00001
00002
00003 print ";;"
00004 print ";; Loading ImpedanceController < 315.1.9"
00005 print ";;"
00006
00007 import omniORB, _omnipy
00008 from omniORB import CORBA, PortableServer
00009 _0_CORBA = CORBA
00010
00011 _omnipy.checkVersion(3,0, __file__)
00012
00013
00014
00015
00016
00017 __name__ = "OpenHRP"
00018 _0_OpenHRP = omniORB.openModule("OpenHRP", r"/home/k-okada/catkin_ws/ws_old_hrpsys/build_isolated/hrpsys/build/hrpsys-base-source/idl/ImpedanceControllerService.idl")
00019 _0_OpenHRP__POA = omniORB.openModule("OpenHRP__POA", r"/home/k-okada/catkin_ws/ws_old_hrpsys/build_isolated/hrpsys/build/hrpsys-base-source/idl/ImpedanceControllerService.idl")
00020
00021
00022
00023 _0_OpenHRP._d_ImpedanceControllerService = (omniORB.tcInternal.tv_objref, "IDL:OpenHRP/ImpedanceControllerService:1.0", "ImpedanceControllerService")
00024 omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService:1.0"] = _0_OpenHRP._d_ImpedanceControllerService
00025 _0_OpenHRP.ImpedanceControllerService = omniORB.newEmptyClass()
00026 class ImpedanceControllerService :
00027 _NP_RepositoryId = _0_OpenHRP._d_ImpedanceControllerService[1]
00028
00029 def __init__(self, *args, **kw):
00030 raise RuntimeError("Cannot construct objects of this type.")
00031
00032 _nil = CORBA.Object._nil
00033
00034
00035
00036 class DblSequence3:
00037 _NP_RepositoryId = "IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"
00038 def __init__(self, *args, **kw):
00039 raise RuntimeError("Cannot construct objects of this type.")
00040 _d_DblSequence3 = (omniORB.tcInternal.tv_sequence, omniORB.tcInternal.tv_double, 3)
00041 _ad_DblSequence3 = (omniORB.tcInternal.tv_alias, DblSequence3._NP_RepositoryId, "DblSequence3", (omniORB.tcInternal.tv_sequence, omniORB.tcInternal.tv_double, 3))
00042 _tc_DblSequence3 = omniORB.tcInternal.createTypeCode(_ad_DblSequence3)
00043 omniORB.registerType(DblSequence3._NP_RepositoryId, _ad_DblSequence3, _tc_DblSequence3)
00044
00045
00046 _0_OpenHRP.ImpedanceControllerService.impedanceParam = omniORB.newEmptyClass()
00047 class impedanceParam (omniORB.StructBase):
00048 _NP_RepositoryId = "IDL:OpenHRP/ImpedanceControllerService/impedanceParam:1.0"
00049
00050 _NP_ClassName = "OpenHRP.ImpedanceControllerService.impedanceParam"
00051
00052 def __init__(self, name, base_name, target_name, M_p, D_p, K_p, M_r, D_r, K_r, ref_force, force_gain, ref_moment, moment_gain, sr_gain, avoid_gain, reference_gain, manipulability_limit):
00053 self.name = name
00054 self.base_name = base_name
00055 self.target_name = target_name
00056 self.M_p = M_p
00057 self.D_p = D_p
00058 self.K_p = K_p
00059 self.M_r = M_r
00060 self.D_r = D_r
00061 self.K_r = K_r
00062 self.ref_force = ref_force
00063 self.force_gain = force_gain
00064 self.ref_moment = ref_moment
00065 self.moment_gain = moment_gain
00066 self.sr_gain = sr_gain
00067 self.avoid_gain = avoid_gain
00068 self.reference_gain = reference_gain
00069 self.manipulability_limit = manipulability_limit
00070
00071 _d_impedanceParam = _0_OpenHRP.ImpedanceControllerService._d_impedanceParam = (omniORB.tcInternal.tv_struct, impedanceParam, impedanceParam._NP_RepositoryId, "impedanceParam", "name", (omniORB.tcInternal.tv_string,0), "base_name", (omniORB.tcInternal.tv_string,0), "target_name", (omniORB.tcInternal.tv_string,0), "M_p", omniORB.tcInternal.tv_double, "D_p", omniORB.tcInternal.tv_double, "K_p", omniORB.tcInternal.tv_double, "M_r", omniORB.tcInternal.tv_double, "D_r", omniORB.tcInternal.tv_double, "K_r", omniORB.tcInternal.tv_double, "ref_force", omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"], "force_gain", omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"], "ref_moment", omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"], "moment_gain", omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/DblSequence3:1.0"], "sr_gain", omniORB.tcInternal.tv_double, "avoid_gain", omniORB.tcInternal.tv_double, "reference_gain", omniORB.tcInternal.tv_double, "manipulability_limit", omniORB.tcInternal.tv_double)
00072 _tc_impedanceParam = omniORB.tcInternal.createTypeCode(_d_impedanceParam)
00073 omniORB.registerType(impedanceParam._NP_RepositoryId, _d_impedanceParam, _tc_impedanceParam)
00074
00075
00076 _0_OpenHRP.ImpedanceControllerService = ImpedanceControllerService
00077 _0_OpenHRP._tc_ImpedanceControllerService = omniORB.tcInternal.createTypeCode(_0_OpenHRP._d_ImpedanceControllerService)
00078 omniORB.registerType(ImpedanceControllerService._NP_RepositoryId, _0_OpenHRP._d_ImpedanceControllerService, _0_OpenHRP._tc_ImpedanceControllerService)
00079
00080
00081 ImpedanceControllerService._d_setImpedanceControllerParam = ((omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/impedanceParam:1.0"], ), (omniORB.tcInternal.tv_boolean, ), None)
00082 ImpedanceControllerService._d_getImpedanceControllerParam = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_boolean, omniORB.typeMapping["IDL:OpenHRP/ImpedanceControllerService/impedanceParam:1.0"]), None)
00083 ImpedanceControllerService._d_deleteImpedanceController = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_boolean, ), None)
00084 ImpedanceControllerService._d_waitDeletingImpedanceController = (((omniORB.tcInternal.tv_string,0), ), (), None)
00085 ImpedanceControllerService._d_deleteImpedanceControllerAndWait = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_boolean, ), None)
00086
00087
00088 class _objref_ImpedanceControllerService (CORBA.Object):
00089 _NP_RepositoryId = ImpedanceControllerService._NP_RepositoryId
00090
00091 def __init__(self):
00092 CORBA.Object.__init__(self)
00093
00094 def setImpedanceControllerParam(self, *args):
00095 return _omnipy.invoke(self, "setImpedanceControllerParam", _0_OpenHRP.ImpedanceControllerService._d_setImpedanceControllerParam, args)
00096
00097 def getImpedanceControllerParam(self, *args):
00098 return _omnipy.invoke(self, "getImpedanceControllerParam", _0_OpenHRP.ImpedanceControllerService._d_getImpedanceControllerParam, args)
00099
00100 def deleteImpedanceController(self, *args):
00101 return _omnipy.invoke(self, "deleteImpedanceController", _0_OpenHRP.ImpedanceControllerService._d_deleteImpedanceController, args)
00102
00103 def waitDeletingImpedanceController(self, *args):
00104 return _omnipy.invoke(self, "waitDeletingImpedanceController", _0_OpenHRP.ImpedanceControllerService._d_waitDeletingImpedanceController, args)
00105
00106 def deleteImpedanceControllerAndWait(self, *args):
00107 return _omnipy.invoke(self, "deleteImpedanceControllerAndWait", _0_OpenHRP.ImpedanceControllerService._d_deleteImpedanceControllerAndWait, args)
00108
00109 __methods__ = ["setImpedanceControllerParam", "getImpedanceControllerParam", "deleteImpedanceController", "waitDeletingImpedanceController", "deleteImpedanceControllerAndWait"] + CORBA.Object.__methods__
00110
00111 omniORB.registerObjref(ImpedanceControllerService._NP_RepositoryId, _objref_ImpedanceControllerService)
00112 _0_OpenHRP._objref_ImpedanceControllerService = _objref_ImpedanceControllerService
00113 del ImpedanceControllerService, _objref_ImpedanceControllerService
00114
00115
00116 __name__ = "OpenHRP__POA"
00117 class ImpedanceControllerService (PortableServer.Servant):
00118 _NP_RepositoryId = _0_OpenHRP.ImpedanceControllerService._NP_RepositoryId
00119
00120
00121 _omni_op_d = {"setImpedanceControllerParam": _0_OpenHRP.ImpedanceControllerService._d_setImpedanceControllerParam, "getImpedanceControllerParam": _0_OpenHRP.ImpedanceControllerService._d_getImpedanceControllerParam, "deleteImpedanceController": _0_OpenHRP.ImpedanceControllerService._d_deleteImpedanceController, "waitDeletingImpedanceController": _0_OpenHRP.ImpedanceControllerService._d_waitDeletingImpedanceController, "deleteImpedanceControllerAndWait": _0_OpenHRP.ImpedanceControllerService._d_deleteImpedanceControllerAndWait}
00122
00123 ImpedanceControllerService._omni_skeleton = ImpedanceControllerService
00124 _0_OpenHRP__POA.ImpedanceControllerService = ImpedanceControllerService
00125 omniORB.registerSkeleton(ImpedanceControllerService._NP_RepositoryId, ImpedanceControllerService)
00126 del ImpedanceControllerService
00127 __name__ = "OpenHRP"
00128
00129
00130
00131
00132 __name__ = "ImpedanceControllerService_idl"
00133
00134 _exported_modules = ( "OpenHRP", )
00135
00136