import"ObjectContactTurnaroundDetectorService.idl";
typedef double OpenHRP::ObjectContactTurnaroundDetectorService::DblArray3[3] |
Mode of object contact turnaround detector.
Enumerator |
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MODE_DETECTOR_IDLE |
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MODE_STARTED |
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MODE_DETECTED |
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MODE_MAX_TIME |
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Flag for whether total force or total moment is checked.
Enumerator |
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TOTAL_FORCE |
Check resultant force.
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TOTAL_MOMENT |
Check resultant moment using force measurements.
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TOTAL_MOMENT2 |
Check resultant moment using force and moment measurements.
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DetectorMode OpenHRP::ObjectContactTurnaroundDetectorService::checkObjectContactTurnaroundDetection |
( |
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Check ObjectContactTurnaroundDetector.
get object contact turnaround detector parameters.
- Parameters
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i_param | input new parameters |
- Returns
- true if set successfully, false otherwise
boolean OpenHRP::ObjectContactTurnaroundDetectorService::getObjectForcesMoments |
( |
out Dbl3Sequence |
o_forces, |
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out Dbl3Sequence |
o_moments, |
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out DblSequence3 |
o_3dofwrench, |
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out double |
o_fric_coeff_wrench |
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) |
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get Current force and moment for object
- Parameters
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o_forces | and o_moments are list of forces[N] and moments[Nm] at end-effectors. o_3dofwrench is resultant force[N] or wrench[Nm]. o_fric_coeff_wrench is firction coefficient wrench[N or Nm]. |
- Returns
- true if set successfully, false otherwise
set object contact turnaround detector parameters.
- Parameters
-
i_param | input new parameters |
- Returns
- true if set successfully, false otherwise
void OpenHRP::ObjectContactTurnaroundDetectorService::startObjectContactTurnaroundDetection |
( |
in double |
i_ref_diff_wrench, |
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in double |
i_max_time, |
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in StrSequence |
i_ee_names |
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) |
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Start ObjectContactTurnaroundDetector.
- Parameters
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ref_diff_wrench | is force or moment value. |
max_time | is max time [s]. |
i_ee_names | is list of end effector |
The documentation for this interface was generated from the following file: