import "SequencePlayerService.idl";

Public Types
enum	interpolationMode { LINEAR, HOFFARBIB }
typedef sequence< string >	StrSequence
Public Member Functions
void	waitInterpolation ()
	Wait until the last goal posture is sent to the robot.
boolean	waitInterpolationOfGroup (in string gname)
	Wait until the last goal posture is sent to the robot.
boolean	setJointAngles (in dSequence jvs, in double tm)
	Interpolate all joint angles on robot using duration specified by tm.
boolean	setJointAnglesWithMask (in dSequence jvs, in bSequence mask, in double tm)
	Interpolate joint angles on robot using duration specified by tm.
boolean	setJointAngle (in string jname, in double jv, in double tm)
	Interpolate just one joint angle specified by jname using duration tm.
boolean	setBasePos (in dSequence pos, in double tm)
	Interpolate position of the base link.
boolean	setBaseRpy (in dSequence rpy, in double tm)
	Interpolate Roll-Pitch-Yaw angles of the base link.
boolean	setZmp (in dSequence zmp, in double tm)
	Interpolate ZMP.
boolean	setTargetPose (in string name, in dSequence xyz, in dSequence rpy, in double tm)
	Interpolate X, Y, Z and Roll Pitch Yaw of the target joint/link group, wrt world coords Function returns without waiting for interpolation to finish.
boolean	isEmpty ()
	Utility functions to check whether intepolation is going on.
void	loadPattern (in string basename, in double tm)
	load pattern files and start to playback.
void	playPattern (in dSequenceSequence pos, in dSequenceSequence rpy, in dSequenceSequence zmp, in dSequence tm)
	playback a pattern
void	clear ()
	clear pattern data in playback queue.
void	clearNoWait ()
	clear pattern data in playback queue.
boolean	setInterpolationMode (in interpolationMode i_mode_)
	set interpolation mode.
boolean	setInitialState ()
	set to output data port by value of input data port
boolean	addJointGroup (in string gname, in StrSequence jnames)
	add a joint group
boolean	removeJointGroup (in string gname)
	remove a joint group
boolean	setJointAnglesOfGroup (in string gname, in dSequence jvs, in double tm)
	Interpolate joint angles in a group using duration specified by tm.
boolean	clearOfGroup (in string gname, in double tm)
	clear pattern data with joint group
boolean	playPatternOfGroup (in string gname, in dSequenceSequence pos, in dSequence tm)
	play back apattern with joint group
void	setMaxIKError (in double pos, in double rot)
	set parameters to solve ik, used in setTargetPose [>= 315.1.5]
void	setMaxIKIteration (in short max_iteration)
	set parameters to solve ik, used in setTargetPose [>= 315.1.5]
boolean	setWrenches (in dSequence wrenches, in double tm)
	Interpolate Wrenches.
boolean	setJointAnglesSequence (in dSequenceSequence jvss, in dSequence tms)
	Interpolate all joint angles on robot using duration specified by tm.
boolean	setJointAnglesSequenceWithMask (in dSequenceSequence jvss, in bSequence mask, in dSequence tms)
	Interpolate all joint angles on robot using duration specified by tm.
boolean	setJointAnglesSequenceOfGroup (in string gname, in dSequenceSequence jvss, in dSequence tms)
	Interpolate all joint angles in groups, using duration specified by tm.
boolean	setJointAnglesSequenceFull (in dSequenceSequence jvss, in dSequenceSequence vels, in dSequenceSequence torques, in dSequenceSequence poss, in dSequenceSequence rpys, in dSequenceSequence accs, in dSequenceSequence zmps, in dSequenceSequence wrenchs, in dSequenceSequence optionals, in dSequence tms)
	Interpolate all joint angles, using duration specified by tm.
boolean	clearJointAngles ()
	clear current JointAngles [>= 315.5.0]
boolean	clearJointAnglesOfGroup (in string gname)
	clear current JointAnglesOfGroup [>= 315.5.0]

Member Typedef Documentation

typedef sequence<string> OpenHRP::SequencePlayerService::StrSequence

Member Enumeration Documentation

enum OpenHRP::SequencePlayerService::interpolationMode

Enumerator:

LINEAR	linear interpolation
HOFFARBIB	minimum jerk interpolation by Hoff & Arbib

Member Function Documentation

boolean OpenHRP::SequencePlayerService::addJointGroup	(	in string	gname,
		in StrSequence	jnames
	)

add a joint group

Parameters:

gname	name of the joint group
jnames	list of joint name

Returns:: true if the group is added successfully, false otherwise

void OpenHRP::SequencePlayerService::clear ( )

clear pattern data in playback queue.

This function returns after the queue becomes empty.

boolean OpenHRP::SequencePlayerService::clearJointAngles ( )

clear current JointAngles [>= 315.5.0]

Returns:: true joint angles are set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::clearJointAnglesOfGroup ( in string gname )

clear current JointAnglesOfGroup [>= 315.5.0]

Parameters:

gname name of the joint group

Returns:: true joint angles are set successfully, false otherwise

void OpenHRP::SequencePlayerService::clearNoWait ( )

clear pattern data in playback queue.

This function returns immediately

boolean OpenHRP::SequencePlayerService::clearOfGroup	(	in string	gname,
		in double	tm
	)

clear pattern data with joint group

Parameters:

gname	name of the joint group
tm	duration toward termination [s]

Returns:: true joint angles are set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::isEmpty ( )

Utility functions to check whether intepolation is going on.

Functions return immediately

Returns:: true if interpolation queue is empty, false otherwise

void OpenHRP::SequencePlayerService::loadPattern	(	in string	basename,
		in double	tm
	)

load pattern files and start to playback.

Parameters:

basename	basename of the pattern files. <basename>.pos, <basename>.zmp, <basename>.waist and <basename>.gsens are used.
tm	Duration to the initial posture in <basename>.pos [s]

void OpenHRP::SequencePlayerService::playPattern	(	in dSequenceSequence	pos,
		in dSequenceSequence	rpy,
		in dSequenceSequence	zmp,
		in dSequence	tm
	)

playback a pattern

Parameters:

pos	sequence of joint angles
rpy	sequence of Roll-Pitch-Yaw angles of the base link [rad]
zmp	sequence of ZMP [m]
tm	sequence of duration beetween postures [s]

boolean OpenHRP::SequencePlayerService::playPatternOfGroup	(	in string	gname,
		in dSequenceSequence	pos,
		in dSequence	tm
	)

play back apattern with joint group

Parameters:

gname	name of the joint group
pos	sequence of joint angles
tm	sequence of duration beetween postures [s]

Returns:: true joint angles are set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::removeJointGroup ( in string gname )

remove a joint group

Parameters:

gname name of the joint group

Returns:: true if the group is removed successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setBasePos	(	in dSequence	pos,
		in double	tm
	)

Interpolate position of the base link.

Function returns without waiting for interpolation to finish

Parameters:

pos	position of the base link [m]
tm	duration [s]

Returns:: true if set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setBaseRpy	(	in dSequence	rpy,
		in double	tm
	)

Interpolate Roll-Pitch-Yaw angles of the base link.

Function returns without waiting for interpolation to finish

Parameters:

rpy	Roll-Pitch-Yaw angles of the base link [rad]
tm	duration [s]

Returns:: true if set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setInitialState ( )

set to output data port by value of input data port

Returns:: true if set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setInterpolationMode ( in interpolationMode i_mode_ )

set interpolation mode.

Parameters:

i_mode_ new interpolation mode

Returns:: true if set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setJointAngle	(	in string	jname,
		in double	jv,
		in double	tm
	)

Interpolate just one joint angle specified by jname using duration tm.

Function returns without waiting for interpolation to finish

Parameters:

jname	joint name
jv	joint angle
tm	duration [s]

Returns:: true if set successuflly, false otherwise

boolean OpenHRP::SequencePlayerService::setJointAngles	(	in dSequence	jvs,
		in double	tm
	)

Interpolate all joint angles on robot using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot.

Parameters:

jvs	sequence of joint angles
tm	duration [s]

Returns:: true joint angles are set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setJointAnglesOfGroup	(	in string	gname,
		in dSequence	jvs,
		in double	tm
	)

Interpolate joint angles in a group using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot.

