00001 // ********************************************************************** 00002 // 00003 // Copyright (c) 2003-2009 ZeroC, Inc. All rights reserved. 00004 // 00005 // This copy of Ice is licensed to you under the terms described in the 00006 // ICE_LICENSE file included in this distribution. 00007 // 00008 // ********************************************************************** 00009 00010 // Ice version 3.3.1 00011 // Generated from file `Scorbot.ice' 00012 00013 #ifndef __src_Robots_Scorbot__Scorbot_ice_H__ 00014 #define __src_Robots_Scorbot__Scorbot_ice_H__ 00015 00016 #include <Ice/LocalObjectF.h> 00017 #include <Ice/ProxyF.h> 00018 #include <Ice/ObjectF.h> 00019 #include <Ice/Exception.h> 00020 #include <Ice/LocalObject.h> 00021 #include <Ice/Proxy.h> 00022 #include <Ice/Object.h> 00023 #include <Ice/Outgoing.h> 00024 #include <Ice/Incoming.h> 00025 #include <Ice/Direct.h> 00026 #include <Ice/StreamF.h> 00027 #include <Ice/UndefSysMacros.h> 00028 00029 #ifndef ICE_IGNORE_VERSION 00030 # if ICE_INT_VERSION / 100 != 303 00031 # error Ice version mismatch! 00032 # endif 00033 # if ICE_INT_VERSION % 100 > 50 00034 # error Beta header file detected 00035 # endif 00036 # if ICE_INT_VERSION % 100 < 1 00037 # error Ice patch level mismatch! 00038 # endif 00039 #endif 00040 00041 namespace IceProxy 00042 { 00043 00044 namespace ScorbotIce 00045 { 00046 00047 class Scorbot; 00048 00049 } 00050 00051 } 00052 00053 namespace ScorbotIce 00054 { 00055 00056 class Scorbot; 00057 bool operator==(const Scorbot&, const Scorbot&); 00058 bool operator<(const Scorbot&, const Scorbot&); 00059 00060 } 00061 00062 namespace IceInternal 00063 { 00064 00065 ::Ice::Object* upCast(::ScorbotIce::Scorbot*); 00066 ::IceProxy::Ice::Object* upCast(::IceProxy::ScorbotIce::Scorbot*); 00067 00068 } 00069 00070 namespace ScorbotIce 00071 { 00072 00073 typedef ::IceInternal::Handle< ::ScorbotIce::Scorbot> ScorbotPtr; 00074 typedef ::IceInternal::ProxyHandle< ::IceProxy::ScorbotIce::Scorbot> ScorbotPrx; 00075 00076 void __read(::IceInternal::BasicStream*, ScorbotPrx&); 00077 void __patch__ScorbotPtr(void*, ::Ice::ObjectPtr&); 00078 00079 } 00080 00081 namespace ScorbotIce 00082 { 00083 00084 enum JointType 00085 { 00086 Base, 00087 Shoulder, 00088 Elbow, 00089 Wrist1, 00090 Wrist2, 00091 Gripper, 00092 Slider 00093 }; 00094 00095 void __write(::IceInternal::BasicStream*, JointType); 00096 void __read(::IceInternal::BasicStream*, JointType&); 00097 00098 typedef ::std::map< ::ScorbotIce::JointType, ::Ice::Int> encoderValsType; 00099 void __writeencoderValsType(::IceInternal::BasicStream*, const encoderValsType&); 00100 void __readencoderValsType(::IceInternal::BasicStream*, encoderValsType&); 00101 00102 typedef ::std::map< ::ScorbotIce::JointType, ::Ice::Float> pwmValsType; 00103 void __writepwmValsType(::IceInternal::BasicStream*, const pwmValsType&); 00104 void __readpwmValsType(::IceInternal::BasicStream*, pwmValsType&); 00105 00106 } 00107 00108 namespace IceProxy 00109 { 00110 00111 namespace ScorbotIce 00112 { 00113 00114 class Scorbot : virtual public ::IceProxy::Ice::Object 00115 { 00116 public: 00117 00118 void setJoint(::ScorbotIce::JointType joint, ::Ice::Int encoderPos, ::Ice::Int timeMS) 00119 { 00120 setJoint(joint, encoderPos, timeMS, 0); 00121 } 00122 void setJoint(::ScorbotIce::JointType joint, ::Ice::Int encoderPos, ::Ice::Int timeMS, const ::Ice::Context& __ctx) 00123 { 00124 setJoint(joint, encoderPos, timeMS, &__ctx); 00125 } 00126 00127 private: 00128 00129 void setJoint(::ScorbotIce::JointType, ::Ice::Int, ::Ice::Int, const ::Ice::Context*); 00130 00131 public: 00132 00133 void setJoints(const ::ScorbotIce::encoderValsType& pos, ::Ice::Int timeMS) 00134 { 00135 setJoints(pos, timeMS, 0); 00136 } 00137 void setJoints(const ::ScorbotIce::encoderValsType& pos, ::Ice::Int timeMS, const ::Ice::Context& __ctx) 00138 { 00139 setJoints(pos, timeMS, &__ctx); 00140 } 00141 00142 private: 00143 00144 void setJoints(const ::ScorbotIce::encoderValsType&, ::Ice::Int, const ::Ice::Context*); 00145 00146 public: 00147 00148 ::Ice::Int getEncoder(::ScorbotIce::JointType joint) 00149 { 00150 return getEncoder(joint, 0); 00151 } 00152 ::Ice::Int getEncoder(::ScorbotIce::JointType joint, const ::Ice::Context& __ctx) 00153 { 00154 return getEncoder(joint, &__ctx); 00155 } 00156 00157 private: 00158 00159 ::Ice::Int getEncoder(::ScorbotIce::JointType, const ::Ice::Context*); 00160 00161 public: 00162 00163 ::ScorbotIce::encoderValsType getEncoders() 00164 { 00165 return getEncoders(0); 00166 } 00167 ::ScorbotIce::encoderValsType getEncoders(const ::Ice::Context& __ctx) 00168 { 00169 return getEncoders(&__ctx); 00170 } 00171 00172 private: 00173 00174 ::ScorbotIce::encoderValsType getEncoders(const ::Ice::Context*); 00175 00176 public: 00177 00178 void setEnabled(bool enabled) 00179 { 00180 setEnabled(enabled, 0); 00181 } 00182 void setEnabled(bool enabled, const ::Ice::Context& __ctx) 00183 { 00184 setEnabled(enabled, &__ctx); 00185 } 00186 00187 private: 00188 00189 void setEnabled(bool, const ::Ice::Context*); 00190 00191 public: 00192 00193 void resetEncoders() 00194 { 00195 resetEncoders(0); 00196 } 00197 void resetEncoders(const ::Ice::Context& __ctx) 00198 { 00199 resetEncoders(&__ctx); 00200 } 00201 00202 private: 00203 00204 void resetEncoders(const ::Ice::Context*); 00205 00206 public: 00207 00208 ::Ice::Float getPWM(::ScorbotIce::JointType joint) 00209 { 00210 return getPWM(joint, 0); 00211 } 00212 ::Ice::Float getPWM(::ScorbotIce::JointType joint, const ::Ice::Context& __ctx) 00213 { 00214 return getPWM(joint, &__ctx); 00215 } 00216 00217 private: 00218 00219 ::Ice::Float getPWM(::ScorbotIce::JointType, const ::Ice::Context*); 00220 00221 public: 00222 00223 ::ScorbotIce::pwmValsType getPWMs() 00224 { 00225 return getPWMs(0); 00226 } 00227 ::ScorbotIce::pwmValsType getPWMs(const ::Ice::Context& __ctx) 00228 { 00229 return getPWMs(&__ctx); 00230 } 00231 00232 private: 00233 00234 ::ScorbotIce::pwmValsType getPWMs(const ::Ice::Context*); 00235 00236 public: 00237 00238 void setControlParams(::ScorbotIce::JointType joint, ::Ice::Float pGain, ::Ice::Float iGain, ::Ice::Float dGain, ::Ice::Float maxI, ::Ice::Float maxPWM, ::Ice::Float pwmOffset) 00239 { 00240 setControlParams(joint, pGain, iGain, dGain, maxI, maxPWM, pwmOffset, 0); 00241 } 00242 void setControlParams(::ScorbotIce::JointType joint, ::Ice::Float pGain, ::Ice::Float iGain, ::Ice::Float dGain, ::Ice::Float maxI, ::Ice::Float maxPWM, ::Ice::Float pwmOffset, const ::Ice::Context& __ctx) 00243 { 00244 setControlParams(joint, pGain, iGain, dGain, maxI, maxPWM, pwmOffset, &__ctx); 00245 } 00246 00247 private: 00248 00249 void setControlParams(::ScorbotIce::JointType, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*); 00250 00251 public: 00252 00253 void getPIDVals(::ScorbotIce::JointType joint, ::Ice::Float& pGain, ::Ice::Float& iGain, ::Ice::Float& dGain, ::Ice::Float& maxI, ::Ice::Float& maxPWM, ::Ice::Float& pwmOffset) 00254 { 00255 getPIDVals(joint, pGain, iGain, dGain, maxI, maxPWM, pwmOffset, 0); 00256 } 00257 void getPIDVals(::ScorbotIce::JointType joint, ::Ice::Float& pGain, ::Ice::Float& iGain, ::Ice::Float& dGain, ::Ice::Float& maxI, ::Ice::Float& maxPWM, ::Ice::Float& pwmOffset, const ::Ice::Context& __ctx) 00258 { 00259 getPIDVals(joint, pGain, iGain, dGain, maxI, maxPWM, pwmOffset, &__ctx); 