Basic RT components and utilities  315.15.0
Public Types | Public Member Functions | List of all members
OpenHRP::SequencePlayerService Interface Reference

import"SequencePlayerService.idl";

Public Types

enum  interpolationMode { LINEAR, HOFFARBIB }
 
typedef sequence< string > StrSequence
 

Public Member Functions

void waitInterpolation ()
 Wait until the last goal posture is sent to the robot. More...
 
boolean waitInterpolationOfGroup (in string gname)
 Wait until the last goal posture is sent to the robot. More...
 
boolean setJointAngles (in dSequence jvs, in double tm)
 Interpolate all joint angles on robot using duration specified by tm. More...
 
boolean setJointAnglesWithMask (in dSequence jvs, in bSequence mask, in double tm)
 Interpolate joint angles on robot using duration specified by tm. More...
 
boolean setJointAngle (in string jname, in double jv, in double tm)
 Interpolate just one joint angle specified by jname using duration tm. More...
 
boolean setBasePos (in dSequence pos, in double tm)
 Interpolate position of the base link. More...
 
boolean setBaseRpy (in dSequence rpy, in double tm)
 Interpolate Roll-Pitch-Yaw angles of the base link. More...
 
boolean setZmp (in dSequence zmp, in double tm)
 Interpolate ZMP. More...
 
boolean setTargetPose (in string name, in dSequence xyz, in dSequence rpy, in double tm)
 Interpolate X, Y, Z and Roll Pitch Yaw of the target joint/link group, wrt world coords Function returns without waiting for interpolation to finish. More...
 
boolean isEmpty ()
 Utility functions to check whether intepolation is going on. More...
 
void loadPattern (in string basename, in double tm)
 load pattern files and start to playback. More...
 
void playPattern (in dSequenceSequence pos, in dSequenceSequence rpy, in dSequenceSequence zmp, in dSequence tm)
 playback a pattern More...
 
void clear ()
 clear pattern data in playback queue. More...
 
void clearNoWait ()
 clear pattern data in playback queue. More...
 
boolean setInterpolationMode (in interpolationMode i_mode_)
 set interpolation mode. More...
 
boolean setInitialState ()
 set to output data port by value of input data port More...
 
boolean addJointGroup (in string gname, in StrSequence jnames)
 add a joint group More...
 
boolean removeJointGroup (in string gname)
 remove a joint group More...
 
boolean setJointAnglesOfGroup (in string gname, in dSequence jvs, in double tm)
 Interpolate joint angles in a group using duration specified by tm. More...
 
boolean clearOfGroup (in string gname, in double tm)
 clear pattern data with joint group More...
 
boolean playPatternOfGroup (in string gname, in dSequenceSequence pos, in dSequence tm)
 play back apattern with joint group More...
 
void setMaxIKError (in double pos, in double rot)
 set parameters to solve ik, used in setTargetPose [>= 315.1.5] More...
 
void setMaxIKIteration (in short max_iteration)
 set parameters to solve ik, used in setTargetPose [>= 315.1.5] More...
 
boolean setWrenches (in dSequence wrenches, in double tm)
 Interpolate Wrenches. More...
 
boolean setJointAnglesSequence (in dSequenceSequence jvss, in dSequence tms)
 Interpolate all joint angles on robot using duration specified by tm. More...
 
boolean setJointAnglesSequenceWithMask (in dSequenceSequence jvss, in bSequence mask, in dSequence tms)
 Interpolate all joint angles on robot using duration specified by tm. More...
 
boolean setJointAnglesSequenceOfGroup (in string gname, in dSequenceSequence jvss, in dSequence tms)
 Interpolate all joint angles in groups, using duration specified by tm. More...
 
boolean setJointAnglesSequenceFull (in dSequenceSequence jvss, in dSequenceSequence vels, in dSequenceSequence torques, in dSequenceSequence poss, in dSequenceSequence rpys, in dSequenceSequence accs, in dSequenceSequence zmps, in dSequenceSequence wrenchs, in dSequenceSequence optionals, in dSequence tms)
 Interpolate all joint angles, using duration specified by tm. More...
 
boolean clearJointAngles ()
 clear current JointAngles [>= 315.5.0] More...
 
boolean clearJointAnglesOfGroup (in string gname)
 clear current JointAnglesOfGroup [>= 315.5.0] More...
 

Member Typedef Documentation

◆ StrSequence

Member Enumeration Documentation

◆ interpolationMode

Enumerator
LINEAR 

linear interpolation

HOFFARBIB 

minimum jerk interpolation by Hoff & Arbib

Member Function Documentation

◆ addJointGroup()

boolean OpenHRP::SequencePlayerService::addJointGroup ( in string  gname,
in StrSequence  jnames 
)

add a joint group

Parameters
gnamename of the joint group
jnameslist of joint name
Returns
true if the group is added successfully, false otherwise

◆ clear()

void OpenHRP::SequencePlayerService::clear ( )

clear pattern data in playback queue.

This function returns after the queue becomes empty.

