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

import"ServoControllerService.idl";

Public Types

typedef sequence< short > iSequence
 
typedef sequence< double > dSequence
 

Public Member Functions

boolean setJointAngle (in short id, in double jv, in double tm)
 Interpolate just one joint angle specified by id using duration tm. More...
 
boolean setJointAngles (in dSequence jvs, in double tm)
 Interpolate all joint angles on servo moters using duration specified by tm. More...
 
boolean getJointAngle (in short id, out double jv)
 Obttain just one joint angle specified by id. More...
 
boolean getJointAngles (out dSequence jvs)
 Interpolate all joint angles on servo moters. More...
 
boolean addJointGroup (in string gname, in iSequence ids)
 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 setMaxTorque (in short id, in short percentage)
 Interpolate just one joint max torque specified by id. More...
 
boolean setReset (in short id)
 Reset servo settings. More...
 
boolean getDuration (in short id, out double duration)
 Get servo duration. More...
 
boolean getSpeed (in short id, out double speed)
 Get servo speed. More...
 
boolean getMaxTorque (in short id, out short percentage)
 Get servo maxTorque. More...
 
boolean getTorque (in short id, out double torque)
 Get servo torque. More...
 
boolean getTemperature (in short id, out double temperature)
 Get servo temperature. More...
 
boolean getVoltage (in short id, out double voltage)
 Get servo voltage. More...
 
boolean servoOn ()
 
boolean servoOff ()
 

Member Typedef Documentation

◆ dSequence

◆ iSequence

Member Function Documentation

◆ addJointGroup()

boolean OpenHRP::ServoControllerService::addJointGroup ( in string  gname,
in iSequence  ids 
)

add a joint group

Parameters
gnamename of the joint group
idslist of joint ids
Returns
true if the group is added successfully, false otherwise

◆ getDuration()

boolean OpenHRP::ServoControllerService::getDuration ( in short  id,
out double  duration 
)

Get servo duration.

Parameters
idjoint id
durationservo duration
Returns
true if set successuflly, false otherwise

◆ getJointAngle()

boolean OpenHRP::ServoControllerService::getJointAngle ( in short  id,
out double  jv 
)

Obttain just one joint angle specified by id.

Function returns without waiting for interpolation to finish

Parameters
idjoint id
jvjoint angle
Returns
true if get successuflly, false otherwise

◆ getJointAngles()

boolean OpenHRP::ServoControllerService::getJointAngles ( out dSequence  jvs)

Interpolate all joint angles on servo moters.

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

Parameters
jvssequence of joint angles
Returns
true joint angles are get successfully, false otherwise

◆ getMaxTorque()

boolean OpenHRP::ServoControllerService::getMaxTorque ( in short  id,
out short  percentage 
)

Get servo maxTorque.

Parameters
idjoint id
percentageservo maxTorque(1~100[%], per 1)
Returns
true if set successuflly, false otherwise

◆ getSpeed()

boolean OpenHRP::ServoControllerService::getSpeed ( in short  id,
out double  speed 
)

Get servo speed.

Parameters
idjoint id
speedservo speed
Returns
true if set successuflly, false otherwise

◆ getTemperature()

boolean OpenHRP::ServoControllerService::getTemperature ( in short  id,
out double  temperature 
)

Get servo temperature.

Parameters
idjoint id
temperatureservo temperature
Returns
true if set successuflly, false otherwise

◆ getTorque()

boolean OpenHRP::ServoControllerService::getTorque ( in short  id,
out double  torque 
)

Get servo torque.

Parameters
idjoint id
torqueservo torque
Returns
true if set successuflly, false otherwise

◆ getVoltage()

boolean OpenHRP::ServoControllerService::getVoltage ( in short  id,
out double  voltage 
)

Get servo voltage.

Parameters
idjoint id
voltageservo voltage
Returns
true if set successuflly, false otherwise

◆ removeJointGroup()

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

remove a joint group

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

◆ servoOff()

boolean OpenHRP::ServoControllerService::servoOff ( )

◆ servoOn()

boolean OpenHRP::ServoControllerService::servoOn ( )

◆ setJointAngle()

boolean OpenHRP::ServoControllerService::setJointAngle ( in short  id,
in double  jv,
in double  tm 
)

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

Function returns without waiting for interpolation to finish

Parameters
idjoint id
jvjoint angle
tmduration
Returns
true if set successuflly, false otherwise

◆ setJointAngles()

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

Interpolate all joint angles on servo moters using duration specified by tm.

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

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

◆ setJointAnglesOfGroup()

boolean OpenHRP::ServoControllerService::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
Returns
true joint angles are set successfully, false otherwise

◆ setMaxTorque()

boolean OpenHRP::ServoControllerService::setMaxTorque ( in short  id,
in short  percentage 
)

Interpolate just one joint max torque specified by id.

Function returns without waiting for interpolation to finish

Parameters
idjoint id
percentageservo maxTorque(1~100[%])
Returns
true if set successuflly, false otherwise

◆ setReset()

boolean OpenHRP::ServoControllerService::setReset ( in short  id)

Reset servo settings.

Parameters
idjoint id
Returns
true if set successuflly, false otherwise

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