RobotHardwareServicePort Class Reference

#include <BodyRTC.h>

Inheritance diagram for RobotHardwareServicePort:

Public Member Functions
CORBA::Boolean	addJointGroup (const char *gname, const OpenHRP::RobotHardwareService::StrSequence &jnames)
void	calibrateInertiaSensor ()
void	disableDisturbanceObserver ()
void	enableDisturbanceObserver ()
void	getStatus (OpenHRP::RobotHardwareService::RobotState_out rs)
void	getStatus2 (OpenHRP::RobotHardwareService::RobotState2_out rs)
void	initializeJointAngle (const char *name, const char *option)
CORBA::Long	lengthDigitalInput ()
CORBA::Long	lengthDigitalOutput ()
CORBA::Boolean	power (const char *jname, OpenHRP::RobotHardwareService::SwitchStatus ss)
CORBA::Boolean	readDigitalInput (::OpenHRP::RobotHardwareService::OctSequence_out din)
CORBA::Boolean	readDigitalOutput (::OpenHRP::RobotHardwareService::OctSequence_out dout)
void	removeForceSensorOffset ()
	RobotHardwareServicePort ()
CORBA::Boolean	servo (const char *jname, OpenHRP::RobotHardwareService::SwitchStatus ss)
void	setDisturbanceObserverGain (::CORBA::Double gain)
void	setJointControlMode (const char *jname, OpenHRP::RobotHardwareService::JointControlMode jcm)
CORBA::Boolean	setJointInertia (const char *name, ::CORBA::Double mn)
void	setJointInertias (const ::OpenHRP::RobotHardwareService::DblSequence &mns)
void	setRobot (BodyRTC *i_robot)
void	setServoErrorLimit (const char *jname, double limit)
void	setServoGainPercentage (const char *jname, double limit)
void	setServoTorqueGainPercentage (const char *jname, double limit)
CORBA::Boolean	writeDigitalOutput (const ::OpenHRP::RobotHardwareService::OctSequence &dout)
CORBA::Boolean	writeDigitalOutputWithMask (const ::OpenHRP::RobotHardwareService::OctSequence &dout, const ::OpenHRP::RobotHardwareService::OctSequence &mask)
	~RobotHardwareServicePort ()

Private Attributes
BodyRTC *	m_robot

Detailed Description

Definition at line 23 of file BodyRTC.h.

Constructor & Destructor Documentation

RobotHardwareServicePort()

RobotHardwareServicePort::RobotHardwareServicePort

(

)

Definition at line 643 of file BodyRTC.cpp.

~RobotHardwareServicePort()

RobotHardwareServicePort::~RobotHardwareServicePort

(

)

Definition at line 645 of file BodyRTC.cpp.

Member Function Documentation

addJointGroup()

CORBA::Boolean RobotHardwareServicePort::addJointGroup	(	const char *	gname,
		const OpenHRP::RobotHardwareService::StrSequence &	jnames
	)

Definition at line 680 of file BodyRTC.cpp.

calibrateInertiaSensor()

void RobotHardwareServicePort::calibrateInertiaSensor

(

)

Definition at line 674 of file BodyRTC.cpp.

disableDisturbanceObserver()

void RobotHardwareServicePort::disableDisturbanceObserver

(

)

Definition at line 721 of file BodyRTC.cpp.

enableDisturbanceObserver()

void RobotHardwareServicePort::enableDisturbanceObserver

(

)

Definition at line 720 of file BodyRTC.cpp.

getStatus()

void RobotHardwareServicePort::getStatus

(

OpenHRP::RobotHardwareService::RobotState_out

rs

)

Definition at line 648 of file BodyRTC.cpp.

getStatus2()

void RobotHardwareServicePort::getStatus2

(

OpenHRP::RobotHardwareService::RobotState2_out

rs

)

Definition at line 653 of file BodyRTC.cpp.

initializeJointAngle()

void RobotHardwareServicePort::initializeJointAngle	(	const char *	name,
		const char *	option
	)

