OpenHRP::StabilizerService Interface Reference

import"StabilizerService.idl";

Classes
struct	IKLimbParameters
struct	stParam
	Stabilizer Parameters. More...
struct	SupportPolygonVertices
struct	TwoDimensionVertex

Public Types
enum	STAlgorithm {   TPCC, EEFM, EEFMQP, EEFMQPCOP,   EEFMQPCOP2 }
	Algorithm of Stabilizer. More...
enum	ControllerMode {   MODE_IDLE, MODE_AIR, MODE_ST, MODE_SYNC_TO_IDLE,   MODE_SYNC_TO_AIR }
	Mode of controller. More...
enum	EmergencyCheckMode { NO_CHECK, COP, CP, TILT }
	Mode of emergency checking. More...
typedef double	DblArray2[2]
typedef double	DblArray3[3]
typedef double	DblArray4[4]
typedef sequence< boolean >	BoolSequence

Public Member Functions
void	getParameter (out stParam i_param)
	Get Stabilizer parameters. More...
void	setParameter (in stParam i_param)
	Set Stabilizer parameters. More...
void	startStabilizer ()
	Start Stabilizer mode. More...
void	stopStabilizer ()
	Sop Stabilizer mode. More...
boolean	dummy ()

Member Typedef Documentation

typedef sequence<boolean> OpenHRP::StabilizerService::BoolSequence

typedef double OpenHRP::StabilizerService::DblArray2[2]

typedef double OpenHRP::StabilizerService::DblArray3[3]

typedef double OpenHRP::StabilizerService::DblArray4[4]

Member Enumeration Documentation

enum OpenHRP::StabilizerService::ControllerMode

Mode of controller.

Enumerator
MODE_IDLE
MODE_AIR
MODE_ST
MODE_SYNC_TO_IDLE
MODE_SYNC_TO_AIR

enum OpenHRP::StabilizerService::EmergencyCheckMode

Mode of emergency checking.

Enumerator
NO_CHECK
COP
CP
TILT

enum OpenHRP::StabilizerService::STAlgorithm

Algorithm of Stabilizer.

Enumerator
TPCC
EEFM
EEFMQP
EEFMQPCOP
EEFMQPCOP2

Member Function Documentation

boolean OpenHRP::StabilizerService::dummy

(

)

void OpenHRP::StabilizerService::getParameter

(

out stParam

i_param

)

Get Stabilizer parameters.

Parameters

i_param

is output parameters

Returns

true if set successfully, false otherwise

void OpenHRP::StabilizerService::setParameter

(

in stParam

i_param

)

Set Stabilizer parameters.

Parameters

i_param

is input parameters

Returns

true if set successfully, false otherwise

void OpenHRP::StabilizerService::startStabilizer

(

)

Start Stabilizer mode.

Parameters

void OpenHRP::StabilizerService::stopStabilizer

(

)

Sop Stabilizer mode.

Parameters

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

• StabilizerService.idl