Basic RT components and utilities  315.12.1
Classes | Public Types | Public Member Functions
OpenHRP::ImpedanceControllerService Interface Reference

import "ImpedanceControllerService.idl";

List of all members.

Classes

struct  impedanceParam
 Impedance controller parameters for one end-effector. More...

Public Types

enum  ControllerMode { MODE_IDLE, MODE_IMP }
 Mode of controller. More...
typedef sequence< double, 3 > DblSequence3
typedef double DblArray3 [3]
typedef sequence< double > DblSequence
typedef sequence< string > StrSequence
typedef sequence< sequence
< double, 3 > > 
Dbl3Sequence

Public Member Functions

boolean startImpedanceController (in string name)
 start impedance controller with waiting for transition.
boolean startImpedanceControllerNoWait (in string name)
 start impedance controller without waiting for transition.
boolean stopImpedanceController (in string name)
 stop impedance controller with waiting for transition.
boolean stopImpedanceControllerNoWait (in string name)
 stop impedance controller without waiting for transition.
boolean setImpedanceControllerParam (in string name, in impedanceParam i_param)
 set impedance parameters.
boolean getImpedanceControllerParam (in string name, out impedanceParam i_param)
 get impedance parameters.
void waitImpedanceControllerTransition (in string name)
 wait for impedance controller mode transition.

Member Typedef Documentation

typedef sequence<sequence<double, 3> > OpenHRP::ImpedanceControllerService::Dbl3Sequence

Member Enumeration Documentation

Mode of controller.

Enumerator:
MODE_IDLE 
MODE_IMP 

Member Function Documentation

get impedance parameters.

Parameters:
i_paramouput impedance parameters
nameimpedance controller param's name, which basically corresponds to force sensor name
Returns:
true if set successfully, false otherwise

set impedance parameters.

Parameters:
i_paraminput new impedance parameters
nameimpedance controller param's name, which basically corresponds to force sensor name
Returns:
true if set successfully, false otherwise

start impedance controller with waiting for transition.

Parameters:
nameimpedance controller param's name, which basically corresponds to force sensor name
Returns:
true if set successfully, false otherwise

start impedance controller without waiting for transition.

Parameters:
nameimpedance controller param's name, which basically corresponds to force sensor name
Returns:
true if set successfully, false otherwise

stop impedance controller with waiting for transition.

Parameters:
nameimpedance controller param's name, which basically corresponds to force sensor name
Returns:
true if set successfully, false otherwise

stop impedance controller without waiting for transition.

Parameters:
nameimpedance controller param's name, which basically corresponds to force sensor name
Returns:
true if set successfully, false otherwise

wait for impedance controller mode transition.

Parameters:
nameimpedance controller param's name, which basically corresponds to force sensor name

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