ServoControllerService_impl.cpp
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1 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
2 #include <iostream>
4 #include "ServoController.h"
5 #include <hrpModel/Body.h>
6 #include <hrpModel/Link.h>
7 
9 {
10 }
11 
13 {
14 }
15 
16 CORBA::Boolean ServoControllerService_impl::setJointAngle(const CORBA::Short id, CORBA::Double jv, CORBA::Double tm)
17 {
18  return m_servo->setJointAngle(id, jv, tm);
19 }
20 
21 CORBA::Boolean ServoControllerService_impl::setJointAngles(const OpenHRP::ServoControllerService::dSequence& jvs, CORBA::Double tm)
22 {
23  return m_servo->setJointAngles(jvs, tm);
24 }
25 
26 CORBA::Boolean ServoControllerService_impl::getJointAngle(const CORBA::Short id, CORBA::Double &jv)
27 {
28  return m_servo->getJointAngle(id, jv);
29 }
30 
31 CORBA::Boolean ServoControllerService_impl::getJointAngles(OpenHRP::ServoControllerService::dSequence_out jvs)
32 {
33  return m_servo->getJointAngles(jvs);
34 }
35 
36 CORBA::Boolean ServoControllerService_impl::addJointGroup(const char* gname, const OpenHRP::ServoControllerService::iSequence& ids)
37 {
38  return m_servo->addJointGroup(gname, ids);
39 }
40 
41 CORBA::Boolean ServoControllerService_impl::removeJointGroup(const char* gname)
42 {
43  return m_servo->removeJointGroup(gname);
44 }
45 
46 CORBA::Boolean ServoControllerService_impl::setJointAnglesOfGroup(const char *gname, const OpenHRP::ServoControllerService::dSequence& jvs, CORBA::Double tm)
47 {
48  return m_servo->setJointAnglesOfGroup(gname, jvs, tm);
49 }
50 
51 CORBA::Boolean ServoControllerService_impl::setMaxTorque(const CORBA::Short id, const CORBA::Short percentage)
52 {
53  return m_servo->setMaxTorque(id, percentage);
54 }
55 CORBA::Boolean ServoControllerService_impl::setReset(const CORBA::Short id)
56 {
57  return m_servo->setReset(id);
58 }
59 CORBA::Boolean ServoControllerService_impl::getDuration(const CORBA::Short id, CORBA::Double &duration)
60 {
61  return m_servo->getDuration(id, duration);
62 }
63 CORBA::Boolean ServoControllerService_impl::getSpeed(const CORBA::Short id, CORBA::Double &speed)
64 {
65  return m_servo->getSpeed(id, speed);
66 }
67 CORBA::Boolean ServoControllerService_impl::getMaxTorque(const CORBA::Short id, CORBA::Short &percentage)
68 {
69  return m_servo->getMaxTorque(id, percentage);
70 }
71 CORBA::Boolean ServoControllerService_impl::getTorque(const CORBA::Short id, CORBA::Double &torque)
72 {
73  return m_servo->getTorque(id, torque);
74 }
75 CORBA::Boolean ServoControllerService_impl::getTemperature(const CORBA::Short id, CORBA::Double &temperature)
76 {
77  return m_servo->getTemperature(id, temperature);
78 }
79 CORBA::Boolean ServoControllerService_impl::getVoltage(const CORBA::Short id, CORBA::Double &voltage)
80 {
81  return m_servo->getVoltage(id, voltage);
82 }
84 {
85  return m_servo->servoOn();
86 }
88 {
89  return m_servo->servoOff();
90 }
91 
92 
94 {
95  m_servo = i_servo;
96 }
bool setJointAngles(const OpenHRP::ServoControllerService::dSequence angles, double tm)
CORBA::Boolean getTorque(const CORBA::Short id, CORBA::Double &torque)
bool getVoltage(short id, double &voltage)
CORBA::Boolean getJointAngles(OpenHRP::ServoControllerService::dSequence_out jvs)
bool removeJointGroup(const char *gname)
CORBA::Boolean setJointAnglesOfGroup(const char *gname, const OpenHRP::ServoControllerService::dSequence &jvs, CORBA::Double tm)
null component
bool setMaxTorque(short id, short percentage)
bool getJointAngle(short id, double &angle)
bool getJointAngles(OpenHRP::ServoControllerService::dSequence_out &angles)
CORBA::Boolean setReset(const CORBA::Short id)
CORBA::Boolean setJointAngles(const OpenHRP::ServoControllerService::dSequence &jvs, CORBA::Double tm)
int temperature(int s)
bool setJointAnglesOfGroup(const char *gname, const ::OpenHRP::ServoControllerService::dSequence angles, double tm)
bool addJointGroup(const char *gname, const ::OpenHRP::ServoControllerService::iSequence ids)
bool getTemperature(short id, double &temperature)
bool setReset(short id)
bool getTorque(short id, double &torque)
CORBA::Boolean getVoltage(const CORBA::Short id, CORBA::Double &voltage)
CORBA::Boolean getSpeed(const CORBA::Short id, CORBA::Double &speed)
bool getSpeed(short id, double &speed)
CORBA::Boolean addJointGroup(const char *gname, const OpenHRP::ServoControllerService::iSequence &ids)
bool setJointAngle(short id, double angle, double tm)
sample RT component which has one data input port and one data output port
CORBA::Boolean setJointAngle(const CORBA::Short id, CORBA::Double jv, CORBA::Double tm)
CORBA::Boolean getTemperature(const CORBA::Short id, CORBA::Double &temperature)
bool getMaxTorque(short id, short &percentage)
virtual ~ServoControllerService_impl()
destructor
CORBA::Boolean setMaxTorque(const CORBA::Short id, const CORBA::Short percentage)
CORBA::Boolean getMaxTorque(const CORBA::Short id, CORBA::Short &percentage)
bool getDuration(short id, double &duration)
void servo(ServoController *i_servo)
CORBA::Boolean removeJointGroup(const char *gname)
CORBA::Boolean getJointAngle(const CORBA::Short id, CORBA::Double &jv)
CORBA::Boolean getDuration(const CORBA::Short id, CORBA::Double &duration)


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:21