ImpedanceControllerService_impl.cpp

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#include "ImpedanceControllerService_impl.h"
#include "ImpedanceController.h"
#include <hrpModel/Body.h>
#include <hrpModel/Link.h>

ImpedanceControllerService_impl::ImpedanceControllerService_impl() : m_impedance(NULL)
{
}

ImpedanceControllerService_impl::~ImpedanceControllerService_impl()
{
}

CORBA::Boolean ImpedanceControllerService_impl::startImpedanceController(const char *i_name_)
{
  return m_impedance->startImpedanceController(std::string(i_name_));
}

CORBA::Boolean ImpedanceControllerService_impl::startImpedanceControllerNoWait(const char *i_name_)
{
  return m_impedance->startImpedanceControllerNoWait(std::string(i_name_));
}

CORBA::Boolean ImpedanceControllerService_impl::stopImpedanceController(const char *i_name_)
{
  return m_impedance->stopImpedanceController(std::string(i_name_));
}

CORBA::Boolean ImpedanceControllerService_impl::stopImpedanceControllerNoWait(const char *i_name_)
{
  return m_impedance->stopImpedanceControllerNoWait(std::string(i_name_));
}

CORBA::Boolean ImpedanceControllerService_impl::setImpedanceControllerParam(const char *i_name_, const OpenHRP::ImpedanceControllerService::impedanceParam &i_param_)
{
  return m_impedance->setImpedanceControllerParam(std::string(i_name_), i_param_);
}

CORBA::Boolean ImpedanceControllerService_impl::getImpedanceControllerParam(const char *i_name_, OpenHRP::ImpedanceControllerService::impedanceParam_out i_param_)
{
  i_param_ = new OpenHRP::ImpedanceControllerService::impedanceParam();
  i_param_->force_gain.length(3);
  i_param_->moment_gain.length(3);
  return m_impedance->getImpedanceControllerParam(std::string(i_name_), *i_param_);
}

void ImpedanceControllerService_impl::waitImpedanceControllerTransition(const char *i_name_)
{
  m_impedance->waitImpedanceControllerTransition(std::string(i_name_));
}

void ImpedanceControllerService_impl::impedance(ImpedanceController *i_impedance)
{
  m_impedance = i_impedance;
}