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support both arm in ReferenceForceUpdater #1005

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merged 3 commits into from
Jun 9, 2016
Merged

support both arm in ReferenceForceUpdater #1005

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a730120
[rtc/ReferenceForceUpdater/ReferenceForceUpdater.cpp] fix indent
rkoyama1623-2021 Jun 1, 2016
94650f7
[idl/ReferenceForceUpdaterService.idl] remove arm parameter from Refe…
rkoyama1623-2021 May 31, 2016
3615862
[sample/SampleRobot/samplerobot_reference_force_updater.py] update rf…
rkoyama1623-2021 Jun 2, 2016
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10 changes: 4 additions & 6 deletions idl/ReferenceForceUpdaterService.idl
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,6 @@ module OpenHRP
{
/// Motion direction to update reference force
DblSequence3 motion_dir;
/// Name of used arm
string arm;
/// Update frequency [Hz]
double update_freq;
/// Update time ratio \in [0,1]
Expand All @@ -35,25 +33,25 @@ module OpenHRP
* @param i_param is input parameter
* @return true if set successfully, false otherwise
*/
boolean setReferenceForceUpdaterParam(in ReferenceForceUpdaterParam i_param);
boolean setReferenceForceUpdaterParam(in string name, in ReferenceForceUpdaterParam i_param);

/**
* @brief Get ReferenceForceUpdater parameters
* @param i_param is input parameter
* @return true if set successfully, false otherwise
*/
boolean getReferenceForceUpdaterParam(out ReferenceForceUpdaterParam i_param);
boolean getReferenceForceUpdaterParam(in string name, out ReferenceForceUpdaterParam i_param);

/**
* @brief Start ReferenceForceUpdater
* @return true if set successfully, false otherwise
*/
boolean startReferenceForceUpdater();
boolean startReferenceForceUpdater(in string name);

/**
* @brief Stop ReferenceForceUpdater
* @return true if set successfully, false otherwise
*/
boolean stopReferenceForceUpdater();
boolean stopReferenceForceUpdater(in string name);
};
};
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