OpenHRP::ImpedanceControllerService Interface Reference

import"ImpedanceControllerService.idl";

Classes
struct	impedanceParam
	Impedance controller parameters for one end-effector. More...

Public Types
enum	ControllerMode { MODE_IDLE, MODE_IMP }
	Mode of controller. More...
typedef sequence< double, 3 >	DblSequence3
typedef double	DblArray3[3]
typedef sequence< double >	DblSequence
typedef sequence< string >	StrSequence
typedef sequence< sequence< double, 3 > >	Dbl3Sequence

Public Member Functions
boolean	startImpedanceController (in string name)
	start impedance controller with waiting for transition. More...
boolean	startImpedanceControllerNoWait (in string name)
	start impedance controller without waiting for transition. More...
boolean	stopImpedanceController (in string name)
	stop impedance controller with waiting for transition. More...
boolean	stopImpedanceControllerNoWait (in string name)
	stop impedance controller without waiting for transition. More...
boolean	setImpedanceControllerParam (in string name, in impedanceParam i_param)
	set impedance parameters. More...
boolean	getImpedanceControllerParam (in string name, out impedanceParam i_param)
	get impedance parameters. More...
void	waitImpedanceControllerTransition (in string name)
	wait for impedance controller mode transition. More...

Member Typedef Documentation

Dbl3Sequence

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

DblArray3

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

DblSequence

typedef sequence<double> OpenHRP::ImpedanceControllerService::DblSequence

DblSequence3

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

StrSequence

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

Member Enumeration Documentation

ControllerMode

enum OpenHRP::ImpedanceControllerService::ControllerMode

Mode of controller.

Enumerator
MODE_IDLE
MODE_IMP

Member Function Documentation

getImpedanceControllerParam()

boolean OpenHRP::ImpedanceControllerService::getImpedanceControllerParam	(	in string	name,
		out impedanceParam	i_param
	)

get impedance parameters.

Parameters

i_param	ouput impedance parameters
name	impedance controller param's name, which basically corresponds to force sensor name

Returns

true if set successfully, false otherwise

setImpedanceControllerParam()

boolean OpenHRP::ImpedanceControllerService::setImpedanceControllerParam	(	in string	name,
		in impedanceParam	i_param
	)

set impedance parameters.

Parameters

i_param	input new impedance parameters
name	impedance controller param's name, which basically corresponds to force sensor name

Returns

true if set successfully, false otherwise

startImpedanceController()

boolean OpenHRP::ImpedanceControllerService::startImpedanceController

(

in string

name

)

start impedance controller with waiting for transition.

Parameters

name	impedance controller param's name, which basically corresponds to force sensor name

Returns

true if set successfully, false otherwise

startImpedanceControllerNoWait()

boolean OpenHRP::ImpedanceControllerService::startImpedanceControllerNoWait

(

in string

name

)

start impedance controller without waiting for transition.

Parameters

name	impedance controller param's name, which basically corresponds to force sensor name

Returns

true if set successfully, false otherwise

stopImpedanceController()

boolean OpenHRP::ImpedanceControllerService::stopImpedanceController

(

in string

name

)

stop impedance controller with waiting for transition.

Parameters

name	impedance controller param's name, which basically corresponds to force sensor name

Returns

true if set successfully, false otherwise

stopImpedanceControllerNoWait()

boolean OpenHRP::ImpedanceControllerService::stopImpedanceControllerNoWait

(

in string

name

)

stop impedance controller without waiting for transition.

Parameters

name	impedance controller param's name, which basically corresponds to force sensor name

Returns

true if set successfully, false otherwise

waitImpedanceControllerTransition()

void OpenHRP::ImpedanceControllerService::waitImpedanceControllerTransition

(

in string

name

)

wait for impedance controller mode transition.

Parameters

name	impedance controller param's name, which basically corresponds to force sensor name

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

• ImpedanceControllerService.idl