OpenHRP::ObjectContactTurnaroundDetectorService Interface Reference

import"ObjectContactTurnaroundDetectorService.idl";

Classes
struct	objectContactTurnaroundDetectorParam
	ObjectContactTurnaroundDetectorParam parameters. More...

Public Types
enum	DetectorMode { MODE_DETECTOR_IDLE, MODE_STARTED, MODE_DETECTED, MODE_MAX_TIME }
	Mode of object contact turnaround detector. More...
enum	DetectorTotalWrench { TOTAL_FORCE, TOTAL_MOMENT, TOTAL_MOMENT2 }
	Flag for whether total force or total moment is checked. More...
typedef sequence< double, 3 >	DblSequence3
typedef double	DblArray3[3]
typedef sequence< string >	StrSequence
typedef sequence< sequence< double, 3 > >	Dbl3Sequence

Public Member Functions
void	startObjectContactTurnaroundDetection (in double i_ref_diff_wrench, in double i_max_time, in StrSequence i_ee_names)
	Start ObjectContactTurnaroundDetector. More...
DetectorMode	checkObjectContactTurnaroundDetection ()
	Check ObjectContactTurnaroundDetector. More...
boolean	setObjectContactTurnaroundDetectorParam (in objectContactTurnaroundDetectorParam i_param)
	set object contact turnaround detector parameters. More...
boolean	getObjectContactTurnaroundDetectorParam (out objectContactTurnaroundDetectorParam i_param)
	get object contact turnaround detector parameters. More...
boolean	getObjectForcesMoments (out Dbl3Sequence o_forces, out Dbl3Sequence o_moments, out DblSequence3 o_3dofwrench, out double o_fric_coeff_wrench)
	get Current force and moment for object More...

Member Typedef Documentation

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

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

typedef sequence<double, 3> OpenHRP::ObjectContactTurnaroundDetectorService::DblSequence3

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

Member Enumeration Documentation

enum OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode

Mode of object contact turnaround detector.

Enumerator
MODE_DETECTOR_IDLE
MODE_STARTED
MODE_DETECTED
MODE_MAX_TIME

enum OpenHRP::ObjectContactTurnaroundDetectorService::DetectorTotalWrench

Flag for whether total force or total moment is checked.

Enumerator
TOTAL_FORCE	Check resultant force.
TOTAL_MOMENT	Check resultant moment using force measurements.
TOTAL_MOMENT2	Check resultant moment using force and moment measurements.

Member Function Documentation

DetectorMode OpenHRP::ObjectContactTurnaroundDetectorService::checkObjectContactTurnaroundDetection

(

)

Check ObjectContactTurnaroundDetector.

boolean OpenHRP::ObjectContactTurnaroundDetectorService::getObjectContactTurnaroundDetectorParam

(

out objectContactTurnaroundDetectorParam

i_param

)

get object contact turnaround detector parameters.

Parameters

i_param

input new parameters

Returns

true if set successfully, false otherwise

boolean OpenHRP::ObjectContactTurnaroundDetectorService::getObjectForcesMoments	(	out Dbl3Sequence	o_forces,
		out Dbl3Sequence	o_moments,
		out DblSequence3	o_3dofwrench,
		out double	o_fric_coeff_wrench
	)

get Current force and moment for object

Parameters

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

boolean OpenHRP::ObjectContactTurnaroundDetectorService::setObjectContactTurnaroundDetectorParam

(

in objectContactTurnaroundDetectorParam

i_param

)

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,
		in double	i_max_time,
		in StrSequence	i_ee_names
	)

Start ObjectContactTurnaroundDetector.

Parameters

ref_diff_wrench	is force or moment value.
max_time	is max time [s].
i_ee_names	is list of end effector

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

• ObjectContactTurnaroundDetectorService.idl