TorqueControllerService_impl.cpp
Go to the documentation of this file.
00001 
00002 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
00003 #include "TorqueControllerService_impl.h"
00004 #include "TorqueController.h"
00005 
00006 TorqueControllerService_impl::TorqueControllerService_impl() : m_torque_controller(NULL)
00007 {
00008 }
00009 
00010 TorqueControllerService_impl::~TorqueControllerService_impl()
00011 {
00012 }
00013 
00014 CORBA::Boolean TorqueControllerService_impl::enableTorqueController(const char *jointName)
00015 {
00016         return m_torque_controller->enableTorqueController(std::string(jointName));
00017 }
00018 
00019 CORBA::Boolean TorqueControllerService_impl::enableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence& jnames)
00020 {
00021         return m_torque_controller->enableMultipleTorqueControllers(jnames);
00022 }
00023 
00024 CORBA::Boolean TorqueControllerService_impl::disableTorqueController(const char *jointName)
00025 {
00026         return m_torque_controller->disableTorqueController(std::string(jointName));
00027 }
00028 
00029 CORBA::Boolean TorqueControllerService_impl::disableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence& jnames)
00030 {
00031         return m_torque_controller->disableMultipleTorqueControllers(jnames);
00032 }
00033 
00034 CORBA::Boolean TorqueControllerService_impl::startTorqueControl(const char *jointName)
00035 {
00036         return m_torque_controller->startTorqueControl(std::string(jointName));
00037 }
00038 
00039 CORBA::Boolean TorqueControllerService_impl::startMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence& jnames)
00040 {
00041         return m_torque_controller->startMultipleTorqueControls(jnames);
00042 }
00043 
00044 CORBA::Boolean TorqueControllerService_impl::stopTorqueControl(const char *jointName)
00045 {
00046         return m_torque_controller->stopTorqueControl(std::string(jointName));
00047 }
00048 
00049 CORBA::Boolean TorqueControllerService_impl::stopMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence& jnames)
00050 {
00051         return m_torque_controller->stopMultipleTorqueControls(jnames);
00052 }
00053 
00054 CORBA::Boolean TorqueControllerService_impl::setReferenceTorque(const char *jointName, double tauRef)
00055 {
00056         return m_torque_controller->setReferenceTorque(std::string(jointName), tauRef);
00057 }
00058 
00059 CORBA::Boolean TorqueControllerService_impl::setMultipleReferenceTorques(const OpenHRP::TorqueControllerService::StrSequence& jnames, const OpenHRP::TorqueControllerService::dSequence& tauRefs)
00060 {
00061     return m_torque_controller->setMultipleReferenceTorques(jnames, tauRefs);
00062 }
00063 
00064 CORBA::Boolean TorqueControllerService_impl::setTorqueControllerParam(const char *jointName, const OpenHRP::TorqueControllerService::torqueControllerParam& i_param)
00065 {
00066     return m_torque_controller->setTorqueControllerParam(std::string(jointName), i_param);
00067 }
00068 
00069 CORBA::Boolean TorqueControllerService_impl::getTorqueControllerParam(const char *jointName, OpenHRP::TorqueControllerService::torqueControllerParam& i_param)
00070 {
00071     return m_torque_controller->getTorqueControllerParam(std::string(jointName), i_param);
00072 }
00073 
00074 
00075 void TorqueControllerService_impl::torque_controller(TorqueController *i_torque_controller)
00076 {
00077         m_torque_controller = i_torque_controller;
00078 }
00079 


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