Definition at line 678 of file BodyRTC.cpp.

lengthDigitalInput()

CORBA::Long RobotHardwareServicePort::lengthDigitalInput

(

)

Definition at line 696 of file BodyRTC.cpp.

lengthDigitalOutput()

CORBA::Long RobotHardwareServicePort::lengthDigitalOutput

(

)

Definition at line 705 of file BodyRTC.cpp.

power()

CORBA::Boolean RobotHardwareServicePort::power	(	const char *	jname,
		OpenHRP::RobotHardwareService::SwitchStatus	ss
	)

Definition at line 658 of file BodyRTC.cpp.

readDigitalInput()

CORBA::Boolean RobotHardwareServicePort::readDigitalInput

(

::OpenHRP::RobotHardwareService::OctSequence_out

din

)

Definition at line 693 of file BodyRTC.cpp.

readDigitalOutput()

CORBA::Boolean RobotHardwareServicePort::readDigitalOutput

(

::OpenHRP::RobotHardwareService::OctSequence_out

dout

)

Definition at line 708 of file BodyRTC.cpp.

removeForceSensorOffset()

void RobotHardwareServicePort::removeForceSensorOffset

(

)

Definition at line 676 of file BodyRTC.cpp.

servo()

CORBA::Boolean RobotHardwareServicePort::servo	(	const char *	jname,
		OpenHRP::RobotHardwareService::SwitchStatus	ss
	)

Definition at line 662 of file BodyRTC.cpp.

setDisturbanceObserverGain()

void RobotHardwareServicePort::setDisturbanceObserverGain

(

::CORBA::Double

gain

)

Definition at line 722 of file BodyRTC.cpp.

setJointControlMode()

void RobotHardwareServicePort::setJointControlMode	(	const char *	jname,
		OpenHRP::RobotHardwareService::JointControlMode	jcm
	)

Definition at line 672 of file BodyRTC.cpp.

setJointInertia()

CORBA::Boolean RobotHardwareServicePort::setJointInertia	(	const char *	name,
		::CORBA::Double	mn
	)

Definition at line 712 of file BodyRTC.cpp.

setJointInertias()

void RobotHardwareServicePort::setJointInertias

(

const ::OpenHRP::RobotHardwareService::DblSequence &

mns

)

Definition at line 717 of file BodyRTC.cpp.

setRobot()

void RobotHardwareServicePort::setRobot

(

BodyRTC *

i_robot

)

Definition at line 724 of file BodyRTC.cpp.

setServoErrorLimit()

void RobotHardwareServicePort::setServoErrorLimit	(	const char *	jname,
		double	limit
	)

Definition at line 669 of file BodyRTC.cpp.

setServoGainPercentage()

void RobotHardwareServicePort::setServoGainPercentage	(	const char *	jname,
		double	limit
	)

Definition at line 665 of file BodyRTC.cpp.

setServoTorqueGainPercentage()

void RobotHardwareServicePort::setServoTorqueGainPercentage	(	const char *	jname,
		double	limit
	)

Definition at line 667 of file BodyRTC.cpp.

writeDigitalOutput()

CORBA::Boolean RobotHardwareServicePort::writeDigitalOutput

(

const ::OpenHRP::RobotHardwareService::OctSequence &

dout

)

Definition at line 699 of file BodyRTC.cpp.

writeDigitalOutputWithMask()

CORBA::Boolean RobotHardwareServicePort::writeDigitalOutputWithMask	(	const ::OpenHRP::RobotHardwareService::OctSequence &	dout,
		const ::OpenHRP::RobotHardwareService::OctSequence &	mask
	)

Definition at line 702 of file BodyRTC.cpp.

Member Data Documentation

m_robot

BodyRTC* RobotHardwareServicePort::m_robot

private

Definition at line 55 of file BodyRTC.h.

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The documentation for this class was generated from the following files:

• BodyRTC.h
• BodyRTC.cpp