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

import"TorqueControllerService.idl";

Classes

struct  torqueControllerParam
 

Public Types

typedef sequence< double > dSequence
 
typedef sequence< string > StrSequence
 

Public Member Functions

boolean enableTorqueController (in string jname)
 enable torque controller in specified joint More...
 
boolean enableMultipleTorqueControllers (in StrSequence jnames)
 enable torque controller in specified joints More...
 
boolean disableTorqueController (in string jname)
 disable torque controller in specified joint More...
 
boolean disableMultipleTorqueControllers (in StrSequence jnames)
 disable torque controller in specified joints More...
 
boolean startTorqueControl (in string jname)
 start torque controller in specified joint More...
 
boolean startMultipleTorqueControls (in StrSequence jnames)
 start torque controller in specified joints More...
 
boolean stopTorqueControl (in string jname)
 stop torque controller in specified joint More...
 
boolean stopMultipleTorqueControls (in StrSequence jnames)
 stop torque controller in specified joints More...
 
boolean setReferenceTorque (in string jname, in double tauRef)
 set torque reference to torque controller in specified joint More...
 
boolean setMultipleReferenceTorques (in StrSequence jnames, in dSequence tauRefs)
 set torque reference to torque controller in specified joint More...
 
boolean setTorqueControllerParam (in string jname, in torqueControllerParam i_param)
 set torque controller parameters More...
 
boolean getTorqueControllerParam (in string jname, out torqueControllerParam i_param)
 set torque controller parameters More...
 

Member Typedef Documentation

◆ dSequence

◆ StrSequence

Member Function Documentation

◆ disableMultipleTorqueControllers()

boolean OpenHRP::TorqueControllerService::disableMultipleTorqueControllers ( in StrSequence  jnames)

disable torque controller in specified joints

Parameters
jnamestarget joint names
Returns
true if set successfully, false otherwise

◆ disableTorqueController()

boolean OpenHRP::TorqueControllerService::disableTorqueController ( in string  jname)

disable torque controller in specified joint

Parameters
jnametarget joint name
Returns
true if set successfully, false otherwise

◆ enableMultipleTorqueControllers()

boolean OpenHRP::TorqueControllerService::enableMultipleTorqueControllers ( in StrSequence  jnames)

enable torque controller in specified joints

Parameters
jnamestarget joint names
Returns
true if set successfully, false otherwise

◆ enableTorqueController()

boolean OpenHRP::TorqueControllerService::enableTorqueController ( in string  jname)

enable torque controller in specified joint

Parameters
jnametarget joint name
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_paramnew 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
jnametarget joint names
tauRefreference 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
jnametarget joint name
tauRefreference 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_paramnew 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
jnamestarget joint names
Returns
true if set successfully, false otherwise

◆ startTorqueControl()

boolean OpenHRP::TorqueControllerService::startTorqueControl ( in string  jname)

start torque controller in specified joint

Parameters
jnametarget joint name
Returns
true if set successfully, false otherwise

◆ stopMultipleTorqueControls()

boolean OpenHRP::TorqueControllerService::stopMultipleTorqueControls ( in StrSequence  jnames)

stop torque controller in specified joints

Parameters
jnamestarget joint names
Returns
true if set successfully, false otherwise

◆ stopTorqueControl()

boolean OpenHRP::TorqueControllerService::stopTorqueControl ( in string  jname)

stop torque controller in specified joint

Parameters
jnametarget joint name
Returns
true if set successfully, false otherwise

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