merges changes in tags/3.1.3(r548:HEAD)

git-svn-id: https://hrpsys-base.googlecode.com/svn/trunk@550 a991ac11-fb38-5095-8c12-a1ddb0715245
snozawa · Oct 3, 2012 · 3e63906 · 3e63906
1 parent d8cd4de
commit 3e63906
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Showing 13 changed files with 706 additions and 3 deletions.
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
@@ -3,6 +3,7 @@ set(input_files package.h utilities.h
  ../rtc/CameraImageViewer/CameraImageViewer.txt
  ../rtc/DataLogger/DataLogger.txt
  ../rtc/ForwardKinematics/ForwardKinematics.txt
+ ../rtc/HGcontroller/HGcontroller.txt
  ../rtc/Joystick/Joystick.txt
  ../rtc/Joystick2Velocity2D/Joystick2Velocity2D.txt
  ../rtc/Joystick2Velocity3D/Joystick2Velocity3D.txt
@@ -27,6 +28,7 @@ set(input_files package.h utilities.h
  ../idl/DataLoggerService.idl
  ../idl/ExecutionProfileService.idl
  ../idl/ForwardKinematicsService.idl
+ ../idl/GraspControllerService.idl
  ../idl/ImpedanceControllerService.idl
  ../idl/OGMap3DService.idl
  ../idl/RobotHardwareService.idl

diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in
@@ -471,6 +471,7 @@ INPUT = @CMAKE_CURRENT_SOURCE_DIR@/package.h \
  @CMAKE_CURRENT_SOURCE_DIR@/../rtc/CollisionDetector \
  @CMAKE_CURRENT_SOURCE_DIR@/../rtc/DataLogger \
  @CMAKE_CURRENT_SOURCE_DIR@/../rtc/ForwardKinematics \
+ @CMAKE_CURRENT_SOURCE_DIR@/../rtc/GraspController \
  @CMAKE_CURRENT_SOURCE_DIR@/../rtc/HGcontroller \
  @CMAKE_CURRENT_SOURCE_DIR@/../rtc/Joystick \
  @CMAKE_CURRENT_SOURCE_DIR@/../rtc/Joystick2Velocity2D \

diff --git a/doc/package.h b/doc/package.h
@@ -23,6 +23,7 @@ To use python scripts to create RT components, connect ports and get/set propert
  <li>\ref CollisionDetector</li>
  <li>\ref DataLogger</li>
  <li>\ref ForwardKinematics</li>
+ <li>\ref GraspController</li>
  <li>\ref HGcontroller</li>
  <li>\ref ImpedanceController</li>
  <li>\ref Joystick</li>
@@ -51,6 +52,7 @@ To use python scripts to create RT components, connect ports and get/set propert
  <li>\ref OpenHRP::DataLoggerService</li>
  <li>\ref OpenHRP::ExecutionProfileService</li>
  <li>\ref OpenHRP::ForwardKinematicsService</li>
+ <li>\ref OpenHRP::GraspControllerService</li>
  <li>\ref OpenHRP::ImpedanceControllerService</li>
  <li>\ref OpenHRP::OGMap3DService</li>
  <li>\ref OpenHRP::RobotHardwareService</li>

diff --git a/idl/CMakeLists.txt b/idl/CMakeLists.txt
@@ -15,6 +15,7 @@ set(idl_files
  ImpedanceControllerService.idl
  SoftErrorLimiterService.idl
  CollisionDetectorService.idl
+ GraspControllerService.idl
  )
 
 set(openhrp_idl_files

diff --git a/idl/CollisionDetectorService.idl b/idl/CollisionDetectorService.idl
@@ -10,9 +10,10 @@ module OpenHRP
 
  /**
  * @brief set tolerance value for collision detector
- * @param link_pair_name, tolerance torelance value
- * @return void
+ * @param link_pair_name name of link pair
+ * @param tolerance tolerance
+ * @return true if set successfully, false otherwise
  */
- boolean setTolerance(in string link_par_name, in double tolerance);
+ boolean setTolerance(in string link_pair_name, in double tolerance);
  };
 };
diff --git a/idl/GraspControllerService.idl b/idl/GraspControllerService.idl
@@ -0,0 +1,24 @@
+/**
+ * @file GraspControllerService.idl
+ * @brief Services for the robot hardware interface
+ */
+module OpenHRP
+{
+ interface GraspControllerService
+ {
+ /**
+ * @brief start grasp control
+ * @param name garap joint grup name, part name or "all"
+ * @param target_error joint servo error angle[rad]
+ * @return true if started successfully, false otherwise
+ */
+ boolean startGrasp(in string name, in double target_error);
+
+ /**
+ * @brief stop grasp control
+ * @param name garap joint grup name, part name or "all"
+ * @return true if stopped successfully, false otherwise
+ */
+ boolean stopGrasp(in string name);
+ };
+};
diff --git a/rtc/CMakeLists.txt b/rtc/CMakeLists.txt
@@ -19,6 +19,7 @@ add_subdirectory(ImpedanceController)
 add_subdirectory(SoftErrorLimiter)
 add_subdirectory(VirtualForceSensor)
 add_subdirectory(CollisionDetector)
+add_subdirectory(GraspController)
 if (NOT APPLE)
  add_subdirectory(VideoCapture)
 endif()

diff --git a/rtc/GraspController/CMakeLists.txt b/rtc/GraspController/CMakeLists.txt
@@ -0,0 +1,15 @@
+set(comp_sources GraspController.cpp GraspControllerService_impl.cpp)
+set(libs hrpModel-3.1 hrpUtil-3.1 hrpsysBaseStub)
+add_library(GraspController SHARED ${comp_sources})
+target_link_libraries(GraspController ${libs})
+set_target_properties(GraspController PROPERTIES PREFIX "")
+
+add_executable(GraspControllerComp GraspControllerComp.cpp ${comp_sources})
+target_link_libraries(GraspControllerComp ${libs})
+
+set(target GraspController GraspControllerComp)
+
+install(TARGETS ${target}
+ RUNTIME DESTINATION bin CONFIGURATIONS Release Debug
+ LIBRARY DESTINATION lib CONFIGURATIONS Release Debug
+)