OpenHRP::ServoControllerService Interface Reference

import"ServoControllerService.idl";

Public Types
typedef sequence< short >	iSequence
typedef sequence< double >	dSequence

Public Member Functions
boolean	setJointAngle (in short id, in double jv, in double tm)
	Interpolate just one joint angle specified by id using duration tm. More...
boolean	setJointAngles (in dSequence jvs, in double tm)
	Interpolate all joint angles on servo moters using duration specified by tm. More...
boolean	getJointAngle (in short id, out double jv)
	Obttain just one joint angle specified by id. More...
boolean	getJointAngles (out dSequence jvs)
	Interpolate all joint angles on servo moters. More...
boolean	addJointGroup (in string gname, in iSequence ids)
	add a joint group More...
boolean	removeJointGroup (in string gname)
	remove a joint group More...
boolean	setJointAnglesOfGroup (in string gname, in dSequence jvs, in double tm)
	Interpolate joint angles in a group using duration specified by tm. More...
boolean	setMaxTorque (in short id, in short percentage)
	Interpolate just one joint max torque specified by id. More...
boolean	setReset (in short id)
	Reset servo settings. More...
boolean	getDuration (in short id, out double duration)
	Get servo duration. More...
boolean	getSpeed (in short id, out double speed)
	Get servo speed. More...
boolean	getMaxTorque (in short id, out short percentage)
	Get servo maxTorque. More...
boolean	getTorque (in short id, out double torque)
	Get servo torque. More...
boolean	getTemperature (in short id, out double temperature)
	Get servo temperature. More...
boolean	getVoltage (in short id, out double voltage)
	Get servo voltage. More...
boolean	servoOn ()
boolean	servoOff ()

Member Typedef Documentation

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

typedef sequence<short> OpenHRP::ServoControllerService::iSequence

Member Function Documentation

boolean OpenHRP::ServoControllerService::addJointGroup	(	in string	gname,
		in iSequence	ids
	)

add a joint group

Parameters

gname	name of the joint group
ids	list of joint ids

Returns

true if the group is added successfully, false otherwise

boolean OpenHRP::ServoControllerService::getDuration	(	in short	id,
		out double	duration
	)

Get servo duration.

Parameters

id	joint id
duration	servo duration

Returns

true if set successuflly, false otherwise

boolean OpenHRP::ServoControllerService::getJointAngle	(	in short	id,
		out double	jv
	)

Obttain just one joint angle specified by id.

Function returns without waiting for interpolation to finish

Parameters

id	joint id
jv	joint angle

Returns

true if get successuflly, false otherwise

boolean OpenHRP::ServoControllerService::getJointAngles

(

out dSequence

jvs

)

Interpolate all joint angles on servo moters.

Returns without waiting for whole sequence to be sent to robot.

Parameters

jvs	sequence of joint angles

Returns

true joint angles are get successfully, false otherwise

boolean OpenHRP::ServoControllerService::getMaxTorque	(	in short	id,
		out short	percentage
	)

Get servo maxTorque.

Parameters

id	joint id
percentage	servo maxTorque(1~100[%], per 1)

Returns

true if set successuflly, false otherwise

boolean OpenHRP::ServoControllerService::getSpeed	(	in short	id,
		out double	speed
	)

Get servo speed.

Parameters

id	joint id
speed	servo speed

Returns

true if set successuflly, false otherwise

boolean OpenHRP::ServoControllerService::getTemperature	(	in short	id,
		out double	temperature
	)

Get servo temperature.

Parameters

id	joint id
temperature	servo temperature

Returns

true if set successuflly, false otherwise

boolean OpenHRP::ServoControllerService::getTorque	(	in short	id,
		out double	torque
	)

Get servo torque.

Parameters

id	joint id
torque	servo torque

Returns

true if set successuflly, false otherwise

boolean OpenHRP::ServoControllerService::getVoltage	(	in short	id,
		out double	voltage
	)

Get servo voltage.

Parameters

id	joint id
voltage	servo voltage

Returns

true if set successuflly, false otherwise

boolean OpenHRP::ServoControllerService::removeJointGroup

(

in string

gname

)

remove a joint group

Parameters

gname

name of the joint group

Returns

true if the group is removed successfully, false otherwise

boolean OpenHRP::ServoControllerService::servoOff

(

)

boolean OpenHRP::ServoControllerService::servoOn

(

)

boolean OpenHRP::ServoControllerService::setJointAngle	(	in short	id,
		in double	jv,
		in double	tm
	)

Interpolate just one joint angle specified by id using duration tm.

Function returns without waiting for interpolation to finish

Parameters

id	joint id
jv	joint angle
tm	duration

Returns

true if set successuflly, false otherwise

boolean OpenHRP::ServoControllerService::setJointAngles	(	in dSequence	jvs,
		in double	tm
	)

Interpolate all joint angles on servo moters using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot.

Parameters

jvs	sequence of joint angles
tm	duration

Returns

true joint angles are set successfully, false otherwise

boolean OpenHRP::ServoControllerService::setJointAnglesOfGroup	(	in string	gname,
		in dSequence	jvs,
		in double	tm
	)

Interpolate joint angles in a group using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot.

Parameters

gname	name of the joint group
jvs	sequence of joint angles
tm	duration

Returns

true joint angles are set successfully, false otherwise

boolean OpenHRP::ServoControllerService::setMaxTorque	(	in short	id,
		in short	percentage
	)

Interpolate just one joint max torque specified by id.

Function returns without waiting for interpolation to finish

Parameters

id	joint id
percentage	servo maxTorque(1~100[%])

Returns

true if set successuflly, false otherwise

boolean OpenHRP::ServoControllerService::setReset

(

in short

id

)

Reset servo settings.

Parameters

id

joint id

Returns

true if set successuflly, false otherwise

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

• ServoControllerService.idl