hrpsys: TorqueControllerService

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00001 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
00002 #ifndef __NULL_SERVICE_H__
00003 #define __NULL_SERVICE_H__
00004 
00005 #include "hrpsys/idl/TorqueControllerService.hh"
00006 
00007 using namespace OpenHRP;
00008 
00009 class TorqueController;
00010 
00011 class TorqueControllerService_impl
00012         : public virtual POA_OpenHRP::TorqueControllerService,
00013           public virtual PortableServer::RefCountServantBase
00014 {
00015 public:
00016         TorqueControllerService_impl();
00017         virtual ~TorqueControllerService_impl();
00018 
00019         CORBA::Boolean enableTorqueController(const char *jointName);
00020         CORBA::Boolean enableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence& jnames);
00021         CORBA::Boolean disableTorqueController(const char *jointName);
00022         CORBA::Boolean disableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence& jnames);
00023         
00024         CORBA::Boolean startTorqueControl(const char *jointName);
00025         CORBA::Boolean startMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence& jnames);
00026         CORBA::Boolean stopTorqueControl(const char *jointName);
00027         CORBA::Boolean stopMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence& jnames);
00028         CORBA::Boolean setReferenceTorque(const char *jointName, double tauRef);
00029         CORBA::Boolean setMultipleReferenceTorques(const OpenHRP::TorqueControllerService::StrSequence& jnames, const OpenHRP::TorqueControllerService::dSequence& tauRefs);
00030         CORBA::Boolean setTorqueControllerParam(const char *jointName, const OpenHRP::TorqueControllerService::torqueControllerParam& i_param);
00031         CORBA::Boolean getTorqueControllerParam(const char *jointName, OpenHRP::TorqueControllerService::torqueControllerParam& i_param);
00032         
00033         void torque_controller(TorqueController *i_torque_controller);
00034 private:
00035         TorqueController *m_torque_controller;
00036 };
00037 
00038 #endif