◆ clearJointAngles()

boolean OpenHRP::SequencePlayerService::clearJointAngles ( )

clear current JointAngles [>= 315.5.0]

Returns
true joint angles are set successfully, false otherwise

◆ clearJointAnglesOfGroup()

boolean OpenHRP::SequencePlayerService::clearJointAnglesOfGroup ( in string  gname)

clear current JointAnglesOfGroup [>= 315.5.0]

Parameters
gnamename of the joint group
Returns
true joint angles are set successfully, false otherwise

◆ clearNoWait()

void OpenHRP::SequencePlayerService::clearNoWait ( )

clear pattern data in playback queue.

This function returns immediately

◆ clearOfGroup()

boolean OpenHRP::SequencePlayerService::clearOfGroup ( in string  gname,
in double  tm 
)

clear pattern data with joint group

Parameters
gnamename of the joint group
tmduration toward termination [s]
Returns
true joint angles are set successfully, false otherwise

◆ isEmpty()

boolean OpenHRP::SequencePlayerService::isEmpty ( )

Utility functions to check whether intepolation is going on.

Functions return immediately

Returns
true if interpolation queue is empty, false otherwise

◆ loadPattern()

void OpenHRP::SequencePlayerService::loadPattern ( in string  basename,
in double  tm 
)

load pattern files and start to playback.

Parameters
basenamebasename of the pattern files. <basename>.pos, <basename>.zmp, <basename>.waist and <basename>.gsens are used.
tmDuration to the initial posture in <basename>.pos [s]

◆ playPattern()

void OpenHRP::SequencePlayerService::playPattern ( in dSequenceSequence  pos,
in dSequenceSequence  rpy,
in dSequenceSequence  zmp,
in dSequence  tm 
)

playback a pattern

Parameters
possequence of joint angles
rpysequence of Roll-Pitch-Yaw angles of the base link [rad]
zmpsequence of ZMP [m]
tmsequence of duration beetween postures [s]

◆ playPatternOfGroup()

boolean OpenHRP::SequencePlayerService::playPatternOfGroup ( in string  gname,
in dSequenceSequence  pos,
in dSequence  tm 
)

play back apattern with joint group

Parameters
gnamename of the joint group
possequence of joint angles
tmsequence of duration beetween postures [s]
Returns
true joint angles are set successfully, false otherwise

◆ removeJointGroup()

boolean OpenHRP::SequencePlayerService::removeJointGroup ( in string  gname)

remove a joint group

Parameters
gnamename of the joint group
Returns
true if the group is removed successfully, false otherwise

◆ setBasePos()

boolean OpenHRP::SequencePlayerService::setBasePos ( in dSequence  pos,
in double  tm 
)

Interpolate position of the base link.

Function returns without waiting for interpolation to finish

Parameters
posposition of the base link [m]
tmduration [s]
Returns
true if set successfully, false otherwise

◆ setBaseRpy()

boolean OpenHRP::SequencePlayerService::setBaseRpy ( in dSequence  rpy,
in double  tm 
)

Interpolate Roll-Pitch-Yaw angles of the base link.

Function returns without waiting for interpolation to finish

Parameters
rpyRoll-Pitch-Yaw angles of the base link [rad]
tmduration [s]
Returns
true if set successfully, false otherwise

◆ setInitialState()

boolean OpenHRP::SequencePlayerService::setInitialState ( )

set to output data port by value of input data port

Returns
true if set successfully, false otherwise

◆ setInterpolationMode()

boolean OpenHRP::SequencePlayerService::setInterpolationMode ( in interpolationMode  i_mode_)

set interpolation mode.

Parameters
i_mode_new interpolation mode
Returns
true if set successfully, false otherwise

◆ setJointAngle()

boolean OpenHRP::SequencePlayerService::setJointAngle ( in string  jname,
in double  jv,
in double  tm 
)

Interpolate just one joint angle specified by jname using duration tm.

Function returns without waiting for interpolation to finish

Parameters
jnamejoint name
jvjoint angle
tmduration [s]
Returns
true if set successuflly, false otherwise

◆ setJointAngles()

boolean OpenHRP::SequencePlayerService::setJointAngles ( in dSequence  jvs,
in double  tm 
)

Interpolate all joint angles on robot using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot.

Parameters
jvssequence of joint angles
tmduration [s]
Returns
true joint angles are set successfully, false otherwise

◆ setJointAnglesOfGroup()

boolean OpenHRP::SequencePlayerService::setJointAnglesOfGroup ( in string  gname,
in dSequence  jvs,
in double  tm 
)

Interpolate joint angles in a group using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot.

