean getJointAngles(OpenHRP::ServoControllerService::dSequence_out jvs);
00030 
00031         CORBA::Boolean addJointGroup(const char* gname, const OpenHRP::ServoControllerService::iSequence& ids);
00032         CORBA::Boolean removeJointGroup(const char* gname);
00033         CORBA::Boolean setJointAnglesOfGroup(const char *gname, const OpenHRP::ServoControllerService::dSequence& jvs, CORBA::Double tm);
00034 
00035         CORBA::Boolean setMaxTorque(const CORBA::Short id, const CORBA::Short percentage);
00036         CORBA::Boolean setReset(const CORBA::Short id);
00037         CORBA::Boolean getDuration(const CORBA::Short id, CORBA::Double &duration);
00038         CORBA::Boolean getSpeed(const CORBA::Short id, CORBA::Double &speed);
00039         CORBA::Boolean getMaxTorque(const CORBA::Short id, CORBA::Short &percentage);
00040         CORBA::Boolean getTorque(const CORBA::Short id, CORBA::Double &torque);
00041         CORBA::Boolean getTemperature(const CORBA::Short id, CORBA::Double &temperature);
00042         CORBA::Boolean getVoltage(const CORBA::Short id, CORBA::Double &voltage);
00043         CORBA::Boolean servoOn();
00044         CORBA::Boolean servoOff();
00045 
00046         void servo(ServoController *i_servo);
00047 private:
00048   ServoController *m_servo;
00049 };
00050 
00051 #endif