ImpedanceControllerService_idl.py
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1 # Python stubs generated by omniidl from /home/k-okada/catkin_ws/ws_old_hrpsys/build_isolated/hrpsys/build/hrpsys-base-source/idl/ImpedanceControllerService.idl
2 
3 print ";;"
4 print ";; Loading ImpedanceController < 315.1.9"
5 print ";;"
6 
7 import omniORB, _omnipy
8 from omniORB import CORBA, PortableServer
9 _0_CORBA = CORBA
10 
11 _omnipy.checkVersion(3,0, __file__)
12 
13 
14 #
15 # Start of module "OpenHRP"
16 #
17 __name__ = "OpenHRP"
18 _0_OpenHRP = omniORB.openModule("OpenHRP", r"/home/k-okada/catkin_ws/ws_old_hrpsys/build_isolated/hrpsys/build/hrpsys-base-source/idl/ImpedanceControllerService.idl")
19 _0_OpenHRP__POA = omniORB.openModule("OpenHRP__POA", r"/home/k-okada/catkin_ws/ws_old_hrpsys/build_isolated/hrpsys/build/hrpsys-base-source/idl/ImpedanceControllerService.idl")
20 
21 
22 # interface ImpedanceControllerService
23 _0_OpenHRP._d_ImpedanceControllerService = (omniORB.tcInternal.tv_objref, "IDL:OpenHRP/ImpedanceControllerService:1.0", "ImpedanceControllerService")
24 omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService:1.0"] = _0_OpenHRP._d_ImpedanceControllerService
25 _0_OpenHRP.ImpedanceControllerService = omniORB.newEmptyClass()
27  _NP_RepositoryId = _0_OpenHRP._d_ImpedanceControllerService[1]
28 
29  def __init__(self, *args, **kw):
30  raise RuntimeError("Cannot construct objects of this type.")
31 
32  _nil = CORBA.Object._nil
33 
34 
35  # typedef ... DblSequence3
36  class DblSequence3:
37  _NP_RepositoryId = "IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"
38  def __init__(self, *args, **kw):
39  raise RuntimeError("Cannot construct objects of this type.")
40  _d_DblSequence3 = (omniORB.tcInternal.tv_sequence, omniORB.tcInternal.tv_double, 3)
41  _ad_DblSequence3 = (omniORB.tcInternal.tv_alias, DblSequence3._NP_RepositoryId, "DblSequence3", (omniORB.tcInternal.tv_sequence, omniORB.tcInternal.tv_double, 3))
42  _tc_DblSequence3 = omniORB.tcInternal.createTypeCode(_ad_DblSequence3)
43  omniORB.registerType(DblSequence3._NP_RepositoryId, _ad_DblSequence3, _tc_DblSequence3)
44 
45  # struct impedanceParam
46  _0_OpenHRP.ImpedanceControllerService.impedanceParam = omniORB.newEmptyClass()
47  class impedanceParam (omniORB.StructBase):
48  _NP_RepositoryId = "IDL:OpenHRP/ImpedanceControllerService/impedanceParam:1.0"
49 
50  _NP_ClassName = "OpenHRP.ImpedanceControllerService.impedanceParam"
51 
52  def __init__(self, name, base_name, target_name, M_p, D_p, K_p, M_r, D_r, K_r, ref_force, force_gain, ref_moment, moment_gain, sr_gain, avoid_gain, reference_gain, manipulability_limit):
53  self.name = name
54  self.base_name = base_name
55  self.target_name = target_name
56  self.M_p = M_p
57  self.D_p = D_p
58  self.K_p = K_p
59  self.M_r = M_r
60  self.D_r = D_r
61  self.K_r = K_r
62  self.ref_force = ref_force
63  self.force_gain = force_gain
64  self.ref_moment = ref_moment
65  self.moment_gain = moment_gain
66  self.sr_gain = sr_gain
67  self.avoid_gain = avoid_gain
68  self.reference_gain = reference_gain
69  self.manipulability_limit = manipulability_limit
70 
71  _d_impedanceParam = _0_OpenHRP.ImpedanceControllerService._d_impedanceParam = (omniORB.tcInternal.tv_struct, impedanceParam, impedanceParam._NP_RepositoryId, "impedanceParam", "name", (omniORB.tcInternal.tv_string,0), "base_name", (omniORB.tcInternal.tv_string,0), "target_name", (omniORB.tcInternal.tv_string,0), "M_p", omniORB.tcInternal.tv_double, "D_p", omniORB.tcInternal.tv_double, "K_p", omniORB.tcInternal.tv_double, "M_r", omniORB.tcInternal.tv_double, "D_r", omniORB.tcInternal.tv_double, "K_r", omniORB.tcInternal.tv_double, "ref_force", omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"], "force_gain", omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"], "ref_moment", omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"], "moment_gain", omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"], "sr_gain", omniORB.tcInternal.tv_double, "avoid_gain", omniORB.tcInternal.tv_double, "reference_gain", omniORB.tcInternal.tv_double, "manipulability_limit", omniORB.tcInternal.tv_double)
72  _tc_impedanceParam = omniORB.tcInternal.createTypeCode(_d_impedanceParam)
73  omniORB.registerType(impedanceParam._NP_RepositoryId, _d_impedanceParam, _tc_impedanceParam)
