RemoveForceSensorLinkOffsetService_impl.cpp
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1 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
2 #include <iostream>
5 
7 {
8 }
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11 {
12 }
13 
14 CORBA::Boolean RemoveForceSensorLinkOffsetService_impl::setForceMomentOffsetParam(const char* i_name_, const OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam &i_param_)
15 {
16  return m_rmfsoff->setForceMomentOffsetParam(std::string(i_name_), i_param_);
17 }
18 
19 CORBA::Boolean RemoveForceSensorLinkOffsetService_impl::getForceMomentOffsetParam(const char *i_name_, OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam_out i_param_)
20 {
21  i_param_ = new OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam();
22  i_param_->force_offset.length(3);
23  i_param_->moment_offset.length(3);
24  i_param_->link_offset_centroid.length(3);
25  return m_rmfsoff->getForceMomentOffsetParam(std::string(i_name_), *i_param_);
26 }
27 
29 {
30  return m_rmfsoff->loadForceMomentOffsetParams(std::string(filename));
31 };
32 
34 {
35  return m_rmfsoff->dumpForceMomentOffsetParams(std::string(filename));
36 };
37 
38 CORBA::Boolean RemoveForceSensorLinkOffsetService_impl::removeForceSensorOffset(const ::OpenHRP::RemoveForceSensorLinkOffsetService::StrSequence& names, CORBA::Double tm)
39 {
40  return m_rmfsoff->removeForceSensorOffset(names, tm);
41 }
42 
44 {
45  m_rmfsoff = i_rmfsoff;
46 }
47 
bool loadForceMomentOffsetParams(const std::string &filename)
bool dumpForceMomentOffsetParams(const std::string &filename)
bool removeForceSensorOffset(const ::OpenHRP::RemoveForceSensorLinkOffsetService::StrSequence &names, const double tm)
CORBA::Boolean getForceMomentOffsetParam(const char *i_name_, OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam_out i_param_)
bool setForceMomentOffsetParam(const std::string &i_name_, const OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam &i_param_)
bool getForceMomentOffsetParam(const std::string &i_name_, OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam &i_param_)
CORBA::Boolean removeForceSensorOffset(const ::OpenHRP::RemoveForceSensorLinkOffsetService::StrSequence &names, CORBA::Double tm)
CORBA::Boolean setForceMomentOffsetParam(const char *i_name_, const OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam &i_param_)
sample RT component which has one data input port and one data output port
void rmfsoff(RemoveForceSensorLinkOffset *i_rmfsoff)


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:21