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RemoveForceSensorLinkOffsetService.idl
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RemoveForceSensorLinkOffsetService.idl
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/**
* @file RemoveForceSensorLinkOffsetService.idl
* @brief Services for removing link offset of force sensors
*/
module OpenHRP
{
interface RemoveForceSensorLinkOffsetService
{
/**
* @struct forcemomentOffsetParam
* @brief Parameters for a link mass and center of mass. The link is assumed to be end-effector-side from force-moment sensor.
*/
typedef sequence<double, 3> DblSequence3;
struct forcemomentOffsetParam {
/// Force offset [N].
DblSequence3 force_offset;
/// Moment offset [Nm].
DblSequence3 moment_offset;
/// Link center of mass in sensor frame [m].
DblSequence3 link_offset_centroid;
/// Link msas [kg].
double link_offset_mass;
};
/**
* @brief set offset parameters.
* @param i_param new offset parameters
* @return true if set successfully, false otherwise
*/
boolean setForceMomentOffsetParam(in string name, in forcemomentOffsetParam i_param);
/**
* @brief get offset parameters.
* @param name is name of the offset parameter set and i_param output offset parameters
* @return true if set successfully, false otherwise
*/
boolean getForceMomentOffsetParam(in string name, out forcemomentOffsetParam i_param);
/**
* @brief loadForceMomentOffsetParams from file
* @param filename is full-path input file name.
* @return true if load successfully, false otherwise
*/
boolean loadForceMomentOffsetParams(in string filename);
/**
* @brief dumpForceMomentOffsetParams from file
* @param filename is full-path output file name.
* @return true if dump successfully, false otherwise
*/
boolean dumpForceMomentOffsetParams(in string filename);
};
};