74 
75 
76 _0_OpenHRP.ImpedanceControllerService = ImpedanceControllerService
77 _0_OpenHRP._tc_ImpedanceControllerService = omniORB.tcInternal.createTypeCode(_0_OpenHRP._d_ImpedanceControllerService)
78 omniORB.registerType(ImpedanceControllerService._NP_RepositoryId, _0_OpenHRP._d_ImpedanceControllerService, _0_OpenHRP._tc_ImpedanceControllerService)
79 
80 # ImpedanceControllerService operations and attributes
81 ImpedanceControllerService._d_setImpedanceControllerParam = ((omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/impedanceParam:1.0"], ), (omniORB.tcInternal.tv_boolean, ), None)
82 ImpedanceControllerService._d_getImpedanceControllerParam = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_boolean, omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/impedanceParam:1.0"]), None)
83 ImpedanceControllerService._d_deleteImpedanceController = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_boolean, ), None)
84 ImpedanceControllerService._d_waitDeletingImpedanceController = (((omniORB.tcInternal.tv_string,0), ), (), None)
85 ImpedanceControllerService._d_deleteImpedanceControllerAndWait = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_boolean, ), None)
86 
87 # ImpedanceControllerService object reference
89  _NP_RepositoryId = ImpedanceControllerService._NP_RepositoryId
90 
91  def __init__(self):
92  CORBA.Object.__init__(self)
93 
94  def setImpedanceControllerParam(self, *args):
95  return _omnipy.invoke(self, "setImpedanceControllerParam", _0_OpenHRP.ImpedanceControllerService._d_setImpedanceControllerParam, args)
96 
97  def getImpedanceControllerParam(self, *args):
98  return _omnipy.invoke(self, "getImpedanceControllerParam", _0_OpenHRP.ImpedanceControllerService._d_getImpedanceControllerParam, args)
99 
100  def deleteImpedanceController(self, *args):
101  return _omnipy.invoke(self, "deleteImpedanceController", _0_OpenHRP.ImpedanceControllerService._d_deleteImpedanceController, args)
102 
104  return _omnipy.invoke(self, "waitDeletingImpedanceController", _0_OpenHRP.ImpedanceControllerService._d_waitDeletingImpedanceController, args)
105 
107  return _omnipy.invoke(self, "deleteImpedanceControllerAndWait", _0_OpenHRP.ImpedanceControllerService._d_deleteImpedanceControllerAndWait, args)
108 
109  __methods__ = ["setImpedanceControllerParam", "getImpedanceControllerParam", "deleteImpedanceController", "waitDeletingImpedanceController", "deleteImpedanceControllerAndWait"] + CORBA.Object.__methods__
110 
111 omniORB.registerObjref(ImpedanceControllerService._NP_RepositoryId, _objref_ImpedanceControllerService)
112 _0_OpenHRP._objref_ImpedanceControllerService = _objref_ImpedanceControllerService
113 del ImpedanceControllerService, _objref_ImpedanceControllerService
114 
115 # ImpedanceControllerService skeleton
116 __name__ = "OpenHRP__POA"
117 class ImpedanceControllerService (PortableServer.Servant):
118  _NP_RepositoryId = _0_OpenHRP.ImpedanceControllerService._NP_RepositoryId
119 
120 
121  _omni_op_d = {"setImpedanceControllerParam": _0_OpenHRP.ImpedanceControllerService._d_setImpedanceControllerParam, "getImpedanceControllerParam": _0_OpenHRP.ImpedanceControllerService._d_getImpedanceControllerParam, "deleteImpedanceController": _0_OpenHRP.ImpedanceControllerService._d_deleteImpedanceController, "waitDeletingImpedanceController": _0_OpenHRP.ImpedanceControllerService._d_waitDeletingImpedanceController, "deleteImpedanceControllerAndWait": _0_OpenHRP.ImpedanceControllerService._d_deleteImpedanceControllerAndWait}
122 
123 ImpedanceControllerService._omni_skeleton = ImpedanceControllerService
124 _0_OpenHRP__POA.ImpedanceControllerService = ImpedanceControllerService
125 omniORB.registerSkeleton(ImpedanceControllerService._NP_RepositoryId, ImpedanceControllerService)
126 del ImpedanceControllerService
127 __name__ = "OpenHRP"
128 
129 #
130 # End of module "OpenHRP"
131 #
132 __name__ = "ImpedanceControllerService_idl"
133 
134 _exported_modules = ( "OpenHRP", )
135 
136 # The end.
def __init__(self, name, base_name, target_name, M_p, D_p, K_p, M_r, D_r, K_r, ref_force, force_gain, ref_moment, moment_gain, sr_gain, avoid_gain, reference_gain, manipulability_limit)


hironx_ros_bridge
Author(s): Kei Okada , Isaac I.Y. Saito
autogenerated on Mon Feb 28 2022 23:45:15