Basic RT components and utilities  315.7.0
Classes | Public Types | Public Member Functions | List of all members
OpenHRP::TorqueControllerService Interface Reference

import "TorqueControllerService.idl";

Classes

struct  torqueControllerParam

Public Types

typedef sequence< double > dSequence
typedef sequence< string > StrSequence

Public Member Functions

boolean enableTorqueController (in string jname)
 enable torque controller in specified joint
boolean enableMultipleTorqueControllers (in StrSequence jnames)
 enable torque controller in specified joints
boolean disableTorqueController (in string jname)
 disable torque controller in specified joint
boolean disableMultipleTorqueControllers (in StrSequence jnames)
 disable torque controller in specified joints
boolean startTorqueControl (in string jname)
 start torque controller in specified joint
boolean startMultipleTorqueControls (in StrSequence jnames)
 start torque controller in specified joints
boolean stopTorqueControl (in string jname)
 stop torque controller in specified joint
boolean stopMultipleTorqueControls (in StrSequence jnames)
 stop torque controller in specified joints
boolean setReferenceTorque (in string jname, in double tauRef)
 set torque reference to torque controller in specified joint
boolean setMultipleReferenceTorques (in StrSequence jnames, in dSequence tauRefs)
 set torque reference to torque controller in specified joint
boolean setTorqueControllerParam (in torqueControllerParam t_param)
 set torque controller parameters

Member Typedef Documentation

Member Function Documentation

boolean OpenHRP::TorqueControllerService::disableMultipleTorqueControllers ( in StrSequence  jnames)

disable torque controller in specified joints

Parameters
jnames,:target joint names
Returns
true if set successfully, false otherwise
boolean OpenHRP::TorqueControllerService::disableTorqueController ( in string  jname)

disable torque controller in specified joint

Parameters
jname,:target joint name
Returns
true if set successfully, false otherwise
boolean OpenHRP::TorqueControllerService::enableMultipleTorqueControllers ( in StrSequence  jnames)

enable torque controller in specified joints

Parameters
jnames,:target joint names
Returns
true if set successfully, false otherwise
boolean OpenHRP::TorqueControllerService::enableTorqueController ( in string  jname)

enable torque controller in specified joint

Parameters
jname,:target joint name
Returns
true if set successfully, false otherwise
boolean OpenHRP::TorqueControllerService::setMultipleReferenceTorques ( in StrSequence  jnames,
in dSequence  tauRefs 
)

set torque reference to torque controller in specified joint

Parameters
jname,:target joint names
tauRef,:reference torques
Returns
true if set all successfully, false otherwise
boolean OpenHRP::TorqueControllerService::setReferenceTorque ( in string  jname,
in double  tauRef 
)

set torque reference to torque controller in specified joint

Parameters
jname,:target joint name
tauRef,:reference torque
Returns
true if set successfully, false otherwise
boolean OpenHRP::TorqueControllerService::setTorqueControllerParam ( in torqueControllerParam  t_param)

set torque controller parameters

Parameters
t_param,:new torque controller param (invariant parameters are expected as 0)
Returns
true if set all successfully, false otherwise
boolean OpenHRP::TorqueControllerService::startMultipleTorqueControls ( in StrSequence  jnames)

start torque controller in specified joints

Parameters
jnames,:target joint names
Returns
true if set successfully, false otherwise
boolean OpenHRP::TorqueControllerService::startTorqueControl ( in string  jname)

start torque controller in specified joint

Parameters
jname,:target joint name
Returns
true if set successfully, false otherwise
boolean OpenHRP::TorqueControllerService::stopMultipleTorqueControls ( in StrSequence  jnames)

stop torque controller in specified joints

Parameters
jnames,:target joint names
Returns
true if set successfully, false otherwise
boolean OpenHRP::TorqueControllerService::stopTorqueControl ( in string  jname)

stop torque controller in specified joint

Parameters
jname,:target joint name
Returns
true if set successfully, false otherwise

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