#include <ModifiedServo.h>
Public Member Functions | |
| ModifiedServo (RTC::Manager *manager) | |
| 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 | onInitialize () |
| ~ModifiedServo () | |
Protected Attributes | |
| TimedDoubleSeq | m_q |
| InPort< TimedDoubleSeq > | m_qIn |
| TimedDoubleSeq | m_qRef |
| InPort< TimedDoubleSeq > | m_qRefIn |
| TimedDoubleSeq | m_tau |
| OutPort< TimedDoubleSeq > | m_tauOut |
| TimedDoubleSeq | m_tauRef |
| InPort< TimedDoubleSeq > | m_tauRefIn |
| TimedBooleanSeq | m_torqueMode |
| InPort< TimedBooleanSeq > | m_torqueModeIn |
Private Member Functions | |
| void | readGainFile () |
Private Attributes | |
| hrp::dvector | Dgain |
| size_t | dof |
| double | dt |
| std::ifstream | gain |
| std::string | gain_fname |
| hrp::BodyPtr | m_robot |
| double | nstep |
| hrp::dvector | Pgain |
| hrp::dvector | q_old |
| hrp::dvector | qRef_old |
| double | ref_dt |
| double | step |
Detailed Description
Definition at line 38 of file ModifiedServo.h.
Constructor & Destructor Documentation
| ModifiedServo::ModifiedServo | ( | RTC::Manager * | manager | ) |
Definition at line 32 of file ModifiedServo.cpp.
Definition at line 47 of file ModifiedServo.cpp.
Member Function Documentation
| RTC::ReturnCode_t ModifiedServo::onActivated | ( | RTC::UniqueId | ec_id | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 128 of file ModifiedServo.cpp.
| RTC::ReturnCode_t ModifiedServo::onDeactivated | ( | RTC::UniqueId | ec_id | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 158 of file ModifiedServo.cpp.
| RTC::ReturnCode_t ModifiedServo::onExecute | ( | RTC::UniqueId | ec_id | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 165 of file ModifiedServo.cpp.
| RTC::ReturnCode_t ModifiedServo::onInitialize | ( | void | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 52 of file ModifiedServo.cpp.
| void ModifiedServo::readGainFile | ( | ) | [private] |
Definition at line 238 of file ModifiedServo.cpp.
Member Data Documentation
hrp::dvector ModifiedServo::Dgain [private] |
Definition at line 150 of file ModifiedServo.h.
size_t ModifiedServo::dof [private] |
Definition at line 145 of file ModifiedServo.h.
double ModifiedServo::dt [private] |
Definition at line 140 of file ModifiedServo.h.
std::ifstream ModifiedServo::gain [private] |
Definition at line 148 of file ModifiedServo.h.
std::string ModifiedServo::gain_fname [private] |
Definition at line 147 of file ModifiedServo.h.
TimedDoubleSeq ModifiedServo::m_q [protected] |
Definition at line 105 of file ModifiedServo.h.
InPort<TimedDoubleSeq> ModifiedServo::m_qIn [protected] |
Definition at line 106 of file ModifiedServo.h.
TimedDoubleSeq ModifiedServo::m_qRef [protected] |
Definition at line 103 of file ModifiedServo.h.
InPort<TimedDoubleSeq> ModifiedServo::m_qRefIn [protected] |
Definition at line 104 of file ModifiedServo.h.
hrp::BodyPtr ModifiedServo::m_robot [private] |
Definition at line 138 of file ModifiedServo.h.
TimedDoubleSeq ModifiedServo::m_tau [protected] |
Definition at line 114 of file ModifiedServo.h.
OutPort<TimedDoubleSeq> ModifiedServo::m_tauOut [protected] |
Definition at line 115 of file ModifiedServo.h.
TimedDoubleSeq ModifiedServo::m_tauRef [protected] |
Definition at line 101 of file ModifiedServo.h.
InPort<TimedDoubleSeq> ModifiedServo::m_tauRefIn [protected] |
Definition at line 102 of file ModifiedServo.h.
TimedBooleanSeq ModifiedServo::m_torqueMode [protected] |
Definition at line 107 of file ModifiedServo.h.
InPort<TimedBooleanSeq> ModifiedServo::m_torqueModeIn [protected] |
Definition at line 108 of file ModifiedServo.h.
double ModifiedServo::nstep [private] |
Definition at line 143 of file ModifiedServo.h.
hrp::dvector ModifiedServo::Pgain [private] |
Definition at line 150 of file ModifiedServo.h.
hrp::dvector ModifiedServo::q_old [private] |
Definition at line 151 of file ModifiedServo.h.
hrp::dvector ModifiedServo::qRef_old [private] |
Definition at line 151 of file ModifiedServo.h.
double ModifiedServo::ref_dt [private] |
Definition at line 141 of file ModifiedServo.h.
double ModifiedServo::step [private] |
Definition at line 142 of file ModifiedServo.h.
The documentation for this class was generated from the following files: