import"TorqueControllerService.idl";
◆ dSequence
◆ StrSequence
◆ disableMultipleTorqueControllers()
boolean OpenHRP::TorqueControllerService::disableMultipleTorqueControllers |
( |
in StrSequence |
jnames | ) |
|
disable torque controller in specified joints
- Parameters
-
- Returns
- true if set successfully, false otherwise
◆ disableTorqueController()
boolean OpenHRP::TorqueControllerService::disableTorqueController |
( |
in string |
jname | ) |
|
disable torque controller in specified joint
- Parameters
-
- Returns
- true if set successfully, false otherwise
◆ enableMultipleTorqueControllers()
boolean OpenHRP::TorqueControllerService::enableMultipleTorqueControllers |
( |
in StrSequence |
jnames | ) |
|
enable torque controller in specified joints
- Parameters
-
- Returns
- true if set successfully, false otherwise
◆ enableTorqueController()
boolean OpenHRP::TorqueControllerService::enableTorqueController |
( |
in string |
jname | ) |
|
enable torque controller in specified joint
- Parameters
-
- Returns
- true if set successfully, false otherwise
◆ getTorqueControllerParam()
boolean OpenHRP::TorqueControllerService::getTorqueControllerParam |
( |
in string |
jname, |
|
|
out torqueControllerParam |
i_param |
|
) |
| |
set torque controller parameters
- Parameters
-
i_param | new torque controller param (invariant parameters are expected as 0) |
- Returns
- true if set all successfully, false otherwise
◆ setMultipleReferenceTorques()
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
◆ setReferenceTorque()
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
◆ setTorqueControllerParam()
boolean OpenHRP::TorqueControllerService::setTorqueControllerParam |
( |
in string |
jname, |
|
|
in torqueControllerParam |
i_param |
|
) |
| |
set torque controller parameters
- Parameters
-
i_param | new torque controller param (invariant parameters are expected as 0) |
- Returns
- true if set all successfully, false otherwise
◆ startMultipleTorqueControls()
boolean OpenHRP::TorqueControllerService::startMultipleTorqueControls |
( |
in StrSequence |
jnames | ) |
|
start torque controller in specified joints
- Parameters
-
- Returns
- true if set successfully, false otherwise
◆ startTorqueControl()
boolean OpenHRP::TorqueControllerService::startTorqueControl |
( |
in string |
jname | ) |
|
start torque controller in specified joint
- Parameters
-
- Returns
- true if set successfully, false otherwise
◆ stopMultipleTorqueControls()
boolean OpenHRP::TorqueControllerService::stopMultipleTorqueControls |
( |
in StrSequence |
jnames | ) |
|
stop torque controller in specified joints
- Parameters
-
- Returns
- true if set successfully, false otherwise
◆ stopTorqueControl()
boolean OpenHRP::TorqueControllerService::stopTorqueControl |
( |
in string |
jname | ) |
|
stop torque controller in specified joint
- Parameters
-
- Returns
- true if set successfully, false otherwise
The documentation for this interface was generated from the following file: