Go to the documentation of this file.00001 #include "ObjectContactTurnaroundDetectorService_impl.h"
00002 #include "ObjectContactTurnaroundDetector.h"
00003 #include <hrpModel/Body.h>
00004 #include <hrpModel/Link.h>
00005
00006 ObjectContactTurnaroundDetectorService_impl::ObjectContactTurnaroundDetectorService_impl() : m_octd(NULL)
00007 {
00008 }
00009
00010 ObjectContactTurnaroundDetectorService_impl::~ObjectContactTurnaroundDetectorService_impl()
00011 {
00012 }
00013
00014 void ObjectContactTurnaroundDetectorService_impl::startObjectContactTurnaroundDetection(const CORBA::Double i_ref_diff_wrench, const CORBA::Double i_max_time, const OpenHRP::ObjectContactTurnaroundDetectorService::StrSequence& i_ee_names)
00015 {
00016 m_octd->startObjectContactTurnaroundDetection(i_ref_diff_wrench, i_max_time, i_ee_names);
00017 }
00018
00019 OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode ObjectContactTurnaroundDetectorService_impl::checkObjectContactTurnaroundDetection()
00020 {
00021 return m_octd->checkObjectContactTurnaroundDetection();
00022 }
00023
00024 CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::setObjectContactTurnaroundDetectorParam(const OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam &i_param_)
00025 {
00026 return m_octd->setObjectContactTurnaroundDetectorParam(i_param_);
00027 }
00028
00029 CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::getObjectContactTurnaroundDetectorParam(OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam_out i_param_)
00030 {
00031 i_param_ = new OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam();
00032 return m_octd->getObjectContactTurnaroundDetectorParam(*i_param_);
00033 }
00034
00035 CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::getObjectForcesMoments(OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out o_forces, OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out o_moments, OpenHRP::ObjectContactTurnaroundDetectorService::DblSequence3_out o_3dofwrench, CORBA::Double& o_fric_coeff_wrench)
00036 {
00037 return m_octd->getObjectForcesMoments(o_forces, o_moments, o_3dofwrench, o_fric_coeff_wrench);
00038 }
00039
00040 CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::checkObjectContactTurnaroundDetectionForGeneralizedWrench(OpenHRP::ObjectContactTurnaroundDetectorService::DetectorModeSequence_out o_dms)
00041 {
00042 o_dms = new OpenHRP::ObjectContactTurnaroundDetectorService::DetectorModeSequence();
00043 return m_octd->checkObjectContactTurnaroundDetectionForGeneralizedWrench(o_dms);
00044 }
00045
00046 CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::startObjectContactTurnaroundDetectionForGeneralizedWrench()
00047 {
00048 return m_octd->startObjectContactTurnaroundDetectionForGeneralizedWrench();
00049 }
00050
00051 CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::getObjectGeneralizedConstraintWrenches(OpenHRP::ObjectContactTurnaroundDetectorService::objectGeneralizedConstraintWrenchesParam_out o_param)
00052 {
00053 o_param = new OpenHRP::ObjectContactTurnaroundDetectorService::objectGeneralizedConstraintWrenchesParam();
00054 return m_octd->getObjectGeneralizedConstraintWrenches(*o_param);
00055 }
00056
00057 void ObjectContactTurnaroundDetectorService_impl::octd(ObjectContactTurnaroundDetector *i_octd)
00058 {
00059 m_octd = i_octd;
00060 }
00061