00260 } 00261 00262 private: 00263 00264 void getPIDVals(::ScorbotIce::JointType, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Context*); 00265 00266 public: 00267 00268 void getTuningVals(::ScorbotIce::JointType joint, ::Ice::Int& targetPos, ::Ice::Int& targetVel, ::Ice::Float& gravityCompensation) 00269 { 00270 getTuningVals(joint, targetPos, targetVel, gravityCompensation, 0); 00271 } 00272 void getTuningVals(::ScorbotIce::JointType joint, ::Ice::Int& targetPos, ::Ice::Int& targetVel, ::Ice::Float& gravityCompensation, const ::Ice::Context& __ctx) 00273 { 00274 getTuningVals(joint, targetPos, targetVel, gravityCompensation, &__ctx); 00275 } 00276 00277 private: 00278 00279 void getTuningVals(::ScorbotIce::JointType, ::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*); 00280 00281 public: 00282 00283 void setGravityParameters(::Ice::Int upperArmMass, ::Ice::Int foreArmMass, ::Ice::Float compensationScale) 00284 { 00285 setGravityParameters(upperArmMass, foreArmMass, compensationScale, 0); 00286 } 00287 void setGravityParameters(::Ice::Int upperArmMass, ::Ice::Int foreArmMass, ::Ice::Float compensationScale, const ::Ice::Context& __ctx) 00288 { 00289 setGravityParameters(upperArmMass, foreArmMass, compensationScale, &__ctx); 00290 } 00291 00292 private: 00293 00294 void setGravityParameters(::Ice::Int, ::Ice::Int, ::Ice::Float, const ::Ice::Context*); 00295 00296 public: 00297 00298 void getGravityParameters(::Ice::Int& upperArmMass, ::Ice::Int& foreArmMass, ::Ice::Float& compensationScale) 00299 { 00300 getGravityParameters(upperArmMass, foreArmMass, compensationScale, 0); 00301 } 00302 void getGravityParameters(::Ice::Int& upperArmMass, ::Ice::Int& foreArmMass, ::Ice::Float& compensationScale, const ::Ice::Context& __ctx) 00303 { 00304 getGravityParameters(upperArmMass, foreArmMass, compensationScale, &__ctx); 00305 } 00306 00307 private: 00308 00309 void getGravityParameters(::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*); 00310 00311 public: 00312 00313 ::IceInternal::ProxyHandle<Scorbot> ice_context(const ::Ice::Context& __context) const 00314 { 00315 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00316 typedef ::IceProxy::Ice::Object _Base; 00317 return dynamic_cast<Scorbot*>(_Base::ice_context(__context).get()); 00318 #else 00319 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_context(__context).get()); 00320 #endif 00321 } 00322 00323 ::IceInternal::ProxyHandle<Scorbot> ice_adapterId(const std::string& __id) const 00324 { 00325 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00326 typedef ::IceProxy::Ice::Object _Base; 00327 return dynamic_cast<Scorbot*>(_Base::ice_adapterId(__id).get()); 00328 #else 00329 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_adapterId(__id).get()); 00330 #endif 00331 } 00332 00333 ::IceInternal::ProxyHandle<Scorbot> ice_endpoints(const ::Ice::EndpointSeq& __endpoints) const 00334 { 00335 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00336 typedef ::IceProxy::Ice::Object _Base; 00337 return dynamic_cast<Scorbot*>(_Base::ice_endpoints(__endpoints).get()); 00338 #else 00339 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_endpoints(__endpoints).get()); 00340 #endif 00341 } 00342 00343 ::IceInternal::ProxyHandle<Scorbot> ice_locatorCacheTimeout(int __timeout) const 00344 { 00345 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00346 typedef ::IceProxy::Ice::Object _Base; 00347 return dynamic_cast<Scorbot*>(_Base::ice_locatorCacheTimeout(__timeout).get()); 00348 #else 00349 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_locatorCacheTimeout(__timeout).get()); 00350 #endif 00351 } 00352 