OpenHRP::TorqueControllerService Interface Reference

import "TorqueControllerService.idl";

List of all members.

Classes
struct	torqueControllerParam
Public Types
typedef sequence< double >	dSequence
typedef sequence< string >	StrSequence
Public Member Functions
boolean	enableTorqueController (in string jname)
	enable torque controller in specified joint
boolean	enableMultipleTorqueControllers (in StrSequence jnames)
	enable torque controller in specified joints
boolean	disableTorqueController (in string jname)
	disable torque controller in specified joint
boolean	disableMultipleTorqueControllers (in StrSequence jnames)
	disable torque controller in specified joints
boolean	startTorqueControl (in string jname)
	start torque controller in specified joint
boolean	startMultipleTorqueControls (in StrSequence jnames)
	start torque controller in specified joints
boolean	stopTorqueControl (in string jname)
	stop torque controller in specified joint
boolean	stopMultipleTorqueControls (in StrSequence jnames)
	stop torque controller in specified joints
boolean	setReferenceTorque (in string jname, in double tauRef)
	set torque reference to torque controller in specified joint
boolean	setMultipleReferenceTorques (in StrSequence jnames, in dSequence tauRefs)
	set torque reference to torque controller in specified joint
boolean	setTorqueControllerParam (in string jname, in torqueControllerParam i_param)
	set torque controller parameters
boolean	getTorqueControllerParam (in string jname, out torqueControllerParam i_param)
	set torque controller parameters

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Member Typedef Documentation

typedef sequence<double> OpenHRP::TorqueControllerService::dSequence

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

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Member Function Documentation

boolean OpenHRP::TorqueControllerService::disableMultipleTorqueControllers

(

in StrSequence

jnames

)

disable torque controller in specified joints

Parameters:

jnames,:

target joint names

Returns:

true if set successfully, false otherwise

boolean OpenHRP::TorqueControllerService::disableTorqueController

(

in string

jname

)

disable torque controller in specified joint

Parameters:

jname,:

target joint name

Returns:

true if set successfully, false otherwise

boolean OpenHRP::TorqueControllerService::enableMultipleTorqueControllers

(

in StrSequence

jnames

)

enable torque controller in specified joints

Parameters:

jnames,:

target joint names

Returns:

true if set successfully, false otherwise

boolean OpenHRP::TorqueControllerService::enableTorqueController

(

in string

jname

)

enable torque controller in specified joint

Parameters:

jname,:

target joint name

Returns:

true if set successfully, false otherwise

boolean OpenHRP::TorqueControllerService::getTorqueControllerParam	(	in string	jname,
		out torqueControllerParam	i_param
	)

set torque controller parameters

Parameters:

i_param,:

new torque controller param (invariant parameters are expected as 0)

Returns:

true if set all successfully, false otherwise

boolean OpenHRP::TorqueControllerService::setMultipleReferenceTorques	(	in StrSequence	jnames,
		in dSequence	tauRefs
	)

set torque reference to torque controller in specified joint

Parameters:

jname,:	target joint names
tauRef,:	reference torques

Returns:

true if set all successfully, false otherwise

boolean OpenHRP::TorqueControllerService::setReferenceTorque	(	in string	jname,
		in double	tauRef
	)

set torque reference to torque controller in specified joint

Parameters:

jname,:	target joint name
tauRef,:	reference torque

Returns:

true if set successfully, false otherwise

boolean OpenHRP::TorqueControllerService::setTorqueControllerParam	(	in string	jname,
		in torqueControllerParam	i_param
	)

set torque controller parameters

Parameters:

i_param,:

new torque controller param (invariant parameters are expected as 0)

Returns:

true if set all successfully, false otherwise

boolean OpenHRP::TorqueControllerService::startMultipleTorqueControls

(

in StrSequence

jnames

)

start torque controller in specified joints

Parameters:

jnames,:

target joint names

Returns:

true if set successfully, false otherwise

boolean OpenHRP::TorqueControllerService::startTorqueControl

(

in string

jname

)

start torque controller in specified joint

Parameters:

jname,:

target joint name

Returns:

true if set successfully, false otherwise

boolean OpenHRP::TorqueControllerService::stopMultipleTorqueControls

(

in StrSequence

jnames

)

stop torque controller in specified joints

Parameters:

jnames,:

target joint names

Returns:

true if set successfully, false otherwise

boolean OpenHRP::TorqueControllerService::stopTorqueControl

(

in string

jname

)

stop torque controller in specified joint

Parameters:

jname,:

target joint name

Returns:

true if set successfully, false otherwise

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

• TorqueControllerService.idl