import"RobotHardwareService.idl";
◆ DblArray3
typedef double OpenHRP::RobotHardwareService::DblArray3[3] |
◆ DblArray6
typedef double OpenHRP::RobotHardwareService::DblArray6[6] |
◆ DblSequence
◆ DblSequence3
◆ DblSequence6
◆ LongSequence
◆ LongSequenceSequence
◆ OctSequence
◆ StrSequence
◆ SwitchStatus
Enumerator |
---|
SWITCH_ON | |
SWITCH_OFF | |
◆ addJointGroup()
boolean OpenHRP::RobotHardwareService::addJointGroup |
( |
in string |
gname, |
|
|
in StrSequence |
jnames |
|
) |
| |
add definition of joint group
- Parameters
-
gname | name of the joint group |
jnames | list of joint name |
- Returns
- true if the group is added successfully, false otherwise
◆ calibrateInertiaSensor()
void OpenHRP::RobotHardwareService::calibrateInertiaSensor |
( |
| ) |
|
remove offsets on sensor outputs form gyro sensors and accelerometers.
This function takes 10[s]. Please keep the robot static.
◆ getStatus()
void OpenHRP::RobotHardwareService::getStatus |
( |
out RobotState |
rs | ) |
|
get status of the robot
- Parameters
-
◆ getStatus2()
void OpenHRP::RobotHardwareService::getStatus2 |
( |
out RobotState2 |
rs | ) |
|
get status of the robot
- Parameters
-
◆ initializeJointAngle()
void OpenHRP::RobotHardwareService::initializeJointAngle |
( |
in string |
name, |
|
|
in string |
option |
|
) |
| |
initialize joint angle
- Parameters
-
name | joint name, part name or "all" |
option | string of joint angle initialization |
◆ lengthDigitalInput()
long OpenHRP::RobotHardwareService::lengthDigitalInput |
( |
| ) |
|
get digital input length of robot, non-applicable bits are nop
- Returns
- length of digital input in bytes
◆ lengthDigitalOutput()
long OpenHRP::RobotHardwareService::lengthDigitalOutput |
( |
| ) |
|
get digital output length of robot, non-applicable bits are nop
- Returns
- length of digital output in bytes
◆ power()
boolean OpenHRP::RobotHardwareService::power |
( |
in string |
name, |
|
|
in SwitchStatus |
_ss |
|
) |
| |
turn on/off power supply for motor driver
- Parameters
-
name | joint name, part name or "all" |
_ss | SWITCH_ON or SWITCH_OFF |
- Return values
-
true | if turned on/off successfully |
false | otherwise |
◆ readDigitalInput()
boolean OpenHRP::RobotHardwareService::readDigitalInput |
( |
out OctSequence |
din | ) |
|
get digital input to robot
- Parameters
-
dOut | will hold the input bits as an array of bytes |
- Returns
- true if applicable, false otherwise
◆ readDigitalOutput()
boolean OpenHRP::RobotHardwareService::readDigitalOutput |
( |
out OctSequence |
dOut | ) |
|
get digital output to robot
- Parameters
-
dOut | will hold the input bits as an array of bytes |
- Returns
- true if applicable, false otherwise
◆ removeForceSensorOffset()
void OpenHRP::RobotHardwareService::removeForceSensorOffset |
( |
| ) |
|
remove offsets on sensor outputs form force/torque sensors.
This function takes 10[s]. Please keep the robot static and make sure that robot's sensors do not contact with any objects.
◆ servo()
boolean OpenHRP::RobotHardwareService::servo |
( |
in string |
name, |
|
|
in SwitchStatus |
_ss |
|
) |
| |
servo on/off
- Parameters
-
name | joint name, part name or "all" |
_ss | SWITCH_ON or SWITCH_OFF |
- Return values
-
true | if servo on/off successfully |
false | otherwise |
◆ setServoErrorLimit()
void OpenHRP::RobotHardwareService::setServoErrorLimit |
( |
in string |
name, |
|
|
in double |
limit |
|
) |
| |
set the maximum joint servo error angle
- Parameters
-
name | joint name, part name or "all" |
limit | the maximum joint servo error angle[rad] |
◆ setServoGainPercentage()
void OpenHRP::RobotHardwareService::setServoGainPercentage |
( |
in string |
name, |
|
|
in double |
percentage |
|
) |
| |
set the parcentage to the default servo gain
- Parameters
-
name | joint name, part name or "all" |
percentage | to joint servo gain[0-100] |
◆ writeDigitalOutput()
boolean OpenHRP::RobotHardwareService::writeDigitalOutput |
( |
in OctSequence |
dout | ) |
|
set digital output from robot
- Parameters
-
dOut | sends the output from the robot in a byte array |
- Returns
- true if applicable, false otherwise
◆ writeDigitalOutputWithMask()
boolean OpenHRP::RobotHardwareService::writeDigitalOutputWithMask |
( |
in OctSequence |
dout, |
|
|
in OctSequence |
mask |
|
) |
| |
set digital output from robot
- Parameters
-
dOut | sends the output from the robot in a byte array |
mask | binary vector which selects output to be set |
- Returns
- true if applicable, false otherwise
◆ CALIB_STATE_MASK
const unsigned long OpenHRP::RobotHardwareService::CALIB_STATE_MASK = 0x00000001 |
◆ CALIB_STATE_SHIFT
const unsigned long OpenHRP::RobotHardwareService::CALIB_STATE_SHIFT = 0 |
◆ DRIVER_TEMP_MASK
const unsigned long OpenHRP::RobotHardwareService::DRIVER_TEMP_MASK = 0xff000000 |
◆ DRIVER_TEMP_SHIFT
const unsigned long OpenHRP::RobotHardwareService::DRIVER_TEMP_SHIFT = 24 |
◆ POWER_STATE_MASK
const unsigned long OpenHRP::RobotHardwareService::POWER_STATE_MASK = 0x00000004 |
◆ POWER_STATE_SHIFT
const unsigned long OpenHRP::RobotHardwareService::POWER_STATE_SHIFT = 2 |
◆ SERVO_ALARM_MASK
const unsigned long OpenHRP::RobotHardwareService::SERVO_ALARM_MASK = 0x0007fff8 |
◆ SERVO_ALARM_SHIFT
const unsigned long OpenHRP::RobotHardwareService::SERVO_ALARM_SHIFT = 3 |
◆ SERVO_STATE_MASK
const unsigned long OpenHRP::RobotHardwareService::SERVO_STATE_MASK = 0x00000002 |
◆ SERVO_STATE_SHIFT
const unsigned long OpenHRP::RobotHardwareService::SERVO_STATE_SHIFT = 1 |
The documentation for this interface was generated from the following file: