#include <BodyRTC.h>

Inheritance diagram for BodyRTC:

Public Types
enum	emg_reason { EMG_NONE, EMG_SERVO_ERROR, EMG_FZ }
Public Member Functions
int	addJointGroup (const char *gname, const std::vector< int >jids)
	BodyRTC (RTC::Manager *manager=&RTC::Manager::instance())
bool	checkEmergency (emg_reason &o_reason, int &o_id)
void	createInPort (const std::string &config)
void	createOutPort (const std::string &config)
std::vector< int >	getJointGroup (const char *gname)
void	getStatus (OpenHRP::RobotHardwareService::RobotState *rs)
void	getStatus2 (OpenHRP::RobotHardwareService::RobotState2 *rs)
int	lengthDigitalInput ()
int	lengthDigitalOutput ()
bool	names2ids (const std::vector< std::string > &i_names, std::vector< int > &o_ids)
RTC::ReturnCode_t	onActivated (RTC::UniqueId ec_id)
RTC::ReturnCode_t	onDeactivated (RTC::UniqueId ec_id)
bool	postOneStep ()
bool	power (int jid, bool turnon)
bool	power (const char *jname, bool turnon)
bool	preOneStep ()
int	readCalibState (const int i)
void	readDataPorts ()
bool	readDigitalInput (char *o_din)
bool	readDigitalOutput (char *o_dout)
int	readPowerState (const int i)
int	readServoState (const int i)
bool	resetPosition ()
bool	servo (const char *jname, bool turnon)
bool	servo (int jid, bool turnon)
bool	setServoErrorLimit (const char *i_jname, double i_limit)
RTC::ReturnCode_t	setup ()
void	writeDataPorts (double time)
bool	writeDigitalOutput (const char *i_dout)
bool	writeDigitalOutputWithMask (const char i_dout, const char i_mask)
virtual	~BodyRTC (void)
Static Public Member Functions
static void	moduleInit (RTC::Manager *)
Public Attributes
int	m_emergencyId
BodyRTC::emg_reason	m_emergencyReason
std::vector< double >	m_servoErrorLimit
Private Attributes
std::vector< hrp::Vector3 >	accels
std::vector< double >	angles
std::vector < OpenHRP::RobotHardwareService::SwitchStatus >	calib_status
std::vector< double >	commands
int	dummy
std::vector< hrp::dvector6 >	forces
std::vector< hrp::Vector3 >	gyros
std::vector< InPortHandlerBase * >	m_inports
std::map< std::string, std::vector< int > >	m_jointGroups
hrp::Vector3	m_lastServoOn_p
hrp::Matrix33	m_lastServoOn_R
std::vector< OutPortHandlerBase * >	m_outports
bool	m_resetPosition
RTC::CorbaPort	m_RobotHardwareServicePort
RobotHardwareServicePort	m_service0
std::vector < OpenHRP::RobotHardwareService::SwitchStatus >	power_status
std::vector < OpenHRP::RobotHardwareService::SwitchStatus >	servo_status
Static Private Attributes
static const char *	bodyrtc_spec []

Detailed Description

Definition at line 60 of file BodyRTC.h.

Member Enumeration Documentation

enum BodyRTC::emg_reason

Enumerator:

EMG_NONE
EMG_SERVO_ERROR
EMG_FZ

Definition at line 122 of file BodyRTC.h.

Constructor & Destructor Documentation

BodyRTC::BodyRTC ( RTC::Manager * manager = &RTC::Manager::instance() )

Definition at line 29 of file BodyRTC.cpp.

BodyRTC::~BodyRTC ( void ) [virtual]

Definition at line 39 of file BodyRTC.cpp.