00353 ::IceInternal::ProxyHandle<Scorbot> ice_connectionCached(bool __cached) const 00354 { 00355 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00356 typedef ::IceProxy::Ice::Object _Base; 00357 return dynamic_cast<Scorbot*>(_Base::ice_connectionCached(__cached).get()); 00358 #else 00359 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_connectionCached(__cached).get()); 00360 #endif 00361 } 00362 00363 ::IceInternal::ProxyHandle<Scorbot> ice_endpointSelection(::Ice::EndpointSelectionType __est) const 00364 { 00365 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00366 typedef ::IceProxy::Ice::Object _Base; 00367 return dynamic_cast<Scorbot*>(_Base::ice_endpointSelection(__est).get()); 00368 #else 00369 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_endpointSelection(__est).get()); 00370 #endif 00371 } 00372 00373 ::IceInternal::ProxyHandle<Scorbot> ice_secure(bool __secure) const 00374 { 00375 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00376 typedef ::IceProxy::Ice::Object _Base; 00377 return dynamic_cast<Scorbot*>(_Base::ice_secure(__secure).get()); 00378 #else 00379 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_secure(__secure).get()); 00380 #endif 00381 } 00382 00383 ::IceInternal::ProxyHandle<Scorbot> ice_preferSecure(bool __preferSecure) const 00384 { 00385 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00386 typedef ::IceProxy::Ice::Object _Base; 00387 return dynamic_cast<Scorbot*>(_Base::ice_preferSecure(__preferSecure).get()); 00388 #else 00389 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_preferSecure(__preferSecure).get()); 00390 #endif 00391 } 00392 00393 ::IceInternal::ProxyHandle<Scorbot> ice_router(const ::Ice::RouterPrx& __router) const 00394 { 00395 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00396 typedef ::IceProxy::Ice::Object _Base; 00397 return dynamic_cast<Scorbot*>(_Base::ice_router(__router).get()); 00398 #else 00399 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_router(__router).get()); 00400 #endif 00401 } 00402 00403 ::IceInternal::ProxyHandle<Scorbot> ice_locator(const ::Ice::LocatorPrx& __locator) const 00404 { 00405 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00406 typedef ::IceProxy::Ice::Object _Base; 00407 return dynamic_cast<Scorbot*>(_Base::ice_locator(__locator).get()); 00408 #else 00409 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_locator(__locator).get()); 00410 #endif 00411 } 00412 00413 ::IceInternal::ProxyHandle<Scorbot> ice_collocationOptimized(bool __co) const 00414 { 00415 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00416 typedef ::IceProxy::Ice::Object _Base; 00417 return dynamic_cast<Scorbot*>(_Base::ice_collocationOptimized(__co).get()); 00418 #else 00419 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_collocationOptimized(__co).get()); 00420 #endif 00421 } 00422 00423 ::IceInternal::ProxyHandle<Scorbot> ice_twoway() const 00424 { 00425 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00426 typedef ::IceProxy::Ice::Object _Base; 00427 return dynamic_cast<Scorbot*>(_Base::ice_twoway().get()); 00428 #else 00429 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_twoway().get()); 00430 #endif 00431 } 00432 00433 ::IceInternal::ProxyHandle<Scorbot> ice_oneway() const 00434 { 00435 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00436 typedef ::IceProxy::Ice::Object _Base; 00437 return dynamic_cast<Scorbot*>(_Base::ice_oneway().get()); 00438 #else 00439 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_oneway().get()); 00440 #endif 00441 } 00442 00443 ::IceInternal::ProxyHandle<Scorbot> ice_batchOneway() const 00444 { 00445 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00446 