TorqueControllerService_impl.h
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1 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
2 #ifndef __NULL_SERVICE_H__
3 #define __NULL_SERVICE_H__
4 
5 #include "hrpsys/idl/TorqueControllerService.hh"
6 
7 using namespace OpenHRP;
8 
9 class TorqueController;
10 
12  : public virtual POA_OpenHRP::TorqueControllerService,
13  public virtual PortableServer::RefCountServantBase
14 {
15 public:
18 
19  CORBA::Boolean enableTorqueController(const char *jointName);
20  CORBA::Boolean enableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence& jnames);
21  CORBA::Boolean disableTorqueController(const char *jointName);
22  CORBA::Boolean disableMultipleTorqueControllers(const OpenHRP::TorqueControllerService::StrSequence& jnames);
23 
24  CORBA::Boolean startTorqueControl(const char *jointName);
25  CORBA::Boolean startMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence& jnames);
26  CORBA::Boolean stopTorqueControl(const char *jointName);
27  CORBA::Boolean stopMultipleTorqueControls(const OpenHRP::TorqueControllerService::StrSequence& jnames);
28  CORBA::Boolean setReferenceTorque(const char *jointName, double tauRef);
29  CORBA::Boolean setMultipleReferenceTorques(const OpenHRP::TorqueControllerService::StrSequence& jnames, const OpenHRP::TorqueControllerService::dSequence& tauRefs);
30  CORBA::Boolean setTorqueControllerParam(const char *jointName, const OpenHRP::TorqueControllerService::torqueControllerParam& i_param);
31  CORBA::Boolean getTorqueControllerParam(const char *jointName, OpenHRP::TorqueControllerService::torqueControllerParam& i_param);
32 
33  void torque_controller(TorqueController *i_torque_controller);
34 private:
36 };
37 
38 #endif
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 03:52:21