-
Notifications
You must be signed in to change notification settings - Fork 86
/
ObjectContactTurnaroundDetectorService_impl.cpp
61 lines (49 loc) · 3.04 KB
/
ObjectContactTurnaroundDetectorService_impl.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
#include "ObjectContactTurnaroundDetectorService_impl.h"
#include "ObjectContactTurnaroundDetector.h"
#include <hrpModel/Body.h>
#include <hrpModel/Link.h>
ObjectContactTurnaroundDetectorService_impl::ObjectContactTurnaroundDetectorService_impl() : m_octd(NULL)
{
}
ObjectContactTurnaroundDetectorService_impl::~ObjectContactTurnaroundDetectorService_impl()
{
}
void ObjectContactTurnaroundDetectorService_impl::startObjectContactTurnaroundDetection(const CORBA::Double i_ref_diff_wrench, const CORBA::Double i_max_time, const OpenHRP::ObjectContactTurnaroundDetectorService::StrSequence& i_ee_names)
{
m_octd->startObjectContactTurnaroundDetection(i_ref_diff_wrench, i_max_time, i_ee_names);
}
OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode ObjectContactTurnaroundDetectorService_impl::checkObjectContactTurnaroundDetection()
{
return m_octd->checkObjectContactTurnaroundDetection();
}
CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::setObjectContactTurnaroundDetectorParam(const OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam &i_param_)
{
return m_octd->setObjectContactTurnaroundDetectorParam(i_param_);
}
CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::getObjectContactTurnaroundDetectorParam(OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam_out i_param_)
{
i_param_ = new OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam();
return m_octd->getObjectContactTurnaroundDetectorParam(*i_param_);
}
CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::getObjectForcesMoments(OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out o_forces, OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out o_moments, OpenHRP::ObjectContactTurnaroundDetectorService::DblSequence3_out o_3dofwrench, CORBA::Double& o_fric_coeff_wrench)
{
return m_octd->getObjectForcesMoments(o_forces, o_moments, o_3dofwrench, o_fric_coeff_wrench);
}
CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::checkObjectContactTurnaroundDetectionForGeneralizedWrench(OpenHRP::ObjectContactTurnaroundDetectorService::DetectorModeSequence_out o_dms)
{
o_dms = new OpenHRP::ObjectContactTurnaroundDetectorService::DetectorModeSequence();
return m_octd->checkObjectContactTurnaroundDetectionForGeneralizedWrench(o_dms);
}
CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::startObjectContactTurnaroundDetectionForGeneralizedWrench()
{
return m_octd->startObjectContactTurnaroundDetectionForGeneralizedWrench();
}
CORBA::Boolean ObjectContactTurnaroundDetectorService_impl::getObjectGeneralizedConstraintWrenches(OpenHRP::ObjectContactTurnaroundDetectorService::objectGeneralizedConstraintWrenchesParam_out o_param)
{
o_param = new OpenHRP::ObjectContactTurnaroundDetectorService::objectGeneralizedConstraintWrenchesParam();
return m_octd->getObjectGeneralizedConstraintWrenches(*o_param);
}
void ObjectContactTurnaroundDetectorService_impl::octd(ObjectContactTurnaroundDetector *i_octd)
{
m_octd = i_octd;
}