typedef ::IceProxy::Ice::Object _Base; 00447 return dynamic_cast<Scorbot*>(_Base::ice_batchOneway().get()); 00448 #else 00449 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_batchOneway().get()); 00450 #endif 00451 } 00452 00453 ::IceInternal::ProxyHandle<Scorbot> ice_datagram() const 00454 { 00455 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00456 typedef ::IceProxy::Ice::Object _Base; 00457 return dynamic_cast<Scorbot*>(_Base::ice_datagram().get()); 00458 #else 00459 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_datagram().get()); 00460 #endif 00461 } 00462 00463 ::IceInternal::ProxyHandle<Scorbot> ice_batchDatagram() const 00464 { 00465 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00466 typedef ::IceProxy::Ice::Object _Base; 00467 return dynamic_cast<Scorbot*>(_Base::ice_batchDatagram().get()); 00468 #else 00469 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_batchDatagram().get()); 00470 #endif 00471 } 00472 00473 ::IceInternal::ProxyHandle<Scorbot> ice_compress(bool __compress) const 00474 { 00475 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00476 typedef ::IceProxy::Ice::Object _Base; 00477 return dynamic_cast<Scorbot*>(_Base::ice_compress(__compress).get()); 00478 #else 00479 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_compress(__compress).get()); 00480 #endif 00481 } 00482 00483 ::IceInternal::ProxyHandle<Scorbot> ice_timeout(int __timeout) const 00484 { 00485 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00486 typedef ::IceProxy::Ice::Object _Base; 00487 return dynamic_cast<Scorbot*>(_Base::ice_timeout(__timeout).get()); 00488 #else 00489 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_timeout(__timeout).get()); 00490 #endif 00491 } 00492 00493 ::IceInternal::ProxyHandle<Scorbot> ice_connectionId(const std::string& __id) const 00494 { 00495 #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug 00496 typedef ::IceProxy::Ice::Object _Base; 00497 return dynamic_cast<Scorbot*>(_Base::ice_connectionId(__id).get()); 00498 #else 00499 return dynamic_cast<Scorbot*>(::IceProxy::Ice::Object::ice_connectionId(__id).get()); 00500 #endif 00501 } 00502 00503 static const ::std::string& ice_staticId(); 00504 00505 private: 00506 00507 virtual ::IceInternal::Handle< ::IceDelegateM::Ice::Object> __createDelegateM(); 00508 virtual ::IceInternal::Handle< ::IceDelegateD::Ice::Object> __createDelegateD(); 00509 virtual ::IceProxy::Ice::Object* __newInstance() const; 00510 }; 00511 00512 } 00513 00514 } 00515 00516 namespace IceDelegate 00517 { 00518 00519 namespace ScorbotIce 00520 { 00521 00522 class Scorbot : virtual public ::IceDelegate::Ice::Object 00523 { 00524 public: 00525 00526 virtual void setJoint(::ScorbotIce::JointType, ::Ice::Int, ::Ice::Int, const ::Ice::Context*) = 0; 00527 00528 virtual void setJoints(const ::ScorbotIce::encoderValsType&, ::Ice::Int, const ::Ice::Context*) = 0; 00529 00530 virtual ::Ice::Int getEncoder(::ScorbotIce::JointType, const ::Ice::Context*) = 0; 00531 00532 virtual ::ScorbotIce::encoderValsType getEncoders(const ::Ice::Context*) = 0; 00533 00534 virtual void setEnabled(bool, const ::Ice::Context*) = 0; 00535 00536 virtual void resetEncoders(const ::Ice::Context*) = 0; 00537 00538 virtual ::Ice::Float getPWM(::ScorbotIce::JointType, const ::Ice::Context*) = 0; 00539 00540 virtual ::ScorbotIce::pwmValsType getPWMs(const ::Ice::Context*) = 0; 00541 00542 virtual void setControlParams(::ScorbotIce::JointType, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*) = 0; 00543 00544 virtual void getPIDVals(::ScorbotIce::JointType, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Context*) = 0; 