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

import"RemoveForceSensorLinkOffsetService.idl";

Classes

struct  forcemomentOffsetParam
 Parameters for a link mass and center of mass. More...
 

Public Types

typedef sequence< double, 3 > DblSequence3
 
typedef sequence< string > StrSequence
 

Public Member Functions

boolean setForceMomentOffsetParam (in string name, in forcemomentOffsetParam i_param)
 set offset parameters. More...
 
boolean getForceMomentOffsetParam (in string name, out forcemomentOffsetParam i_param)
 get offset parameters. More...
 
boolean loadForceMomentOffsetParams (in string filename)
 loadForceMomentOffsetParams from file More...
 
boolean dumpForceMomentOffsetParams (in string filename)
 dumpForceMomentOffsetParams from file More...
 
boolean removeForceSensorOffset (in StrSequence names, in double tm)
 remove offsets on sensor outputs form force/torque sensors. More...
 

Member Typedef Documentation

◆ DblSequence3

◆ StrSequence

Member Function Documentation

◆ dumpForceMomentOffsetParams()

boolean OpenHRP::RemoveForceSensorLinkOffsetService::dumpForceMomentOffsetParams ( in string  filename)

dumpForceMomentOffsetParams from file

Parameters
filenameis full-path output file name.
Returns
true if dump successfully, false otherwise

◆ getForceMomentOffsetParam()

boolean OpenHRP::RemoveForceSensorLinkOffsetService::getForceMomentOffsetParam ( in string  name,
out forcemomentOffsetParam  i_param 
)

get offset parameters.

Parameters
nameis name of the offset parameter set and i_param output offset parameters
Returns
true if set successfully, false otherwise

◆ loadForceMomentOffsetParams()

boolean OpenHRP::RemoveForceSensorLinkOffsetService::loadForceMomentOffsetParams ( in string  filename)

loadForceMomentOffsetParams from file

Parameters
filenameis full-path input file name.
Returns
true if load successfully, false otherwise

◆ removeForceSensorOffset()

boolean OpenHRP::RemoveForceSensorLinkOffsetService::removeForceSensorOffset ( in StrSequence  names,
in double  tm 
)

remove offsets on sensor outputs form force/torque sensors.

Sensor offsets (force_offset and moment_offset in ForceMomentOffsetParam) are calibrated. This function takes several time (for example 8.0[s]). Please keep the robot static and make sure that robot's sensors do not contact with any objects.

Parameters
namesis list of sensor names to be calibrated. If not specified, all sensors are calibrated by default.
tmis calibration time[s].
Returns
true if set successfully, false otherwise

◆ setForceMomentOffsetParam()

boolean OpenHRP::RemoveForceSensorLinkOffsetService::setForceMomentOffsetParam ( in string  name,
in forcemomentOffsetParam  i_param 
)

set offset parameters.

Parameters
i_paramnew offset parameters
Returns
true if set successfully, false otherwise

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