OGMap3DViewer.h
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00001 // -*- C++ -*-
00010 #ifndef OGMAP3DVIEWER_H
00011 #define OGMAP3DVIEWER_H
00012 
00013 #include <rtm/idl/BasicDataType.hh>
00014 #include <rtm/idl/InterfaceDataTypes.hh>
00015 #include <rtm/Manager.h>
00016 #include <rtm/DataFlowComponentBase.h>
00017 #include <rtm/CorbaPort.h>
00018 #include <rtm/DataInPort.h>
00019 #include <rtm/DataOutPort.h>
00020 #include <rtm/idl/BasicDataTypeSkel.h>
00021 #include <rtm/idl/InterfaceDataTypes.hh>
00022 //Open CV headder
00023 #include <cv.h>
00024 #include <highgui.h>
00025 #include "hrpsys/idl/OGMap3DService.hh"
00026 
00027 class GLbody;
00028 class CMapSceneNode;
00029 
00030 // Service implementation headers
00031 // <rtc-template block="service_impl_h">
00032 
00033 // </rtc-template>
00034 
00035 // Service Consumer stub headers
00036 // <rtc-template block="consumer_stub_h">
00037 
00038 // </rtc-template>
00039 
00040 using namespace RTC;
00041 
00045 class OGMap3DViewer
00046   : public RTC::DataFlowComponentBase
00047 {
00048  public:
00053   OGMap3DViewer(RTC::Manager* manager);
00057   virtual ~OGMap3DViewer();
00058 
00059   // The initialize action (on CREATED->ALIVE transition)
00060   // formaer rtc_init_entry()
00061   virtual RTC::ReturnCode_t onInitialize();
00062 
00063   // The finalize action (on ALIVE->END transition)
00064   // formaer rtc_exiting_entry()
00065   // virtual RTC::ReturnCode_t onFinalize();
00066 
00067   // The startup action when ExecutionContext startup
00068   // former rtc_starting_entry()
00069   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00070 
00071   // The shutdown action when ExecutionContext stop
00072   // former rtc_stopping_entry()
00073   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00074 
00075   // The activated action (Active state entry action)
00076   // former rtc_active_entry()
00077   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00078 
00079   // The deactivated action (Active state exit action)
00080   // former rtc_active_exit()
00081   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00082 
00083   // The execution action that is invoked periodically
00084   // former rtc_active_do()
00085   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00086 
00087   // The aborting action when main logic error occurred.
00088   // former rtc_aborting_entry()
00089   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00090 
00091   // The error action in ERROR state
00092   // former rtc_error_do()
00093   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00094 
00095   // The reset action that is invoked resetting
00096   // This is same but different the former rtc_init_entry()
00097   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00098 
00099   // The state update action that is invoked after onExecute() action
00100   // no corresponding operation exists in OpenRTm-aist-0.2.0
00101   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00102 
00103   // The action that is invoked when execution context's rate is changed
00104   // no corresponding operation exists in OpenRTm-aist-0.2.0
00105   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00106 
00107 
00108  protected:
00109   // Configuration variable declaration
00110   // <rtc-template block="config_declare">
00111   
00112   // </rtc-template>
00113 
00114   OGMapCells m_cells;
00115   TimedDoubleSeq m_q;
00116   TimedPoint3D m_p;
00117   TimedOrientation3D m_rpy;
00118 
00119   // DataInPort declaration
00120   // <rtc-template block="inport_declare">
00121   InPort<TimedDoubleSeq> m_qIn;
00122   InPort<TimedPoint3D> m_pIn;
00123   InPort<TimedOrientation3D> m_rpyIn;
00124   
00125   // </rtc-template>
00126 
00127   // DataOutPort declaration
00128   // <rtc-template block="outport_declare">
00129   
00130   // </rtc-template>
00131 
00132   // CORBA Port declaration
00133   // <rtc-template block="corbaport_declare">
00134   RTC::CorbaPort m_OGMap3DServicePort;
00135   RTC::CorbaConsumer<OpenHRP::OGMap3DService> m_OGMap3DService;
00136   
00137   // </rtc-template>
00138 
00139   // Service declaration
00140   // <rtc-template block="service_declare">
00141   
00142   // </rtc-template>
00143 
00144   // Consumer declaration
00145   // <rtc-template block="consumer_declare">
00146   
00147   // </rtc-template>
00148 
00149  private:
00150   int dummy;
00151   bool m_isopen;
00152   double m_xSize, m_ySize, m_zSize;
00153   double m_xOrigin, m_yOrigin, m_zOrigin;
00154   bool m_generateImageSequence;
00155   GLbody *m_body;
00156   unsigned int m_imageCount;
00157   bool m_generateMovie, m_isGeneratingMovie;
00158   CMapSceneNode *m_mapNode;
00159   OpenHRP::OGMap3D *m_ogmap;
00160   CvVideoWriter *m_videoWriter;
00161   IplImage *m_cvImage;
00162 };
00163 
00164 
00165 extern "C"
00166 {
00167   void OGMap3DViewerInit(RTC::Manager* manager);
00168 };
00169 
00170 #endif // OGMAP3DVIEWER_H


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:18