#include <BodyRTC.h>

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 ( )

Definition at line 643 of file BodyRTC.cpp.

RobotHardwareServicePort::~RobotHardwareServicePort ( )

Definition at line 645 of file BodyRTC.cpp.

Member Function Documentation

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

Definition at line 680 of file BodyRTC.cpp.

void RobotHardwareServicePort::calibrateInertiaSensor ( )

Definition at line 674 of file BodyRTC.cpp.

void RobotHardwareServicePort::disableDisturbanceObserver ( )

Definition at line 721 of file BodyRTC.cpp.

void RobotHardwareServicePort::enableDisturbanceObserver ( )

Definition at line 720 of file BodyRTC.cpp.

void RobotHardwareServicePort::getStatus ( OpenHRP::RobotHardwareService::RobotState_out rs )

Definition at line 648 of file BodyRTC.cpp.

void RobotHardwareServicePort::getStatus2 ( OpenHRP::RobotHardwareService::RobotState2_out rs )

Definition at line 653 of file BodyRTC.cpp.

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

Definition at line 678 of file BodyRTC.cpp.

CORBA::Long RobotHardwareServicePort::lengthDigitalInput ( )

Definition at line 696 of file BodyRTC.cpp.

CORBA::Long RobotHardwareServicePort::lengthDigitalOutput ( )

Definition at line 705 of file BodyRTC.cpp.

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

Definition at line 658 of file BodyRTC.cpp.

CORBA::Boolean RobotHardwareServicePort::readDigitalInput ( ::OpenHRP::RobotHardwareService::OctSequence_out din )

Definition at line 693 of file BodyRTC.cpp.

CORBA::Boolean RobotHardwareServicePort::readDigitalOutput ( ::OpenHRP::RobotHardwareService::OctSequence_out dout )

Definition at line 708 of file BodyRTC.cpp.

void RobotHardwareServicePort::removeForceSensorOffset ( )

Definition at line 676 of file BodyRTC.cpp.

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

Definition at line 662 of file BodyRTC.cpp.

void RobotHardwareServicePort::setDisturbanceObserverGain ( ::CORBA::Double gain )

Definition at line 722 of file BodyRTC.cpp.

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

Definition at line 672 of file BodyRTC.cpp.

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

Definition at line 712 of file BodyRTC.cpp.

void RobotHardwareServicePort::setJointInertias ( const ::OpenHRP::RobotHardwareService::DblSequence & mns )

Definition at line 717 of file BodyRTC.cpp.

void RobotHardwareServicePort::setRobot ( BodyRTC * i_robot )

Definition at line 724 of file BodyRTC.cpp.

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

Definition at line 669 of file BodyRTC.cpp.

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

Definition at line 665 of file BodyRTC.cpp.

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

Definition at line 667 of file BodyRTC.cpp.

CORBA::Boolean RobotHardwareServicePort::writeDigitalOutput ( const ::OpenHRP::RobotHardwareService::OctSequence & dout )

Definition at line 699 of file BodyRTC.cpp.

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

BodyRTC* RobotHardwareServicePort::m_robot [private]

Definition at line 55 of file BodyRTC.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation