RobotHardwareService_impl Class Reference

#include <RobotHardwareService_impl.h>

Inheritance diagram for RobotHardwareService_impl:

Public Member Functions
CORBA::Boolean	addJointGroup (const char *gname, const OpenHRP::RobotHardwareService::StrSequence &jnames)
void	calibrateInertiaSensor ()
void	disableDisturbanceObserver ()
void	enableDisturbanceObserver ()
void	getStatus (OpenHRP::RobotHardwareService::RobotState_out rs)
void	getStatus2 (OpenHRP::RobotHardwareService::RobotState2_out rs)
void	initializeJointAngle (const char *name, const char *option)
CORBA::Long	lengthDigitalInput ()
CORBA::Long	lengthDigitalOutput ()
CORBA::Boolean	power (const char *jname, OpenHRP::RobotHardwareService::SwitchStatus ss)
CORBA::Boolean	readDigitalInput (::OpenHRP::RobotHardwareService::OctSequence_out din)
CORBA::Boolean	readDigitalOutput (::OpenHRP::RobotHardwareService::OctSequence_out dout)
void	removeForceSensorOffset ()
	RobotHardwareService_impl ()
CORBA::Boolean	servo (const char *jname, OpenHRP::RobotHardwareService::SwitchStatus ss)
void	setDisturbanceObserverGain (::CORBA::Double gain)
void	setJointControlMode (const char *jname, OpenHRP::RobotHardwareService::JointControlMode jcm)
CORBA::Boolean	setJointInertia (const char *name,::CORBA::Double mn)
void	setJointInertias (const ::OpenHRP::RobotHardwareService::DblSequence &mns)
void	setRobot (boost::shared_ptr< robot > &i_robot)
void	setServoErrorLimit (const char *jname, double limit)
void	setServoGainPercentage (const char *jname, double limit)
void	setServoTorqueGainPercentage (const char *jname, double limit)
CORBA::Boolean	writeDigitalOutput (const ::OpenHRP::RobotHardwareService::OctSequence &dout)
CORBA::Boolean	writeDigitalOutputWithMask (const ::OpenHRP::RobotHardwareService::OctSequence &dout, const ::OpenHRP::RobotHardwareService::OctSequence &mask)
virtual	~RobotHardwareService_impl ()

Private Attributes
boost::shared_ptr< robot >	m_robot

Detailed Description

Definition at line 11 of file RobotHardwareService_impl.h.

Constructor & Destructor Documentation

RobotHardwareService_impl::RobotHardwareService_impl

(

)

Definition at line 8 of file RobotHardwareService_impl.cpp.

RobotHardwareService_impl::~RobotHardwareService_impl ( )

virtual

Definition at line 12 of file RobotHardwareService_impl.cpp.

Member Function Documentation

CORBA::Boolean RobotHardwareService_impl::addJointGroup	(	const char *	gname,
		const OpenHRP::RobotHardwareService::StrSequence &	jnames
	)

Definition at line 139 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::calibrateInertiaSensor

(

)

Definition at line 109 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::disableDisturbanceObserver

(

)

Definition at line 199 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::enableDisturbanceObserver

(

)

Definition at line 194 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::getStatus

(

OpenHRP::RobotHardwareService::RobotState_out

rs

)

Definition at line 71 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::getStatus2

(

OpenHRP::RobotHardwareService::RobotState2_out

rs

)

Definition at line 78 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::initializeJointAngle	(	const char *	name,
		const char *	option
	)

Definition at line 119 of file RobotHardwareService_impl.cpp.

CORBA::Long RobotHardwareService_impl::lengthDigitalInput

(

)

Definition at line 156 of file RobotHardwareService_impl.cpp.

CORBA::Long RobotHardwareService_impl::lengthDigitalOutput

(

)

Definition at line 171 of file RobotHardwareService_impl.cpp.

CORBA::Boolean RobotHardwareService_impl::power	(	const char *	jname,
		OpenHRP::RobotHardwareService::SwitchStatus	ss
	)

Definition at line 99 of file RobotHardwareService_impl.cpp.

CORBA::Boolean RobotHardwareService_impl::readDigitalInput

(

::OpenHRP::RobotHardwareService::OctSequence_out

din

)

Definition at line 149 of file RobotHardwareService_impl.cpp.

CORBA::Boolean RobotHardwareService_impl::readDigitalOutput

(

::OpenHRP::RobotHardwareService::OctSequence_out

dout

)

Definition at line 176 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::removeForceSensorOffset

(

)

Definition at line 114 of file RobotHardwareService_impl.cpp.

CORBA::Boolean RobotHardwareService_impl::servo	(	const char *	jname,
		OpenHRP::RobotHardwareService::SwitchStatus	ss
	)

Definition at line 104 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::setDisturbanceObserverGain

(

::CORBA::Double

gain

)

Definition at line 204 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::setJointControlMode	(	const char *	jname,
		OpenHRP::RobotHardwareService::JointControlMode	jcm
	)

Definition at line 209 of file RobotHardwareService_impl.cpp.

CORBA::Boolean RobotHardwareService_impl::setJointInertia	(	const char *	name,
		::CORBA::Double	mn
	)

Definition at line 183 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::setJointInertias

(

const ::OpenHRP::RobotHardwareService::DblSequence &

mns

)

Definition at line 188 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::setRobot ( boost::shared_ptr< robot > &  i_robot )

inline

Definition at line 44 of file RobotHardwareService_impl.h.

void RobotHardwareService_impl::setServoErrorLimit	(	const char *	jname,
		double	limit
	)

Definition at line 134 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::setServoGainPercentage	(	const char *	jname,
		double	limit
	)

Definition at line 124 of file RobotHardwareService_impl.cpp.

void RobotHardwareService_impl::setServoTorqueGainPercentage	(	const char *	jname,
		double	limit
	)

Definition at line 129 of file RobotHardwareService_impl.cpp.

CORBA::Boolean RobotHardwareService_impl::writeDigitalOutput

(

const ::OpenHRP::RobotHardwareService::OctSequence &

dout

)

Definition at line 161 of file RobotHardwareService_impl.cpp.

CORBA::Boolean RobotHardwareService_impl::writeDigitalOutputWithMask	(	const ::OpenHRP::RobotHardwareService::OctSequence &	dout,
		const ::OpenHRP::RobotHardwareService::OctSequence &	mask
	)

Definition at line 166 of file RobotHardwareService_impl.cpp.

Member Data Documentation

boost::shared_ptr<robot> RobotHardwareService_impl::m_robot

private

Definition at line 46 of file RobotHardwareService_impl.h.

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The documentation for this class was generated from the following files:

• RobotHardwareService_impl.h
• RobotHardwareService_impl.cpp