implement EmergencyStopper and add sample script

snozawa · Jun 18, 2015 · 3b4951b · 3b4951b
1 parent bf3795a
commit 3b4951b
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Showing 8 changed files with 377 additions and 212 deletions.
diff --git a/idl/EmergencyStopperService.idl b/idl/EmergencyStopperService.idl
@@ -5,7 +5,8 @@ module OpenHRP
 {
  interface EmergencyStopperService
  {
- void echo(in string msg);
+ void stopMotion();
+ void releaseMotion();
  };
 };
 

diff --git a/python/hrpsys_config.py b/python/hrpsys_config.py
@@ -643,10 +643,10 @@ def getRTCListUnstable(self):
  ['kf', "KalmanFilter"],
  ['vs', "VirtualForceSensor"],
  ['rmfo', "RemoveForceSensorLinkOffset"],
+ ['es', "EmergencyStopper"],
  ['ic', "ImpedanceController"],
  ['abc', "AutoBalancer"],
  ['st', "Stabilizer"],
- ['es', "EmergencyStopper"],
  ['co', "CollisionDetector"],
  ['tc', "TorqueController"],
  # ['te', "ThermoEstimator"],
@@ -659,7 +659,7 @@ def getJointAngleControllerList(self):
  '''!@brief
  Get list of controller list that need to control joint angles
  '''
- controller_list = [self.ic, self.gc, self.abc, self.st, self.co,
+ controller_list = [self.es, self.ic, self.gc, self.abc, self.st, self.co,
  self.tc, self.el]
  return filter(lambda c: c != None, controller_list) # only return existing controllers
 

diff --git a/rtc/EmergencyStopper/CMakeLists.txt b/rtc/EmergencyStopper/CMakeLists.txt
@@ -1,5 +1,7 @@
-set(comp_sources EmergencyStopper.cpp EmergencyStopperService_impl.cpp)
-set(libs hrpsysBaseStub)
+set(seq_dir ${PROJECT_SOURCE_DIR}/rtc/SequencePlayer)
+set(comp_sources ${seq_dir}/interpolator.cpp EmergencyStopper.cpp EmergencyStopperService_impl.cpp)
+set(libs hrpModel-3.1 hrpUtil-3.1 hrpsysBaseStub)
+include_directories(${seq_dir})
 add_library(EmergencyStopper SHARED ${comp_sources})
 target_link_libraries(EmergencyStopper ${libs})
 set_target_properties(EmergencyStopper PROPERTIES PREFIX "")