LeggedRobot_idl_example.py

n-miyamoto, 2017/03/03 10:06

       #!/usr/bin/env python
       # -*- coding: utf-8 -*-
       # -*- Python -*-
       """
        @file LeggedRobot_idl_examplefile.py
        @brief Python example implementations generated from LeggedRobot.idl
        @date $Date$
        @author 宮本　信彦　n-miyamoto@aist.go.jp
        産業技術総合研究所　ロボットイノベーション研究センター
        ロボットソフトウエアプラットフォーム研究チーム
       """
       import omniORB
       from omniORB import CORBA, PortableServer
       import OpenHRP, OpenHRP__POAimport OpenHRP, OpenHRP__POAimport OpenHRP, OpenHRP__POAimport OpenHRP, OpenHRP__POAimport OpenHRP, OpenHRP__POAimport RTC, RTC__POAimport RTC, RTC__POA
       class ServerObject_i (OpenHRP__POA.ServerObject):
           """
           @class ServerObject_i
           Example class implementing IDL interface OpenHRP.ServerObject
           """
           def __init__(self):
               """
               @brief standard constructor
               Initialise member variables here
               """
               pass
           # void shutdown()
           def shutdown(self):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: None
       class ShapeSetInfo_i (OpenHRP__POA.ShapeSetInfo):
           """
           @class ShapeSetInfo_i
           Example class implementing IDL interface OpenHRP.ShapeSetInfo
           """
           def __init__(self):
               """
               @brief standard constructor
               Initialise member variables here
               """
               pass
       class BodyInfo_i (OpenHRP__POA.BodyInfo):
           """
           @class BodyInfo_i
           Example class implementing IDL interface OpenHRP.BodyInfo
           """
           def __init__(self):
               """
               @brief standard constructor
               Initialise member variables here
               """
               pass
       class SceneInfo_i (OpenHRP__POA.SceneInfo):
           """
           @class SceneInfo_i
           Example class implementing IDL interface OpenHRP.SceneInfo
           """
           def __init__(self):
               """
               @brief standard constructor
               Initialise member variables here
               """
               pass
       class ModelLoader_i (OpenHRP__POA.ModelLoader):
           """
           @class ModelLoader_i
           Example class implementing IDL interface OpenHRP.ModelLoader
           """
           def __init__(self):
               """
               @brief standard constructor
               Initialise member variables here
               """
               pass
           # BodyInfo getBodyInfo(in string url)
           def getBodyInfo(self, url):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: result
           # BodyInfo getBodyInfoEx(in string url, in ModelLoadOption option)
           def getBodyInfoEx(self, url, option):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: result
           # BodyInfo loadBodyInfo(in string url)
           def loadBodyInfo(self, url):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: result
           # BodyInfo loadBodyInfoEx(in string url, in ModelLoadOption option)
           def loadBodyInfoEx(self, url, option):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: result
           # SceneInfo loadSceneInfo(in string url)
           def loadSceneInfo(self, url):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: result
           # void clearData()
           def clearData(self):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: None
       class LeggedRobotCommonInterface_Servo_i (RTC__POA.LeggedRobotCommonInterface_Servo):
           """
           @class LeggedRobotCommonInterface_Servo_i
           Example class implementing IDL interface RTC.LeggedRobotCommonInterface_Servo
           """
           def __init__(self):
               """
               @brief standard constructor
               Initialise member variables here
               """
               pass
           # boolean setSoftLimitJoint(in JointPos pos)
           def setSoftLimitJoint(self, pos):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: result
           # JointPos getSoftLimitjoint()
           def getSoftLimitjoint(self):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: result
           # boolean servoOFF()
           def servoOFF(self):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: result
           # boolean servoON()
           def servoON(self):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: result
       class LeggedRobotCommonInterface_Robot_i (RTC__POA.LeggedRobotCommonInterface_Robot):
           """
           @class LeggedRobotCommonInterface_Robot_i
           Example class implementing IDL interface RTC.LeggedRobotCommonInterface_Robot
           """
           def __init__(self):
               """
               @brief standard constructor
               Initialise member variables here
               """
               pass
           # RobotInfo getRobotInfo()
           def getRobotInfo(self):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: result
           # LegList getFeedbackPos()
           def getFeedbackPos(self):
               raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
               # *** Implement me
               # Must return: result
       if __name__ == "__main__":
           import sys
           # Initialise the ORB
           orb = CORBA.ORB_init(sys.argv)
           # As an example, we activate an object in the Root POA
           poa = orb.resolve_initial_references("RootPOA")
           # Create an instance of a servant class
           servant = ServerObject_i()
           # Activate it in the Root POA
           poa.activate_object(servant)
           # Get the object reference to the object
           objref = servant._this()
           # Print a stringified IOR for it
           print orb.object_to_string(objref)
           # Activate the Root POA's manager
           poa._get_the_POAManager().activate()
           # Run the ORB, blocking this thread
           orb.run()

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LeggedRobot_idl_example.py