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TorqueControllerService.idl
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TorqueControllerService.idl
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/**
* @file TorqueControllerService.idl
* @brief Services for the torque control interface
*/
module OpenHRP
{
interface TorqueControllerService
{
typedef sequence<double> dSequence;
typedef sequence<string> StrSequence;
struct torqueControllerParam {
string name;
double tc; // time constant
double ke; // for TwoDofController and TwoDofControllerPDModel
double kd; // for TwoDofControllerPDModel
double ki; // for TwoDofControllerDynamicModel
double alpha; // for TwoDofControllerDynamicModel
double beta; // for TwoDofControllerDynamicModel
};
/**
* @brief enable torque controller in specified joint
* @param jname: target joint name
* @return true if set successfully, false otherwise
*/
boolean enableTorqueController(in string jname);
/**
* @brief enable torque controller in specified joints
* @param jnames: target joint names
* @return true if set successfully, false otherwise
*/
boolean enableMultipleTorqueControllers(in StrSequence jnames);
/**
* @brief disable torque controller in specified joint
* @param jname: target joint name
* @return true if set successfully, false otherwise
*/
boolean disableTorqueController(in string jname);
/**
* @brief disable torque controller in specified joints
* @param jnames: target joint names
* @return true if set successfully, false otherwise
*/
boolean disableMultipleTorqueControllers(in StrSequence jnames);
/**
* @brief start torque controller in specified joint
* @param jname: target joint name
* @return true if set successfully, false otherwise
*/
boolean startTorqueControl(in string jname);
/**
* @brief start torque controller in specified joints
* @param jnames: target joint names
* @return true if set successfully, false otherwise
*/
boolean startMultipleTorqueControls(in StrSequence jnames);
/**
* @brief stop torque controller in specified joint
* @param jname: target joint name
* @return true if set successfully, false otherwise
*/
boolean stopTorqueControl(in string jname);
/**
* @brief stop torque controller in specified joints
* @param jnames: target joint names
* @return true if set successfully, false otherwise
*/
boolean stopMultipleTorqueControls(in StrSequence jnames);
/**
* @brief set torque reference to torque controller in specified joint
* @param jname: target joint name
* @param tauRef: reference torque
* @return true if set successfully, false otherwise
*/
boolean setReferenceTorque(in string jname, in double tauRef);
/**
* @brief set torque reference to torque controller in specified joint
* @param jname: target joint names
* @param tauRef: reference torques
* @return true if set all successfully, false otherwise
*/
boolean setMultipleReferenceTorques(in StrSequence jnames, in dSequence tauRefs);
/**
* @brief set torque controller parameters
* @param t_param: new torque controller param (invariant parameters are expected as 0)
* @return true if set all successfully, false otherwise
*/
boolean setTorqueControllerParam(in torqueControllerParam t_param);
};
};