CollisionDetectorService_impl.cpp
Go to the documentation of this file.
00001 #include "CollisionDetectorService_impl.h"
00002 #include "CollisionDetector.h"
00003 
00004 CollisionDetectorService_impl::CollisionDetectorService_impl() : m_collision(NULL)
00005 {
00006 }
00007 
00008 CollisionDetectorService_impl::~CollisionDetectorService_impl()
00009 {
00010 }
00011 
00012 CORBA::Boolean CollisionDetectorService_impl::enableCollisionDetection()
00013 {
00014     return m_collision->enable();
00015 }
00016 
00017 CORBA::Boolean CollisionDetectorService_impl::disableCollisionDetection()
00018 {
00019     return m_collision->disable();
00020 }
00021 
00022 CORBA::Boolean CollisionDetectorService_impl::setTolerance(const char *i_link_pair_name, CORBA::Double d_tolerance)
00023 {
00024     return m_collision->setTolerance(i_link_pair_name, d_tolerance);
00025 }
00026 
00027 CORBA::Boolean CollisionDetectorService_impl::setCollisionLoop(CORBA::Short loop)
00028 {
00029         return m_collision->setCollisionLoop(loop);
00030 }
00031 
00032 CORBA::Boolean CollisionDetectorService_impl::getCollisionStatus(OpenHRP::CollisionDetectorService::CollisionState_out state)
00033 {
00034     state = new OpenHRP::CollisionDetectorService::CollisionState;
00035     return m_collision->getCollisionStatus(*state);
00036 }
00037 
00038 void CollisionDetectorService_impl::collision(CollisionDetector *i_collision)
00039 {
00040     m_collision = i_collision;
00041 } 
00042 


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:54