import"ImpedanceControllerService.idl";
typedef double OpenHRP::ImpedanceControllerService::DblArray3[3] |
Mode of controller.
Enumerator |
---|
MODE_IDLE |
|
MODE_IMP |
|
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
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
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
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: