ServoControllerService_impl.cpp

Go to the documentation of this file.

// -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
#include <iostream>
#include "ServoControllerService_impl.h"
#include "ServoController.h"
#include <hrpModel/Body.h>
#include <hrpModel/Link.h>

ServoControllerService_impl::ServoControllerService_impl() : m_servo(NULL)
{
}

ServoControllerService_impl::~ServoControllerService_impl()
{
}

CORBA::Boolean ServoControllerService_impl::setJointAngle(const CORBA::Short id, CORBA::Double jv, CORBA::Double tm)
{
        return m_servo->setJointAngle(id, jv, tm);
}

CORBA::Boolean ServoControllerService_impl::setJointAngles(const OpenHRP::ServoControllerService::dSequence& jvs, CORBA::Double tm)
{
        return m_servo->setJointAngles(jvs, tm);
}

CORBA::Boolean ServoControllerService_impl::getJointAngle(const CORBA::Short id, CORBA::Double &jv)
{
        return m_servo->getJointAngle(id, jv);
}

CORBA::Boolean ServoControllerService_impl::getJointAngles(OpenHRP::ServoControllerService::dSequence_out jvs)
{
        return m_servo->getJointAngles(jvs);
}

CORBA::Boolean ServoControllerService_impl::addJointGroup(const char* gname, const OpenHRP::ServoControllerService::iSequence& ids)
{
    return m_servo->addJointGroup(gname, ids);
}

CORBA::Boolean ServoControllerService_impl::removeJointGroup(const char* gname)
{
    return m_servo->removeJointGroup(gname);
}

CORBA::Boolean ServoControllerService_impl::setJointAnglesOfGroup(const char *gname, const OpenHRP::ServoControllerService::dSequence& jvs, CORBA::Double tm)
{
    return m_servo->setJointAnglesOfGroup(gname, jvs, tm);
}

CORBA::Boolean ServoControllerService_impl::setMaxTorque(const CORBA::Short id, const CORBA::Short percentage)
{
    return m_servo->setMaxTorque(id, percentage);
}
CORBA::Boolean ServoControllerService_impl::setReset(const CORBA::Short id)
{
    return m_servo->setReset(id);
}
CORBA::Boolean ServoControllerService_impl::getDuration(const CORBA::Short id, CORBA::Double &duration)
{
    return m_servo->getDuration(id, duration);
}
CORBA::Boolean ServoControllerService_impl::getSpeed(const CORBA::Short id, CORBA::Double &speed)
{
    return m_servo->getSpeed(id, speed);
}
CORBA::Boolean ServoControllerService_impl::getMaxTorque(const CORBA::Short id, CORBA::Short &percentage)
{
    return m_servo->getMaxTorque(id, percentage);
}
CORBA::Boolean ServoControllerService_impl::getTorque(const CORBA::Short id, CORBA::Double &torque)
{
    return m_servo->getTorque(id, torque);
}
CORBA::Boolean ServoControllerService_impl::getTemperature(const CORBA::Short id, CORBA::Double &temperature)
{
    return m_servo->getTemperature(id, temperature);
}
CORBA::Boolean ServoControllerService_impl::getVoltage(const CORBA::Short id, CORBA::Double &voltage)
{
    return m_servo->getVoltage(id, voltage);
}
CORBA::Boolean ServoControllerService_impl::servoOn()
{
    return m_servo->servoOn();
}
CORBA::Boolean ServoControllerService_impl::servoOff()
{
    return m_servo->servoOff();
}


void ServoControllerService_impl::servo(ServoController *i_servo)
{
  m_servo = i_servo;
}