AutoBalancerService_impl.cpp
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2 #include "AutoBalancer.h"
3 
5 {
6 }
7 
9 {
10 }
11 
12 CORBA::Boolean AutoBalancerService_impl::goPos( CORBA::Double x, CORBA::Double y, CORBA::Double th)
13 {
14  return m_autobalancer->goPos(x, y, th);
15 };
16 
17 CORBA::Boolean AutoBalancerService_impl::goVelocity( CORBA::Double vx, CORBA::Double vy, CORBA::Double vth)
18 {
19  return m_autobalancer->goVelocity(vx, vy, vth);
20 };
21 
23 {
24  return m_autobalancer->goStop();
25 };
26 
28 {
29  return m_autobalancer->emergencyStop();
30 };
31 
32 CORBA::Boolean AutoBalancerService_impl::setFootSteps(const OpenHRP::AutoBalancerService::FootstepsSequence& fss, CORBA::Long overwrite_fs_idx)
33 {
34  return m_autobalancer->setFootSteps(fss, overwrite_fs_idx);
35 }
36 
37 CORBA::Boolean AutoBalancerService_impl::setFootStepsWithParam(const OpenHRP::AutoBalancerService::FootstepsSequence& fss, const OpenHRP::AutoBalancerService::StepParamsSequence& spss, CORBA::Long overwrite_fs_idx)
38 {
39  return m_autobalancer->setFootStepsWithParam(fss, spss, overwrite_fs_idx);
40 }
41 
43 {
44  return m_autobalancer->waitFootSteps();
45 };
46 
48 {
50 };
51 
52 CORBA::Boolean AutoBalancerService_impl::startAutoBalancer(const OpenHRP::AutoBalancerService::StrSequence& limbs)
53 {
54  return m_autobalancer->startAutoBalancer(limbs);
55 };
56 
58 {
60 };
61 
62 CORBA::Boolean AutoBalancerService_impl::setGaitGeneratorParam(const OpenHRP::AutoBalancerService::GaitGeneratorParam& i_param)
63 {
64  return m_autobalancer->setGaitGeneratorParam(i_param);
65 };
66 
67 CORBA::Boolean AutoBalancerService_impl::getGaitGeneratorParam(OpenHRP::AutoBalancerService::GaitGeneratorParam_out i_param)
68 {
69  i_param = new OpenHRP::AutoBalancerService::GaitGeneratorParam();
70  i_param->stride_parameter.length(6);
71  i_param->toe_heel_phase_ratio.length(7);
72  i_param->zmp_weight_map.length(4);
73  return m_autobalancer->getGaitGeneratorParam(*i_param);
74 };
75 
76 CORBA::Boolean AutoBalancerService_impl::setAutoBalancerParam(const OpenHRP::AutoBalancerService::AutoBalancerParam& i_param)
77 {
78  return m_autobalancer->setAutoBalancerParam(i_param);
79 };
80 
81 CORBA::Boolean AutoBalancerService_impl::getAutoBalancerParam(OpenHRP::AutoBalancerService::AutoBalancerParam_out i_param)
82 {
83  i_param = new OpenHRP::AutoBalancerService::AutoBalancerParam();
84  return m_autobalancer->getAutoBalancerParam(*i_param);
85 };
86 
87 CORBA::Boolean AutoBalancerService_impl::getFootstepParam(OpenHRP::AutoBalancerService::FootstepParam_out i_param)
88 {
89  i_param = new OpenHRP::AutoBalancerService::FootstepParam();
90  return m_autobalancer->getFootstepParam(*i_param);
91 };
92 
93 CORBA::Boolean AutoBalancerService_impl::adjustFootSteps(const OpenHRP::AutoBalancerService::Footstep& rfootstep, const OpenHRP::AutoBalancerService::Footstep& lfootstep)
94 {
95  return m_autobalancer->adjustFootSteps(rfootstep, lfootstep);
96 };
97 
98 CORBA::Boolean AutoBalancerService_impl::getRemainingFootstepSequence(OpenHRP::AutoBalancerService::FootstepSequence_out o_footstep, CORBA::Long& o_current_fs_idx)
99 {
100  return m_autobalancer->getRemainingFootstepSequence(o_footstep, o_current_fs_idx);
101 };
102 
103 CORBA::Boolean AutoBalancerService_impl::getGoPosFootstepsSequence(CORBA::Double x, CORBA::Double y, CORBA::Double th, OpenHRP::AutoBalancerService::FootstepsSequence_out o_footstep)
