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

import"StabilizerService.idl";

Classes

struct  IKLimbParameters
 
struct  stParam
 Stabilizer Parameters. More...
 
struct  SupportPolygonVertices
 
struct  TwoDimensionVertex
 

Public Types

enum  STAlgorithm {
  TPCC, EEFM, EEFMQP, EEFMQPCOP,
  EEFMQPCOP2
}
 Algorithm of Stabilizer. More...
 
enum  ControllerMode {
  MODE_IDLE, MODE_AIR, MODE_ST, MODE_SYNC_TO_IDLE,
  MODE_SYNC_TO_AIR
}
 Mode of controller. More...
 
enum  EmergencyCheckMode { NO_CHECK, COP, CP, TILT }
 Mode of emergency checking. More...
 
typedef double DblArray2[2]
 
typedef double DblArray3[3]
 
typedef double DblArray4[4]
 
typedef sequence< boolean > BoolSequence
 

Public Member Functions

void getParameter (out stParam i_param)
 Get Stabilizer parameters. More...
 
void setParameter (in stParam i_param)
 Set Stabilizer parameters. More...
 
void startStabilizer ()
 Start Stabilizer mode. More...
 
void stopStabilizer ()
 Sop Stabilizer mode. More...
 
boolean dummy ()
 

Member Typedef Documentation

◆ BoolSequence

typedef sequence<boolean> OpenHRP::StabilizerService::BoolSequence

◆ DblArray2

typedef double OpenHRP::StabilizerService::DblArray2[2]

◆ DblArray3

typedef double OpenHRP::StabilizerService::DblArray3[3]

◆ DblArray4

typedef double OpenHRP::StabilizerService::DblArray4[4]

Member Enumeration Documentation

◆ ControllerMode

Mode of controller.

Enumerator
MODE_IDLE 
MODE_AIR 
MODE_ST 
MODE_SYNC_TO_IDLE 
MODE_SYNC_TO_AIR 

◆ EmergencyCheckMode

Mode of emergency checking.

Enumerator
NO_CHECK 
COP 
CP 
TILT 

◆ STAlgorithm

Algorithm of Stabilizer.

Enumerator
TPCC 
EEFM 
EEFMQP 
EEFMQPCOP 
EEFMQPCOP2 

Member Function Documentation

◆ dummy()

boolean OpenHRP::StabilizerService::dummy ( )

◆ getParameter()

void OpenHRP::StabilizerService::getParameter ( out stParam  i_param)

Get Stabilizer parameters.

Parameters
i_paramis output parameters
Returns
true if set successfully, false otherwise

◆ setParameter()

void OpenHRP::StabilizerService::setParameter ( in stParam  i_param)

Set Stabilizer parameters.

Parameters
i_paramis input parameters
Returns
true if set successfully, false otherwise

◆ startStabilizer()

void OpenHRP::StabilizerService::startStabilizer ( )

Start Stabilizer mode.

Parameters

◆ stopStabilizer()

void OpenHRP::StabilizerService::stopStabilizer ( )

Sop Stabilizer mode.

Parameters

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