Parameters:

gname	name of the joint group
jvs	sequence of joint angles
tm	duration [s]

Returns:: true joint angles are set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setJointAnglesSequence	(	in dSequenceSequence	jvss,
		in dSequence	tms
	)

Interpolate all joint angles on robot using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot. If this function called during the robot moves, it overwrite current goal. [>= 315.5.0]

Parameters:

jvs	sequence of sequence of joint angles [rad]
tm	sequence of duration [s]

Returns:: true joint angles are set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setJointAnglesSequenceFull	(	in dSequenceSequence	jvss,
		in dSequenceSequence	vels,
		in dSequenceSequence	torques,
		in dSequenceSequence	poss,
		in dSequenceSequence	rpys,
		in dSequenceSequence	accs,
		in dSequenceSequence	zmps,
		in dSequenceSequence	wrenchs,
		in dSequenceSequence	optionals,
		in dSequence	tms
	)

Interpolate all joint angles, using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot. If this function called during the robot moves, it overwrite current goal. [>= 315.5.0]

Parameters:

jvss	sequence of sequence of joint angles [rad]
vels	sequence of sequence of velocities [rad/s]
torques	sequence of sequence of torques [Nm]
poss	sequence of waist pos [m]
rpys	sequence of waist rpy [rad]
accs	sequence of sensor acc [m/ss]
zmps	sequence of zmp in the waist frame [m]
wrenches	sequence of wrenches [N, Nm]
optionss	sequence of options []
tms	sequence of duration [s]

Returns:: true joint angles are set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setJointAnglesSequenceOfGroup	(	in string	gname,
		in dSequenceSequence	jvss,
		in dSequence	tms
	)

Interpolate all joint angles in groups, using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot. If this function called during the robot moves, it overwrite current goal. [>= 315.5.0]

Parameters:

gname	name of the joint group
jvs	sequence of sequence of joint angles [rad]
tm	sequence of duration [s]

Returns:: true joint angles are set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setJointAnglesSequenceWithMask	(	in dSequenceSequence	jvss,
		in bSequence	mask,
		in dSequence	tms
	)

Interpolate all joint angles on robot using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot. If this function called during the robot moves, it overwrite current goal. [>= 315.5.0]

Parameters:

jvs	sequence of sequence of joint angles [rad]
mask	binary vector which selects joints to be interpolated
tm	sequence of duration [s]

Returns:: true joint angles are set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setJointAnglesWithMask	(	in dSequence	jvs,
		in bSequence	mask,
		in double	tm
	)

Interpolate joint angles on robot using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot.

Parameters:

jvs	sequence of joint angles
mask	binary vector which selects joints to be interpolated
tm	duration

Returns:: true joint angles are set successfully, false otherwise

void OpenHRP::SequencePlayerService::setMaxIKError	(	in double	pos,
		in double	rot
	)

set parameters to solve ik, used in setTargetPose [>= 315.1.5]

Parameters:

pos	error threshold for position
rot	error threshold for rotation

void OpenHRP::SequencePlayerService::setMaxIKIteration ( in short max_iteration )

set parameters to solve ik, used in setTargetPose [>= 315.1.5]

Parameters:

max_iteration max iteration

boolean OpenHRP::SequencePlayerService::setTargetPose	(	in string	name,
		in dSequence	xyz,
		in dSequence	rpy,
		in double	tm
	)

Interpolate X, Y, Z and Roll Pitch Yaw of the target joint/link group, wrt world coords Function returns without waiting for interpolation to finish.

Parameters:

gname	name of the joint group
xyz	: X,Y,Z position of the target link [m]
rpy	: Roll-Pitch-Yaw angles of the target link [rad]
tm	duration [s]

Returns:: true if set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setWrenches	(	in dSequence	wrenches,
		in double	tm
	)

Interpolate Wrenches.

Function returns without waiting for interpolation to finish [>= 315.2.0]

Parameters:

wrenches	Wrenches [N], [Nm]
tm	duration [s]

Returns:: true if set successfully, false otherwise

boolean OpenHRP::SequencePlayerService::setZmp	(	in dSequence	zmp,
		in double	tm
	)

Interpolate ZMP.

Function returns without waiting for interpolation to finish

Parameters:

zmp	ZMP in the base link frame [m]
tm	duration [s]

Returns:: true if set successfully, false otherwise

void OpenHRP::SequencePlayerService::waitInterpolation ( )

Wait until the last goal posture is sent to the robot.

boolean OpenHRP::SequencePlayerService::waitInterpolationOfGroup ( in string gname )

Wait until the last goal posture is sent to the robot.

Parameters:

gname name of the joint group

The documentation for this interface was generated from the following file:

SequencePlayerService.idl

Public Types

Public Member Functions

Member Typedef Documentation

Member Enumeration Documentation

Member Function Documentation