104 {
105  return m_autobalancer->getGoPosFootstepsSequence(x, y, th, o_footstep);
106 };
107 
109 {
111 };
112 
114 {
115  m_autobalancer = i_autobalancer;
116 }
117 
CORBA::Boolean getGaitGeneratorParam(OpenHRP::AutoBalancerService::GaitGeneratorParam_out i_param)
CORBA::Boolean startAutoBalancer(const OpenHRP::AutoBalancerService::StrSequence &limbs)
void autobalancer(AutoBalancer *i_autobalancer)
CORBA::Boolean setGaitGeneratorParam(const OpenHRP::AutoBalancerService::GaitGeneratorParam &i_param)
CORBA::Boolean getAutoBalancerParam(OpenHRP::AutoBalancerService::AutoBalancerParam_out i_param)
CORBA::Boolean setFootSteps(const OpenHRP::AutoBalancerService::FootstepsSequence &fss, CORBA::Long overwrite_fs_idx)
bool setAutoBalancerParam(const OpenHRP::AutoBalancerService::AutoBalancerParam &i_param)
bool getFootstepParam(OpenHRP::AutoBalancerService::FootstepParam &i_param)
bool setFootStepsWithParam(const OpenHRP::AutoBalancerService::FootstepSequence &fs, const OpenHRP::AutoBalancerService::StepParamSequence &sps, CORBA::Long overwrite_fs_idx)
bool emergencyStop()
bool adjustFootSteps(const OpenHRP::AutoBalancerService::Footstep &rfootstep, const OpenHRP::AutoBalancerService::Footstep &lfootstep)
bool getAutoBalancerParam(OpenHRP::AutoBalancerService::AutoBalancerParam &i_param)
bool getGaitGeneratorParam(OpenHRP::AutoBalancerService::GaitGeneratorParam &i_param)
bool startAutoBalancer(const ::OpenHRP::AutoBalancerService::StrSequence &limbs)
CORBA::Boolean getGoPosFootstepsSequence(CORBA::Double x, CORBA::Double y, CORBA::Double th, OpenHRP::AutoBalancerService::FootstepsSequence_out o_footstep)
autobalancer component
bool getGoPosFootstepsSequence(const double &x, const double &y, const double &th, OpenHRP::AutoBalancerService::FootstepsSequence_out o_footstep)
void waitFootStepsEarly(CORBA::Double tm)
bool goVelocity(const double &vx, const double &vy, const double &vth)
CORBA::Boolean goPos(CORBA::Double x, CORBA::Double y, CORBA::Double th)
CORBA::Boolean setFootStepsWithParam(const OpenHRP::AutoBalancerService::FootstepsSequence &fss, const OpenHRP::AutoBalancerService::StepParamsSequence &spss, CORBA::Long overwrite_fs_idx)
bool setFootSteps(const OpenHRP::AutoBalancerService::FootstepSequence &fs, CORBA::Long overwrite_fs_idx)
CORBA::Boolean getFootstepParam(OpenHRP::AutoBalancerService::FootstepParam_out i_param)
bool releaseEmergencyStop()
bool getRemainingFootstepSequence(OpenHRP::AutoBalancerService::FootstepSequence_out o_footstep, CORBA::Long &o_current_fs_idx)
CORBA::Boolean getRemainingFootstepSequence(OpenHRP::AutoBalancerService::FootstepSequence_out o_footstep, CORBA::Long &o_current_fs_idx)
bool stopAutoBalancer()
CORBA::Boolean setAutoBalancerParam(const OpenHRP::AutoBalancerService::AutoBalancerParam &i_param)
CORBA::Boolean goVelocity(CORBA::Double vx, CORBA::Double vy, CORBA::Double vth)
void waitFootStepsEarly(const double tm)
bool setGaitGeneratorParam(const OpenHRP::AutoBalancerService::GaitGeneratorParam &i_param)
void waitFootSteps()
CORBA::Boolean adjustFootSteps(const OpenHRP::AutoBalancerService::Footstep &rfootstep, const OpenHRP::AutoBalancerService::Footstep &lfootstep)
bool goPos(const double &x, const double &y, const double &th)


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Thu May 6 2021 02:41:49