ForwardKinematicsService_impl.h
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1 #ifndef __FORWARD_KINEMATICS_SERVICE_IMPL_H__
2 #define __FORWARD_KINEMATICS_SERVICE_IMPL_H__
3 
4 #include "hrpsys/idl/ForwardKinematicsService.hh"
5 
7 
9  : public virtual POA_OpenHRP::ForwardKinematicsService,
10  public virtual PortableServer::RefCountServantBase
11 {
12 public:
17 
22 
23  void setComp(ForwardKinematics *i_comp);
24  //
25  ::CORBA::Boolean selectBaseLink(const char* lnkname);
26  ::CORBA::Boolean getReferencePose(const char* linkname, RTC::TimedDoubleSeq_out pose);
27  ::CORBA::Boolean getCurrentPose(const char* linkname, RTC::TimedDoubleSeq_out pose);
28  ::CORBA::Boolean getRelativeCurrentPosition(const char* linkname1, const char *linkname2, const OpenHRP::ForwardKinematicsService::position target, OpenHRP::ForwardKinematicsService::position result);
29 private:
31 };
32 
33 #endif
::CORBA::Boolean getReferencePose(const char *linkname, RTC::TimedDoubleSeq_out pose)
::CORBA::Boolean getCurrentPose(const char *linkname, RTC::TimedDoubleSeq_out pose)
::CORBA::Boolean getRelativeCurrentPosition(const char *linkname1, const char *linkname2, const OpenHRP::ForwardKinematicsService::position target, OpenHRP::ForwardKinematicsService::position result)
::CORBA::Boolean selectBaseLink(const char *lnkname)
void setComp(ForwardKinematics *i_comp)
sample RT component which has one data input port and one data output port


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:20