EmergencyStopper Class Reference

sample RT component which has one data input port and one data output port More...

#include <EmergencyStopper.h>

Inheritance diagram for EmergencyStopper:

List of all members.

Public Member Functions
	EmergencyStopper (RTC::Manager *manager)
	Constructor.
bool	getEmergencyStopperParam (OpenHRP::EmergencyStopperService::EmergencyStopperParam &i_param)
virtual RTC::ReturnCode_t	onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onDeactivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onFinalize ()
virtual RTC::ReturnCode_t	onInitialize ()
bool	releaseMotion ()
bool	setEmergencyStopperParam (const OpenHRP::EmergencyStopperService::EmergencyStopperParam &i_param)
bool	stopMotion ()
virtual	~EmergencyStopper ()
	Destructor.
Protected Attributes
TimedLongSeq	m_beepCommand
OutPort< TimedLongSeq >	m_beepCommandOut
TimedLong	m_emergencyMode
OutPort< TimedLong >	m_emergencyModeOut
TimedLong	m_emergencySignal
InPort< TimedLong >	m_emergencySignalIn
RTC::CorbaPort	m_EmergencyStopperServicePort
TimedDoubleSeq	m_q
OutPort< TimedDoubleSeq >	m_qOut
TimedDoubleSeq	m_qRef
InPort< TimedDoubleSeq >	m_qRefIn
EmergencyStopperService_impl	m_service0
OpenHRP::TimedLongSeqSeq	m_servoState
InPort< OpenHRP::TimedLongSeqSeq >	m_servoStateIn
std::vector< TimedDoubleSeq >	m_wrenches
std::vector< InPort < TimedDoubleSeq > * >	m_wrenchesIn
std::vector< OutPort < TimedDoubleSeq > * >	m_wrenchesOut
std::vector< TimedDoubleSeq >	m_wrenchesRef
Private Member Functions
void	get_wrenches_array_from_data (const std::vector< TimedDoubleSeq > &wrenches_data, double *wrenches_array)
void	set_wrenches_data_from_array (std::vector< TimedDoubleSeq > &wrenches_data, const double *wrenches_array)
Private Attributes
BeepClient	bc
int	default_recover_time
int	default_retrieve_time
int	dummy
int	emergency_stopper_beep_count
int	emergency_stopper_beep_freq
bool	is_initialized
bool	is_stop_mode
int	loop
unsigned int	m_debugLevel
double	m_dt
std::queue< std::vector< double > >	m_input_posture_queue
std::queue< std::vector< double > >	m_input_wrenches_queue
interpolator *	m_interpolator
coil::Mutex	m_mutex
hrp::BodyPtr	m_robot
double *	m_stop_posture
double *	m_stop_wrenches
double *	m_tmp_wrenches
interpolator *	m_wrenches_interpolator
bool	prev_is_stop_mode
int	recover_time
double	recover_time_dt
int	retrieve_time

---

Detailed Description

sample RT component which has one data input port and one data output port

Definition at line 44 of file EmergencyStopper.h.

---

Constructor & Destructor Documentation

EmergencyStopper::EmergencyStopper

(

RTC::Manager *

manager

)

Constructor.

Parameters:

manager

pointer to the Manager

Definition at line 54 of file EmergencyStopper.cpp.

EmergencyStopper::~EmergencyStopper

(

)

[virtual]

Destructor.

Definition at line 74 of file EmergencyStopper.cpp.

---

Member Function Documentation

void EmergencyStopper::get_wrenches_array_from_data	(	const std::vector< TimedDoubleSeq > &	wrenches_data,
		double *	wrenches_array
	)		[inline, private]

Definition at line 161 of file EmergencyStopper.h.

bool EmergencyStopper::getEmergencyStopperParam

(

OpenHRP::EmergencyStopperService::EmergencyStopperParam &

i_param

)

Definition at line 505 of file EmergencyStopper.cpp.

RTC::ReturnCode_t EmergencyStopper::onActivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 246 of file EmergencyStopper.cpp.

RTC::ReturnCode_t EmergencyStopper::onDeactivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 252 of file EmergencyStopper.cpp.

RTC::ReturnCode_t EmergencyStopper::onExecute

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 265 of file EmergencyStopper.cpp.

RTC::ReturnCode_t EmergencyStopper::onFinalize

(

void

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 222 of file EmergencyStopper.cpp.

RTC::ReturnCode_t EmergencyStopper::onInitialize

(

void

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 80 of file EmergencyStopper.cpp.

bool EmergencyStopper::releaseMotion

(

)

Definition at line 495 of file EmergencyStopper.cpp.

void EmergencyStopper::set_wrenches_data_from_array	(	std::vector< TimedDoubleSeq > &	wrenches_data,
		const double *	wrenches_array
	)		[inline, private]

Definition at line 169 of file EmergencyStopper.h.

bool EmergencyStopper::setEmergencyStopperParam

(

const OpenHRP::EmergencyStopperService::EmergencyStopperParam &

i_param

)

Definition at line 514 of file EmergencyStopper.cpp.

bool EmergencyStopper::stopMotion

(

)

Definition at line 485 of file EmergencyStopper.cpp.