Member Function Documentation

int BodyRTC::addJointGroup	(	const char *	gname,
		const std::vector< int >	jids
	)		`[inline]`

Definition at line 90 of file BodyRTC.h.

bool BodyRTC::checkEmergency	(	emg_reason &	o_reason,
		int &	o_id
	)

Definition at line 494 of file BodyRTC.cpp.

void BodyRTC::createInPort ( const std::string & config )

Definition at line 140 of file BodyRTC.cpp.

void BodyRTC::createOutPort ( const std::string & config )

Definition at line 219 of file BodyRTC.cpp.

std::vector<int> BodyRTC::getJointGroup ( const char * gname ) [inline]

Definition at line 89 of file BodyRTC.h.

void BodyRTC::getStatus ( OpenHRP::RobotHardwareService::RobotState * rs )

Definition at line 414 of file BodyRTC.cpp.

void BodyRTC::getStatus2 ( OpenHRP::RobotHardwareService::RobotState2 * rs )

Definition at line 459 of file BodyRTC.cpp.

int BodyRTC::lengthDigitalInput ( )

int BodyRTC::lengthDigitalOutput ( )

void BodyRTC::moduleInit ( RTC::Manager * manager ) [static]

Reimplemented in PyBody, and GLbodyRTC.

Definition at line 732 of file BodyRTC.cpp.

bool BodyRTC::names2ids	(	const std::vector< std::string > &	i_names,
		std::vector< int > &	o_ids
	)

Definition at line 397 of file BodyRTC.cpp.

RTC::ReturnCode_t BodyRTC::onActivated ( RTC::UniqueId ec_id ) [inline, virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 68 of file BodyRTC.h.

RTC::ReturnCode_t BodyRTC::onDeactivated ( RTC::UniqueId ec_id ) [inline, virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 72 of file BodyRTC.h.

bool BodyRTC::postOneStep ( )

Definition at line 569 of file BodyRTC.cpp.

bool BodyRTC::power	(	int	jid,
		bool	turnon
	)		`[inline]`

Definition at line 93 of file BodyRTC.h.

bool BodyRTC::power	(	const char *	jname,
		bool	turnon
	)

Definition at line 629 of file BodyRTC.cpp.

bool BodyRTC::preOneStep ( )

Definition at line 521 of file BodyRTC.cpp.

int BodyRTC::readCalibState ( const int i ) [inline]

Definition at line 104 of file BodyRTC.h.

void BodyRTC::readDataPorts ( )

Definition at line 57 of file BodyRTC.cpp.

bool BodyRTC::readDigitalInput ( char * o_din )

bool BodyRTC::readDigitalOutput ( char * o_dout )

int BodyRTC::readPowerState ( const int i ) [inline]

Definition at line 105 of file BodyRTC.h.

int BodyRTC::readServoState ( const int i ) [inline]

Definition at line 106 of file BodyRTC.h.

bool BodyRTC::resetPosition ( ) [inline]

Definition at line 139 of file BodyRTC.h.

bool BodyRTC::servo	(	const char *	jname,
		bool	turnon
	)

Definition at line 605 of file BodyRTC.cpp.

bool BodyRTC::servo	(	int	jid,
		bool	turnon
	)		`[inline]`

Definition at line 95 of file BodyRTC.h.

bool BodyRTC::setServoErrorLimit	(	const char *	i_jname,
		double	i_limit
	)

Definition at line 462 of file BodyRTC.cpp.

RTC::ReturnCode_t BodyRTC::setup ( )

Definition at line 65 of file BodyRTC.cpp.

void BodyRTC::writeDataPorts ( double time )

Definition at line 50 of file BodyRTC.cpp.

bool BodyRTC::writeDigitalOutput ( const char * i_dout )

bool BodyRTC::writeDigitalOutputWithMask	(	const char *	i_dout,
		const char *	i_mask
	)

Member Data Documentation

std::vector<hrp::Vector3> BodyRTC::accels [private]

Definition at line 159 of file BodyRTC.h.

std::vector<double> BodyRTC::angles [private]

Definition at line 157 of file BodyRTC.h.

const char * BodyRTC::bodyrtc_spec [static, private]

Initial value:

{
    "implementation_id", "BodyRTC",
    "type_name",         "BodyRTC",
    "description",       "BodyRTC component",
    "version",           "0.1",
    "vendor",            "AIST",
    "category",          "Generic",
    "activity_type",     "DataFlowComponent",
    "max_instance",      "10",
    "language",          "C++",
    "lang_type",         "compile",
    

    ""
}