00545 00546 virtual void getTuningVals(::ScorbotIce::JointType, ::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*) = 0; 00547 00548 virtual void setGravityParameters(::Ice::Int, ::Ice::Int, ::Ice::Float, const ::Ice::Context*) = 0; 00549 00550 virtual void getGravityParameters(::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*) = 0; 00551 }; 00552 00553 } 00554 00555 } 00556 00557 namespace IceDelegateM 00558 { 00559 00560 namespace ScorbotIce 00561 { 00562 00563 class Scorbot : virtual public ::IceDelegate::ScorbotIce::Scorbot, 00564 virtual public ::IceDelegateM::Ice::Object 00565 { 00566 public: 00567 00568 virtual void setJoint(::ScorbotIce::JointType, ::Ice::Int, ::Ice::Int, const ::Ice::Context*); 00569 00570 virtual void setJoints(const ::ScorbotIce::encoderValsType&, ::Ice::Int, const ::Ice::Context*); 00571 00572 virtual ::Ice::Int getEncoder(::ScorbotIce::JointType, const ::Ice::Context*); 00573 00574 virtual ::ScorbotIce::encoderValsType getEncoders(const ::Ice::Context*); 00575 00576 virtual void setEnabled(bool, const ::Ice::Context*); 00577 00578 virtual void resetEncoders(const ::Ice::Context*); 00579 00580 virtual ::Ice::Float getPWM(::ScorbotIce::JointType, const ::Ice::Context*); 00581 00582 virtual ::ScorbotIce::pwmValsType getPWMs(const ::Ice::Context*); 00583 00584 virtual void setControlParams(::ScorbotIce::JointType, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*); 00585 00586 virtual void getPIDVals(::ScorbotIce::JointType, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Context*); 00587 00588 virtual void getTuningVals(::ScorbotIce::JointType, ::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*); 00589 00590 virtual void setGravityParameters(::Ice::Int, ::Ice::Int, ::Ice::Float, const ::Ice::Context*); 00591 00592 virtual void getGravityParameters(::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*); 00593 }; 00594 00595 } 00596 00597 } 00598 00599 namespace IceDelegateD 00600 { 00601 00602 namespace ScorbotIce 00603 { 00604 00605 class Scorbot : virtual public ::IceDelegate::ScorbotIce::Scorbot, 00606 virtual public ::IceDelegateD::Ice::Object 00607 { 00608 public: 00609 00610 virtual void setJoint(::ScorbotIce::JointType, ::Ice::Int, ::Ice::Int, const ::Ice::Context*); 00611 00612 virtual void setJoints(const ::ScorbotIce::encoderValsType&, ::Ice::Int, const ::Ice::Context*); 00613 00614 virtual ::Ice::Int getEncoder(::ScorbotIce::JointType, const ::Ice::Context*); 00615 00616 virtual ::ScorbotIce::encoderValsType getEncoders(const ::Ice::Context*); 00617 00618 virtual void setEnabled(bool, const ::Ice::Context*); 00619 00620 virtual void resetEncoders(const ::Ice::Context*); 00621 00622 virtual ::Ice::Float getPWM(::ScorbotIce::JointType, const ::Ice::Context*); 00623 00624 virtual ::ScorbotIce::pwmValsType getPWMs(const ::Ice::Context*); 00625 00626 virtual void setControlParams(::ScorbotIce::JointType, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Context*); 00627 00628 virtual void getPIDVals(::ScorbotIce::JointType, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Context*); 00629 00630 virtual void getTuningVals(::ScorbotIce::JointType, ::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*); 00631 00632 virtual void setGravityParameters(::Ice::Int, ::Ice::Int, ::Ice::Float, const ::Ice::Context*); 00633 00634 virtual void getGravityParameters(::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Context*); 00635 }; 00636 00637 } 00638 00639 } 00640 00641 namespace ScorbotIce 00642 { 00643 00644 class Scorbot : virtual public ::Ice::Object 00645 { 00646 public: 00647 00648 typedef ScorbotPrx ProxyType; 00649 typedef ScorbotPtr PointerType; 