SequencePlayerService_impl.h
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1 // -*-C++-*-
2 #ifndef SEQPLAYSERVICESVC_IMPL_H
3 #define SEQPLAYSERVICESVC_IMPL_H
4 
5 #include "hrpsys/idl/SequencePlayerService.hh"
6 
7 using namespace OpenHRP;
8 
9 class SequencePlayer;
10 
12  : public virtual POA_OpenHRP::SequencePlayerService,
13  public virtual PortableServer::RefCountServantBase
14 {
15 public:
17  virtual ~SequencePlayerService_impl();
18  //
19  void waitInterpolation();
20  CORBA::Boolean waitInterpolationOfGroup(const char *gname);
21  CORBA::Boolean setJointAnglesSequence(const dSequenceSequence& jvs, const dSequence &tms);
22  CORBA::Boolean setJointAnglesSequenceWithMask(const dSequenceSequence& jvs, const bSequence& mask, const dSequence &tms);
23  CORBA::Boolean setJointAnglesSequenceFull(const dSequenceSequence& jvss, const dSequenceSequence& vels, const dSequenceSequence& torques, const dSequenceSequence& poss, const dSequenceSequence& rpys, const dSequenceSequence& accs, const dSequenceSequence& zmps, const dSequenceSequence& wrenches, const dSequenceSequence& optionals, const dSequence &tms);
24  CORBA::Boolean clearJointAngles();
25  CORBA::Boolean setJointAngles(const dSequence& jvs, CORBA::Double tm);
26  CORBA::Boolean setJointAnglesWithMask(const dSequence& jvs, const bSequence& mask, CORBA::Double tm);
27  CORBA::Boolean setJointAngle(const char *jname, CORBA::Double jv, CORBA::Double tm);
28  CORBA::Boolean setBasePos(const dSequence& pos, CORBA::Double tm);
29  CORBA::Boolean setBaseRpy(const dSequence& rpy, CORBA::Double tm);
30  CORBA::Boolean setZmp(const dSequence& zmp, CORBA::Double tm);
31  CORBA::Boolean setWrenches(const dSequence& wrenches, CORBA::Double tm);
32  CORBA::Boolean setTargetPose(const char* gname, const dSequence& xyz, const dSequence& rpy, CORBA::Double tm);
33  CORBA::Boolean isEmpty();
34  void loadPattern(const char* basename, CORBA::Double tm);
35  void playPattern(const dSequenceSequence& pos, const dSequenceSequence& rpy, const dSequenceSequence& zmp, const dSequence& tm);
36  void clear();
37  void clearNoWait();
38  CORBA::Boolean setInterpolationMode(OpenHRP::SequencePlayerService::interpolationMode i_mode_);
39  CORBA::Boolean setInitialState();
40  CORBA::Boolean addJointGroup(const char* gname, const OpenHRP::SequencePlayerService::StrSequence& jnames);
41  CORBA::Boolean removeJointGroup(const char* gname);
42  CORBA::Boolean setJointAnglesOfGroup(const char *gname, const dSequence& jvs, CORBA::Double tm);
43  CORBA::Boolean setJointAnglesSequenceOfGroup(const char *gname, const dSequenceSequence& jvs, const dSequence &tms);
44  CORBA::Boolean clearJointAnglesOfGroup(const char *gname);
45  CORBA::Boolean clearOfGroup(const char *gname, CORBA::Double i_timelimit);
46  CORBA::Boolean playPatternOfGroup(const char *gname, const dSequenceSequence& pos, const dSequence& tm);
47  void setMaxIKError(CORBA::Double pos, CORBA::Double rot);
48  void setMaxIKIteration(CORBA::Short iter);
49  //
50  void player(SequencePlayer *i_player);
52 };
53 
54 #endif
void clear(CorbaSequence &seq)
def loadPattern(basename, tm=1.0)
Definition: HRP4C.py:42
std::string basename(const std::string name)
png_infop int png_uint_32 mask


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Thu May 6 2021 02:41:51