ManipulatorCommonInterface_Middle.idl

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/*
  Manipulator Common Interface (Middle Level Commands)
    - This IDL is used as service port on RTC
    - This command specification is provided by Intelligent RT Software
  Project of JARA.
  rev. 20140205
*/

#ifndef MANIPULATORCOMMONINTERFACE_MIDDLE_IDL
#define MANIPULATORCOMMONINTERFACE_MIDDLE_IDL

#include "ManipulatorCommonInterface_DataTypes.idl"

module JARA_ARM {

  typedef double HgMatrix [3][4];

  struct CarPosWithElbow {
    HgMatrix carPos;
    double elbow;
    ULONG structFlag;
  };

  struct CartesianSpeed {
    double translation;
    double rotation;
  };

  interface ManipulatorCommonInterface_Middle {
    RETURN_ID closeGripper();
    RETURN_ID getBaseOffset(out HgMatrix offset);
    RETURN_ID getFeedbackPosCartesian(out CarPosWithElbow pos);
    RETURN_ID getMaxSpeedCartesian(out CartesianSpeed speed);
    RETURN_ID getMaxSpeedJoint(out DoubleSeq speed);
    RETURN_ID getMinAccelTimeCartesian(out double aclTime);
    RETURN_ID getMinAccelTimeJoint(out double aclTime);
    RETURN_ID getSoftLimitCartesian(out LimitValue xLimit,
                        out LimitValue yLimit, out LimitValue zLimit );
    RETURN_ID moveGripper(in ULONG angleRatio);
    RETURN_ID moveLinearCartesianAbs(in CarPosWithElbow carPoint);
    RETURN_ID moveLinearCartesianRel(in CarPosWithElbow carPoint);
    RETURN_ID movePTPCartesianAbs(in CarPosWithElbow carPoint);
    RETURN_ID movePTPCartesianRel(in CarPosWithElbow carPoint);
    RETURN_ID movePTPJointAbs(in JointPos jointPoints);
    RETURN_ID movePTPJointRel(in JointPos jointPoints);
    RETURN_ID openGripper();
    RETURN_ID pause();
    RETURN_ID resume();
    RETURN_ID stop();
    RETURN_ID setAccelTimeCartesian(in double aclTime);
    RETURN_ID setAccelTimeJoint(in double aclTime);
    RETURN_ID setBaseOffset(in HgMatrix offset);
    RETURN_ID setControlPointOffset(in HgMatrix offset);
    RETURN_ID setMaxSpeedCartesian(in CartesianSpeed speed);
    RETURN_ID setMaxSpeedJoint(in DoubleSeq speed);
    RETURN_ID setMinAccelTimeCartesian(in double aclTime);
    RETURN_ID setMinAccelTimeJoint(in double aclTime);
    RETURN_ID setSoftLimitCartesian(in LimitValue xLimit,
    in LimitValue yLimit, in LimitValue zLimit);
    RETURN_ID setSpeedCartesian(in ULONG spdRatio);
    RETURN_ID setSpeedJoint(in ULONG spdRatio);
    RETURN_ID moveCircularCartesianAbs(in CarPosWithElbow carPointR,
    in CarPosWithElbow carPointT);
    RETURN_ID moveCircularCartesianRel(in CarPosWithElbow carPointR,
    in CarPosWithElbow carPointT);
    RETURN_ID setHome(in JointPos jointPoint);
    RETURN_ID getHome(out JointPos jointPoint);
    RETURN_ID goHome();
  };
};

#endif // MANIPULATORCOMMONINTERFACE_MIDDLE_IDL