Parameters
gnamename of the joint group
jvssequence of joint angles
tmduration [s]
Returns
true joint angles are set successfully, false otherwise

◆ setJointAnglesSequence()

boolean OpenHRP::SequencePlayerService::setJointAnglesSequence ( in dSequenceSequence  jvss,
in dSequence  tms 
)

Interpolate all joint angles on robot using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot. If this function called during the robot moves, it overwrite current goal. [>= 315.5.0]

Parameters
jvssequence of sequence of joint angles [rad]
tmsequence of duration [s]
Returns
true joint angles are set successfully, false otherwise

◆ setJointAnglesSequenceFull()

boolean OpenHRP::SequencePlayerService::setJointAnglesSequenceFull ( in dSequenceSequence  jvss,
in dSequenceSequence  vels,
in dSequenceSequence  torques,
in dSequenceSequence  poss,
in dSequenceSequence  rpys,
in dSequenceSequence  accs,
in dSequenceSequence  zmps,
in dSequenceSequence  wrenchs,
in dSequenceSequence  optionals,
in dSequence  tms 
)

Interpolate all joint angles, using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot. If this function called during the robot moves, it overwrite current goal. [>= 315.5.0]

Parameters
jvsssequence of sequence of joint angles [rad]
velssequence of sequence of velocities [rad/s]
torquessequence of sequence of torques [Nm]
posssequence of waist pos [m]
rpyssequence of waist rpy [rad]
accssequence of sensor acc [m/ss]
zmpssequence of zmp in the waist frame [m]
wrenchessequence of wrenches [N, Nm]
optionsssequence of options []
tmssequence of duration [s]
Returns
true joint angles are set successfully, false otherwise

◆ setJointAnglesSequenceOfGroup()

boolean OpenHRP::SequencePlayerService::setJointAnglesSequenceOfGroup ( in string  gname,
in dSequenceSequence  jvss,
in dSequence  tms 
)

Interpolate all joint angles in groups, using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot. If this function called during the robot moves, it overwrite current goal. [>= 315.5.0]

Parameters
gnamename of the joint group
jvssequence of sequence of joint angles [rad]
tmsequence of duration [s]
Returns
true joint angles are set successfully, false otherwise

◆ setJointAnglesSequenceWithMask()

boolean OpenHRP::SequencePlayerService::setJointAnglesSequenceWithMask ( in dSequenceSequence  jvss,
in bSequence  mask,
in dSequence  tms 
)

Interpolate all joint angles on robot using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot. If this function called during the robot moves, it overwrite current goal. [>= 315.5.0]

Parameters
jvssequence of sequence of joint angles [rad]
maskbinary vector which selects joints to be interpolated
tmsequence of duration [s]
Returns
true joint angles are set successfully, false otherwise

◆ setJointAnglesWithMask()

boolean OpenHRP::SequencePlayerService::setJointAnglesWithMask ( in dSequence  jvs,
in bSequence  mask,
in double  tm 
)

Interpolate joint angles on robot using duration specified by tm.

Returns without waiting for whole sequence to be sent to robot.

Parameters
jvssequence of joint angles
maskbinary vector which selects joints to be interpolated
tmduration
Returns
true joint angles are set successfully, false otherwise

◆ setMaxIKError()

void OpenHRP::SequencePlayerService::setMaxIKError ( in double  pos,
in double  rot 
)

set parameters to solve ik, used in setTargetPose [>= 315.1.5]

Parameters
poserror threshold for position
roterror threshold for rotation

◆ setMaxIKIteration()

void OpenHRP::SequencePlayerService::setMaxIKIteration ( in short  max_iteration)

set parameters to solve ik, used in setTargetPose [>= 315.1.5]

Parameters
max_iterationmax iteration

◆ setTargetPose()

boolean OpenHRP::SequencePlayerService::setTargetPose ( in string  name,
in dSequence  xyz,
in dSequence  rpy,
in double  tm 
)

Interpolate X, Y, Z and Roll Pitch Yaw of the target joint/link group, wrt world coords Function returns without waiting for interpolation to finish.

Parameters
gnamename of the joint group
xyz: X,Y,Z position of the target link [m]
rpy: Roll-Pitch-Yaw angles of the target link [rad]
tmduration [s]
Returns
true if set successfully, false otherwise

◆ setWrenches()

boolean OpenHRP::SequencePlayerService::setWrenches ( in dSequence  wrenches,
in double  tm 
)

Interpolate Wrenches.

Function returns without waiting for interpolation to finish [>= 315.2.0]

Parameters
wrenchesWrenches [N], [Nm]
tmduration [s]
Returns
true if set successfully, false otherwise

◆ setZmp()

boolean OpenHRP::SequencePlayerService::setZmp ( in dSequence  zmp,
in double  tm 
)

Interpolate ZMP.

Function returns without waiting for interpolation to finish

Parameters
zmpZMP in the base link frame [m]
tmduration [s]
Returns
true if set successfully, false otherwise

◆ waitInterpolation()

void OpenHRP::SequencePlayerService::waitInterpolation ( )

Wait until the last goal posture is sent to the robot.

◆ waitInterpolationOfGroup()

boolean OpenHRP::SequencePlayerService::waitInterpolationOfGroup ( in string  gname)

Wait until the last goal posture is sent to the robot.

Parameters
gnamename of the joint group

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