Merge pull request #479 from snozawa/add_utility_functions_for_unstab…

…leRTCs

Add utility functions for Unstable RTCs

python/hrpsys_config.py

@@ -1679,6 +1679,34 @@ def playPatternOfGroup(self, gname, jointangles, tm):
  '''
  return self.seq_svc.playPatternOfGroup(gname, jointangles, tm)
 
+ # #
+ # # service interface for Unstable RTC component
+ # #
+ def startAutoBalancer(self, limbs=["rleg", "lleg"]):
+ '''!@brief
+ Start AutoBalancer mode
+ @param limbs list of end-effector name to control. rleg and lleg by default.
+ '''
+ self.abc_svc.startAutoBalancer(limbs)
+
+ def stopAutoBalancer(self):
+ '''!@brief
+ Stop AutoBalancer mode
+ '''
+ self.abc_svc.stopAutoBalancer()
+
+ def startStabilizer(self):
+ '''!@brief
+ Start Stabilzier mode
+ '''
+ self.st_svc.startStabilizer()
+
+ def stopStabilizer(self):
+ '''!@brief
+ Stop Stabilzier mode
+ '''
+ self.st_svc.stopStabilizer()
+
  # ##
  # ## initialize
  # ##