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Member Data Documentation

BeepClient EmergencyStopper::bc [private]

Definition at line 195 of file EmergencyStopper.h.

int EmergencyStopper::default_recover_time [private]

Definition at line 185 of file EmergencyStopper.h.

int EmergencyStopper::default_retrieve_time [private]

Definition at line 185 of file EmergencyStopper.h.

int EmergencyStopper::dummy [private]

Definition at line 196 of file EmergencyStopper.h.

int EmergencyStopper::emergency_stopper_beep_count [private]

Definition at line 193 of file EmergencyStopper.h.

int EmergencyStopper::emergency_stopper_beep_freq [private]

Definition at line 193 of file EmergencyStopper.h.

bool EmergencyStopper::is_initialized [private]

Definition at line 182 of file EmergencyStopper.h.

bool EmergencyStopper::is_stop_mode [private]

Definition at line 181 of file EmergencyStopper.h.

int EmergencyStopper::loop [private]

Definition at line 180 of file EmergencyStopper.h.

TimedLongSeq EmergencyStopper::m_beepCommand [protected]

Definition at line 123 of file EmergencyStopper.h.

OutPort<TimedLongSeq> EmergencyStopper::m_beepCommandOut [protected]

Definition at line 139 of file EmergencyStopper.h.

unsigned int EmergencyStopper::m_debugLevel [private]

Definition at line 179 of file EmergencyStopper.h.

double EmergencyStopper::m_dt [private]

Definition at line 178 of file EmergencyStopper.h.

TimedLong EmergencyStopper::m_emergencyMode [protected]

Definition at line 119 of file EmergencyStopper.h.

OutPort<TimedLong> EmergencyStopper::m_emergencyModeOut [protected]

Definition at line 137 of file EmergencyStopper.h.

TimedLong EmergencyStopper::m_emergencySignal [protected]

Definition at line 118 of file EmergencyStopper.h.

InPort<TimedLong> EmergencyStopper::m_emergencySignalIn [protected]

Definition at line 128 of file EmergencyStopper.h.

RTC::CorbaPort EmergencyStopper::m_EmergencyStopperServicePort [protected]

Definition at line 150 of file EmergencyStopper.h.

std::queue<std::vector<double> > EmergencyStopper::m_input_posture_queue [private]

Definition at line 191 of file EmergencyStopper.h.

std::queue<std::vector<double> > EmergencyStopper::m_input_wrenches_queue [private]

Definition at line 192 of file EmergencyStopper.h.

interpolator* EmergencyStopper::m_interpolator [private]

Definition at line 189 of file EmergencyStopper.h.

coil::Mutex EmergencyStopper::m_mutex [private]

Definition at line 194 of file EmergencyStopper.h.

TimedDoubleSeq EmergencyStopper::m_q [protected]

Definition at line 117 of file EmergencyStopper.h.

OutPort<TimedDoubleSeq> EmergencyStopper::m_qOut [protected]

Definition at line 136 of file EmergencyStopper.h.

TimedDoubleSeq EmergencyStopper::m_qRef [protected]

Definition at line 116 of file EmergencyStopper.h.

InPort<TimedDoubleSeq> EmergencyStopper::m_qRefIn [protected]

Definition at line 127 of file EmergencyStopper.h.

hrp::BodyPtr EmergencyStopper::m_robot [private]

Definition at line 177 of file EmergencyStopper.h.

EmergencyStopperService_impl EmergencyStopper::m_service0 [protected]

Definition at line 156 of file EmergencyStopper.h.

OpenHRP::TimedLongSeqSeq EmergencyStopper::m_servoState [protected]

Definition at line 120 of file EmergencyStopper.h.

InPort<OpenHRP::TimedLongSeqSeq> EmergencyStopper::m_servoStateIn [protected]

Definition at line 129 of file EmergencyStopper.h.

double* EmergencyStopper::m_stop_posture [private]

Definition at line 186 of file EmergencyStopper.h.

double* EmergencyStopper::m_stop_wrenches [private]

Definition at line 187 of file EmergencyStopper.h.

double* EmergencyStopper::m_tmp_wrenches [private]

Definition at line 188 of file EmergencyStopper.h.

std::vector<TimedDoubleSeq> EmergencyStopper::m_wrenches [protected]

Definition at line 122 of file EmergencyStopper.h.

interpolator* EmergencyStopper::m_wrenches_interpolator [private]

Definition at line 190 of file EmergencyStopper.h.

std::vector<InPort<TimedDoubleSeq> *> EmergencyStopper::m_wrenchesIn [protected]

Definition at line 130 of file EmergencyStopper.h.

std::vector<OutPort<TimedDoubleSeq> *> EmergencyStopper::m_wrenchesOut [protected]

Definition at line 138 of file EmergencyStopper.h.

std::vector<TimedDoubleSeq> EmergencyStopper::m_wrenchesRef [protected]

Definition at line 121 of file EmergencyStopper.h.

bool EmergencyStopper::prev_is_stop_mode [private]

Definition at line 181 of file EmergencyStopper.h.

int EmergencyStopper::recover_time [private]

Definition at line 183 of file EmergencyStopper.h.

double EmergencyStopper::recover_time_dt [private]

Definition at line 184 of file EmergencyStopper.h.

int EmergencyStopper::retrieve_time [private]

Definition at line 183 of file EmergencyStopper.h.

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The documentation for this class was generated from the following files:

• EmergencyStopper.h
• EmergencyStopper.cpp