TorqueControllerService_impl.cpp
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1 
2 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
4 #include "TorqueController.h"
5 
7 {
8 }
9 
11 {
12 }
13 
14 CORBA::Boolean TorqueControllerService_impl::enableTorqueController(const char *jointName)
15 {
16  return m_torque_controller->enableTorqueController(std::string(jointName));
17 }
18 
19 CORBA::Boolean TorqueControllerService_impl::enableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence& jnames)
20 {
22 }
23 
24 CORBA::Boolean TorqueControllerService_impl::disableTorqueController(const char *jointName)
25 {
26  return m_torque_controller->disableTorqueController(std::string(jointName));
27 }
28 
29 CORBA::Boolean TorqueControllerService_impl::disableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence& jnames)
30 {
32 }
33 
34 CORBA::Boolean TorqueControllerService_impl::startTorqueControl(const char *jointName)
35 {
36  return m_torque_controller->startTorqueControl(std::string(jointName));
37 }
38 
39 CORBA::Boolean TorqueControllerService_impl::startMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence& jnames)
40 {
42 }
43 
44 CORBA::Boolean TorqueControllerService_impl::stopTorqueControl(const char *jointName)
45 {
46  return m_torque_controller->stopTorqueControl(std::string(jointName));
47 }
48 
49 CORBA::Boolean TorqueControllerService_impl::stopMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence& jnames)
50 {
52 }
53 
54 CORBA::Boolean TorqueControllerService_impl::setReferenceTorque(const char *jointName, double tauRef)
55 {
56  return m_torque_controller->setReferenceTorque(std::string(jointName), tauRef);
57 }
58 
59 CORBA::Boolean TorqueControllerService_impl::setMultipleReferenceTorques(const OpenHRP::TorqueControllerService::StrSequence& jnames, const OpenHRP::TorqueControllerService::dSequence& tauRefs)
60 {
61  return m_torque_controller->setMultipleReferenceTorques(jnames, tauRefs);
62 }
63 
64 CORBA::Boolean TorqueControllerService_impl::setTorqueControllerParam(const char *jointName, const OpenHRP::TorqueControllerService::torqueControllerParam& i_param)
65 {
66  return m_torque_controller->setTorqueControllerParam(std::string(jointName), i_param);
67 }
68 
69 CORBA::Boolean TorqueControllerService_impl::getTorqueControllerParam(const char *jointName, OpenHRP::TorqueControllerService::torqueControllerParam& i_param)
70 {
71  return m_torque_controller->getTorqueControllerParam(std::string(jointName), i_param);
72 }
73 
74 
76 {
77  m_torque_controller = i_torque_controller;
78 }
79 
bool disableTorqueController(std::string jname)
CORBA::Boolean startTorqueControl(const char *jointName)
CORBA::Boolean stopTorqueControl(const char *jointName)
bool setReferenceTorque(std::string jname, double tauRef)
CORBA::Boolean enableTorqueController(const char *jointName)
bool startTorqueControl(std::string jname)
CORBA::Boolean disableTorqueController(const char *jointName)
bool setMultipleReferenceTorques(const OpenHRP::TorqueControllerService::StrSequence &jnames, const OpenHRP::TorqueControllerService::dSequence &tauRefs)
bool stopMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence &jnames)
CORBA::Boolean setReferenceTorque(const char *jointName, double tauRef)
CORBA::Boolean enableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence &jnames)
bool disableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence &jnames)
bool stopTorqueControl(std::string jname)
bool getTorqueControllerParam(const std::string jname, OpenHRP::TorqueControllerService::torqueControllerParam &i_param)
bool setTorqueControllerParam(const std::string jname, const OpenHRP::TorqueControllerService::torqueControllerParam &i_param)
CORBA::Boolean startMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence &jnames)
CORBA::Boolean setMultipleReferenceTorques(const OpenHRP::TorqueControllerService::StrSequence &jnames, const OpenHRP::TorqueControllerService::dSequence &tauRefs)
bool startMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence &jnames)
CORBA::Boolean setTorqueControllerParam(const char *jointName, const OpenHRP::TorqueControllerService::torqueControllerParam &i_param)
bool enableTorqueController(std::string jname)
sample RT component which has one data input port and one data output port
bool enableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence &jnames)
CORBA::Boolean stopMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence &jnames)
CORBA::Boolean disableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence &jnames)
void torque_controller(TorqueController *i_torque_controller)
CORBA::Boolean getTorqueControllerParam(const char *jointName, OpenHRP::TorqueControllerService::torqueControllerParam &i_param)
null component


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