TorqueControllerService_impl.cpp

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// -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
#include "TorqueControllerService_impl.h"
#include "TorqueController.h"

TorqueControllerService_impl::TorqueControllerService_impl() : m_torque_controller(NULL)
{
}

TorqueControllerService_impl::~TorqueControllerService_impl()
{
}

CORBA::Boolean TorqueControllerService_impl::enableTorqueController(const char *jointName)
{
        return m_torque_controller->enableTorqueController(std::string(jointName));
}

CORBA::Boolean TorqueControllerService_impl::enableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence& jnames)
{
        return m_torque_controller->enableMultipleTorqueControllers(jnames);
}

CORBA::Boolean TorqueControllerService_impl::disableTorqueController(const char *jointName)
{
        return m_torque_controller->disableTorqueController(std::string(jointName));
}

CORBA::Boolean TorqueControllerService_impl::disableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence& jnames)
{
        return m_torque_controller->disableMultipleTorqueControllers(jnames);
}

CORBA::Boolean TorqueControllerService_impl::startTorqueControl(const char *jointName)
{
        return m_torque_controller->startTorqueControl(std::string(jointName));
}

CORBA::Boolean TorqueControllerService_impl::startMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence& jnames)
{
        return m_torque_controller->startMultipleTorqueControls(jnames);
}

CORBA::Boolean TorqueControllerService_impl::stopTorqueControl(const char *jointName)
{
        return m_torque_controller->stopTorqueControl(std::string(jointName));
}

CORBA::Boolean TorqueControllerService_impl::stopMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence& jnames)
{
        return m_torque_controller->stopMultipleTorqueControls(jnames);
}

CORBA::Boolean TorqueControllerService_impl::setReferenceTorque(const char *jointName, double tauRef)
{
        return m_torque_controller->setReferenceTorque(std::string(jointName), tauRef);
}

CORBA::Boolean TorqueControllerService_impl::setMultipleReferenceTorques(const OpenHRP::TorqueControllerService::StrSequence& jnames, const OpenHRP::TorqueControllerService::dSequence& tauRefs)
{
    return m_torque_controller->setMultipleReferenceTorques(jnames, tauRefs);
}

CORBA::Boolean TorqueControllerService_impl::setTorqueControllerParam(const char *jointName, const OpenHRP::TorqueControllerService::torqueControllerParam& i_param)
{
    return m_torque_controller->setTorqueControllerParam(std::string(jointName), i_param);
}

CORBA::Boolean TorqueControllerService_impl::getTorqueControllerParam(const char *jointName, OpenHRP::TorqueControllerService::torqueControllerParam& i_param)
{
    return m_torque_controller->getTorqueControllerParam(std::string(jointName), i_param);
}


void TorqueControllerService_impl::torque_controller(TorqueController *i_torque_controller)
{
        m_torque_controller = i_torque_controller;
}