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

import "RobotHardwareService.idl";

List of all members.

Classes

struct  BatteryState
struct  RobotState
 status of the robot More...
struct  RobotState2
 status of the robot More...

Public Types

enum  SwitchStatus { SWITCH_ON, SWITCH_OFF }
typedef sequence< octet > OctSequence
typedef sequence< double > DblSequence
typedef sequence< long > LongSequence
typedef sequence< string > StrSequence
typedef sequence< LongSequence > LongSequenceSequence
typedef double DblArray3 [3]
typedef double DblArray6 [6]
typedef sequence< double, 3 > DblSequence3
typedef sequence< double, 6 > DblSequence6

Public Member Functions

void getStatus (out RobotState rs)
 get status of the robot
boolean power (in string name, in SwitchStatus _ss)
 turn on/off power supply for motor driver
boolean servo (in string name, in SwitchStatus _ss)
 servo on/off
void setServoGainPercentage (in string name, in double percentage)
 set the parcentage to the default servo gain
void setServoErrorLimit (in string name, in double limit)
 set the maximum joint servo error angle
void calibrateInertiaSensor ()
 remove offsets on sensor outputs form gyro sensors and accelerometers.
void removeForceSensorOffset ()
 remove offsets on sensor outputs form force/torque sensors.
void initializeJointAngle (in string name, in string option)
 initialize joint angle
boolean addJointGroup (in string gname, in StrSequence jnames)
 add definition of joint group
boolean readDigitalInput (out OctSequence din)
 get digital input to robot
long lengthDigitalInput ()
 get digital input length of robot, non-applicable bits are nop
boolean writeDigitalOutput (in OctSequence dout)
 set digital output from robot
boolean writeDigitalOutputWithMask (in OctSequence dout, in OctSequence mask)
 set digital output from robot
long lengthDigitalOutput ()
 get digital output length of robot, non-applicable bits are nop
boolean readDigitalOutput (out OctSequence dOut)
 get digital output to robot
void getStatus2 (out RobotState2 rs)
 get status of the robot

Public Attributes

const unsigned long CALIB_STATE_MASK = 0x00000001
const unsigned long CALIB_STATE_SHIFT = 0
const unsigned long SERVO_STATE_MASK = 0x00000002
const unsigned long SERVO_STATE_SHIFT = 1
const unsigned long POWER_STATE_MASK = 0x00000004
const unsigned long POWER_STATE_SHIFT = 2
const unsigned long SERVO_ALARM_MASK = 0x0007fff8
const unsigned long SERVO_ALARM_SHIFT = 3
const unsigned long DRIVER_TEMP_MASK = 0xff000000
const unsigned long DRIVER_TEMP_SHIFT = 24

Member Typedef Documentation

typedef double OpenHRP::RobotHardwareService::DblArray3[3]
typedef double OpenHRP::RobotHardwareService::DblArray6[6]
typedef sequence<double> OpenHRP::RobotHardwareService::DblSequence
typedef sequence<double, 3> OpenHRP::RobotHardwareService::DblSequence3
typedef sequence<double, 6> OpenHRP::RobotHardwareService::DblSequence6
typedef sequence<long> OpenHRP::RobotHardwareService::LongSequence
typedef sequence<LongSequence> OpenHRP::RobotHardwareService::LongSequenceSequence
typedef sequence<octet> OpenHRP::RobotHardwareService::OctSequence
typedef sequence<string> OpenHRP::RobotHardwareService::StrSequence

Member Enumeration Documentation

enum OpenHRP::RobotHardwareService::SwitchStatus
Enumerator:
SWITCH_ON 
SWITCH_OFF 

Member Function Documentation

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

add definition of joint group

Parameters:
gnamename of the joint group
jnameslist of joint name
Returns:
true if the group is added successfully, false otherwise
void OpenHRP::RobotHardwareService::calibrateInertiaSensor ( )

remove offsets on sensor outputs form gyro sensors and accelerometers.

This function takes 10[s]. Please keep the robot static.

void OpenHRP::RobotHardwareService::getStatus ( out RobotState  rs)

get status of the robot

Parameters:
rsstatus of the robot
void OpenHRP::RobotHardwareService::getStatus2 ( out RobotState2  rs)

get status of the robot

Parameters:
rsstatus of the robot
void OpenHRP::RobotHardwareService::initializeJointAngle ( in string  name,
in string  option 
)

initialize joint angle

Parameters:
namejoint name, part name or "all"
optionstring of joint angle initialization
long OpenHRP::RobotHardwareService::lengthDigitalInput ( )

get digital input length of robot, non-applicable bits are nop

Returns:
length of digital input in bytes
long OpenHRP::RobotHardwareService::lengthDigitalOutput ( )

get digital output length of robot, non-applicable bits are nop

Returns:
length of digital output in bytes
boolean OpenHRP::RobotHardwareService::power ( in string  name,
in SwitchStatus  _ss 
)

turn on/off power supply for motor driver

Parameters:
namejoint name, part name or "all"
_ssSWITCH_ON or SWITCH_OFF
Return values:
trueif turned on/off successfully
falseotherwise
boolean OpenHRP::RobotHardwareService::readDigitalInput ( out OctSequence  din)

get digital input to robot

Parameters:
dOutwill hold the input bits as an array of bytes
Returns:
true if applicable, false otherwise
boolean OpenHRP::RobotHardwareService::readDigitalOutput ( out OctSequence  dOut)

get digital output to robot

Parameters:
dOutwill hold the input bits as an array of bytes
Returns:
true if applicable, false otherwise
void OpenHRP::RobotHardwareService::removeForceSensorOffset ( )

remove offsets on sensor outputs form force/torque sensors.

This function takes 10[s]. Please keep the robot static and make sure that robot's sensors do not contact with any objects.

boolean OpenHRP::RobotHardwareService::servo ( in string  name,
in SwitchStatus  _ss 
)

servo on/off

Parameters:
namejoint name, part name or "all"
_ssSWITCH_ON or SWITCH_OFF
Return values:
trueif servo on/off successfully
falseotherwise
void OpenHRP::RobotHardwareService::setServoErrorLimit ( in string  name,
in double  limit 
)

set the maximum joint servo error angle

Parameters:
namejoint name, part name or "all"
limitthe maximum joint servo error angle[rad]
void OpenHRP::RobotHardwareService::setServoGainPercentage ( in string  name,
in double  percentage 
)

set the parcentage to the default servo gain

Parameters:
namejoint name, part name or "all"
percentageto joint servo gain[0-100]
boolean OpenHRP::RobotHardwareService::writeDigitalOutput ( in OctSequence  dout)

set digital output from robot

Parameters:
dOutsends the output from the robot in a byte array
Returns:
true if applicable, false otherwise
boolean OpenHRP::RobotHardwareService::writeDigitalOutputWithMask ( in OctSequence  dout,
in OctSequence  mask 
)

set digital output from robot

Parameters:
dOutsends the output from the robot in a byte array
maskbinary vector which selects output to be set
Returns:
true if applicable, false otherwise

Member Data Documentation

const unsigned long OpenHRP::RobotHardwareService::CALIB_STATE_MASK = 0x00000001
const unsigned long OpenHRP::RobotHardwareService::CALIB_STATE_SHIFT = 0
const unsigned long OpenHRP::RobotHardwareService::DRIVER_TEMP_MASK = 0xff000000
const unsigned long OpenHRP::RobotHardwareService::DRIVER_TEMP_SHIFT = 24
const unsigned long OpenHRP::RobotHardwareService::POWER_STATE_MASK = 0x00000004
const unsigned long OpenHRP::RobotHardwareService::POWER_STATE_SHIFT = 2
const unsigned long OpenHRP::RobotHardwareService::SERVO_ALARM_MASK = 0x0007fff8
const unsigned long OpenHRP::RobotHardwareService::SERVO_ALARM_SHIFT = 3
const unsigned long OpenHRP::RobotHardwareService::SERVO_STATE_MASK = 0x00000002
const unsigned long OpenHRP::RobotHardwareService::SERVO_STATE_SHIFT = 1
The documentation for this interface was generated from the following file:
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