00650 00651 virtual ::Ice::ObjectPtr ice_clone() const; 00652 00653 virtual bool ice_isA(const ::std::string&, const ::Ice::Current& = ::Ice::Current()) const; 00654 virtual ::std::vector< ::std::string> ice_ids(const ::Ice::Current& = ::Ice::Current()) const; 00655 virtual const ::std::string& ice_id(const ::Ice::Current& = ::Ice::Current()) const; 00656 static const ::std::string& ice_staticId(); 00657 00658 virtual void setJoint(::ScorbotIce::JointType, ::Ice::Int, ::Ice::Int, const ::Ice::Current& = ::Ice::Current()) = 0; 00659 ::Ice::DispatchStatus ___setJoint(::IceInternal::Incoming&, const ::Ice::Current&); 00660 00661 virtual void setJoints(const ::ScorbotIce::encoderValsType&, ::Ice::Int, const ::Ice::Current& = ::Ice::Current()) = 0; 00662 ::Ice::DispatchStatus ___setJoints(::IceInternal::Incoming&, const ::Ice::Current&); 00663 00664 virtual ::Ice::Int getEncoder(::ScorbotIce::JointType, const ::Ice::Current& = ::Ice::Current()) = 0; 00665 ::Ice::DispatchStatus ___getEncoder(::IceInternal::Incoming&, const ::Ice::Current&); 00666 00667 virtual ::ScorbotIce::encoderValsType getEncoders(const ::Ice::Current& = ::Ice::Current()) = 0; 00668 ::Ice::DispatchStatus ___getEncoders(::IceInternal::Incoming&, const ::Ice::Current&); 00669 00670 virtual void setEnabled(bool, const ::Ice::Current& = ::Ice::Current()) = 0; 00671 ::Ice::DispatchStatus ___setEnabled(::IceInternal::Incoming&, const ::Ice::Current&); 00672 00673 virtual void resetEncoders(const ::Ice::Current& = ::Ice::Current()) = 0; 00674 ::Ice::DispatchStatus ___resetEncoders(::IceInternal::Incoming&, const ::Ice::Current&); 00675 00676 virtual ::Ice::Float getPWM(::ScorbotIce::JointType, const ::Ice::Current& = ::Ice::Current()) = 0; 00677 ::Ice::DispatchStatus ___getPWM(::IceInternal::Incoming&, const ::Ice::Current&); 00678 00679 virtual ::ScorbotIce::pwmValsType getPWMs(const ::Ice::Current& = ::Ice::Current()) = 0; 00680 ::Ice::DispatchStatus ___getPWMs(::IceInternal::Incoming&, const ::Ice::Current&); 00681 00682 virtual void setControlParams(::ScorbotIce::JointType, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, ::Ice::Float, const ::Ice::Current& = ::Ice::Current()) = 0; 00683 ::Ice::DispatchStatus ___setControlParams(::IceInternal::Incoming&, const ::Ice::Current&); 00684 00685 virtual void getPIDVals(::ScorbotIce::JointType, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, ::Ice::Float&, const ::Ice::Current& = ::Ice::Current()) = 0; 00686 ::Ice::DispatchStatus ___getPIDVals(::IceInternal::Incoming&, const ::Ice::Current&); 00687 00688 virtual void getTuningVals(::ScorbotIce::JointType, ::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Current& = ::Ice::Current()) = 0; 00689 ::Ice::DispatchStatus ___getTuningVals(::IceInternal::Incoming&, const ::Ice::Current&); 00690 00691 virtual void setGravityParameters(::Ice::Int, ::Ice::Int, ::Ice::Float, const ::Ice::Current& = ::Ice::Current()) = 0; 00692 ::Ice::DispatchStatus ___setGravityParameters(::IceInternal::Incoming&, const ::Ice::Current&); 00693 00694 virtual void getGravityParameters(::Ice::Int&, ::Ice::Int&, ::Ice::Float&, const ::Ice::Current& = ::Ice::Current()) = 0; 00695 ::Ice::DispatchStatus ___getGravityParameters(::IceInternal::Incoming&, const ::Ice::Current&); 00696 00697 virtual ::Ice::DispatchStatus __dispatch(::IceInternal::Incoming&, const ::Ice::Current&); 00698 00699 virtual void __write(::IceInternal::BasicStream*) const; 00700 virtual void __read(::IceInternal::BasicStream*, bool); 00701 virtual void __write(const ::Ice::OutputStreamPtr&) const; 00702 virtual void __read(const ::Ice::InputStreamPtr&, bool); 00703 }; 00704 00705 } 00706 00707 #endif