import"ImpedanceControllerService.idl";
typedef double OpenHRP::ImpedanceControllerService::DblArray3[3] |
Mode of controller.
Enumerator |
---|
MODE_IDLE |
|
MODE_IMP |
|
Mode of object turnaround detector.
Enumerator |
---|
MODE_DETECTOR_IDLE |
|
MODE_STARTED |
|
MODE_DETECTED |
|
MODE_MAX_TIME |
|
Flag for whether total force or total moment is checked.
Enumerator |
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TOTAL_FORCE |
|
TOTAL_MOMENT |
|
DetectorMode OpenHRP::ImpedanceControllerService::checkObjectTurnaroundDetection |
( |
| ) |
|
Check ObjectTurnaroundDetector.
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
get Current force and moment for object
- Parameters
-
i_param | output force and moment |
- Returns
- true if set successfully, false otherwise
get object turnaround detector parameters.
- Parameters
-
i_param | input new parameters |
- Returns
- true if set successfully, false otherwise
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
set object turnaround detector parameters.
- Parameters
-
i_param | input new parameters |
- Returns
- true if set successfully, false otherwise
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
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
void OpenHRP::ImpedanceControllerService::startObjectTurnaroundDetection |
( |
in double |
i_ref_diff_wrench, |
|
|
in double |
i_max_time, |
|
|
in StrSequence |
i_ee_names |
|
) |
| |
Start ObjectTurnaroundDetector.
- Parameters
-
ref_diff_wrench | is force or moment value. |
max_time | is max time [s]. |
i_ee_names | is list of end effector |
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
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
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 |
The documentation for this interface was generated from the following file: