AutoBalancerService_impl.h
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1 // -*-C++-*-
2 #ifndef AUTOBALANCERSERVICESVC_IMPL_H
3 #define AUTOBALANCERSERVICESVC_IMPL_H
4 
5 #include "hrpsys/idl/AutoBalancerService.hh"
6 
7 using namespace OpenHRP;
8 
9 class AutoBalancer;
10 
12  : public virtual POA_OpenHRP::AutoBalancerService,
13  public virtual PortableServer::RefCountServantBase
14 {
15 public:
17  virtual ~AutoBalancerService_impl();
18  CORBA::Boolean goPos( CORBA::Double x, CORBA::Double y, CORBA::Double th);
19  CORBA::Boolean goVelocity( CORBA::Double vx, CORBA::Double vy, CORBA::Double vth);
20  CORBA::Boolean goStop();
21  CORBA::Boolean emergencyStop();
22  CORBA::Boolean setFootSteps(const OpenHRP::AutoBalancerService::FootstepsSequence& fss, CORBA::Long overwrite_fs_idx);
23  CORBA::Boolean setFootStepsWithParam(const OpenHRP::AutoBalancerService::FootstepsSequence& fss, const OpenHRP::AutoBalancerService::StepParamsSequence& spss, CORBA::Long overwrite_fs_idx);
24  void waitFootSteps();
25  void waitFootStepsEarly(CORBA::Double tm);
26  CORBA::Boolean startAutoBalancer(const OpenHRP::AutoBalancerService::StrSequence& limbs);
27  CORBA::Boolean stopAutoBalancer();
28  CORBA::Boolean setGaitGeneratorParam(const OpenHRP::AutoBalancerService::GaitGeneratorParam& i_param);
29  CORBA::Boolean getGaitGeneratorParam(OpenHRP::AutoBalancerService::GaitGeneratorParam_out i_param);
30  CORBA::Boolean setAutoBalancerParam(const OpenHRP::AutoBalancerService::AutoBalancerParam& i_param);
31  CORBA::Boolean getAutoBalancerParam(OpenHRP::AutoBalancerService::AutoBalancerParam_out i_param);
32  CORBA::Boolean getFootstepParam(OpenHRP::AutoBalancerService::FootstepParam_out i_param);
33  CORBA::Boolean adjustFootSteps(const OpenHRP::AutoBalancerService::Footstep& rfootstep, const OpenHRP::AutoBalancerService::Footstep& lfootstep);
34  CORBA::Boolean getRemainingFootstepSequence(OpenHRP::AutoBalancerService::FootstepSequence_out o_footstep , CORBA::Long& o_current_fs_idx);
35  CORBA::Boolean getGoPosFootstepsSequence(CORBA::Double x, CORBA::Double y, CORBA::Double th, OpenHRP::AutoBalancerService::FootstepsSequence_out o_footstep);
36  CORBA::Boolean releaseEmergencyStop();
37  //
38  //
39  void autobalancer(AutoBalancer *i_autobalancer);
40 private:
42 };
43 
44 #endif


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:20