Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes
ThermoEstimator Class Reference

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

#include <ThermoEstimator.h>

Inheritance diagram for ThermoEstimator:
Inheritance graph
[legend]

List of all members.

Public Member Functions

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 ()
 ThermoEstimator (RTC::Manager *manager)
 Constructor.
virtual ~ThermoEstimator ()
 Destructor.

Protected Attributes

TimedDoubleSeq m_qCurrentIn
InPort< TimedDoubleSeq > m_qCurrentInIn
TimedDoubleSeq m_qRefIn
InPort< TimedDoubleSeq > m_qRefInIn
OpenHRP::TimedLongSeqSeq m_servoStateIn
InPort< OpenHRP::TimedLongSeqSeq > m_servoStateInIn
OpenHRP::TimedLongSeqSeq m_servoStateOut
OutPort< OpenHRP::TimedLongSeqSeq > m_servoStateOutOut
TimedDoubleSeq m_tauIn
InPort< TimedDoubleSeq > m_tauInIn
TimedDoubleSeq m_tempOut
OutPort< TimedDoubleSeq > m_tempOutOut

Private Member Functions

void calculateJointTemperature (double tau, MotorHeatParam &param)
void estimateJointTorqueFromJointError (hrp::dvector &error, hrp::dvector &tau)
bool isDebug (int cycle=200)

Private Attributes

double m_ambientTemp
unsigned int m_debugLevel
double m_dt
hrp::dvector m_error2tau
long long m_loop
std::vector< MotorHeatParamm_motorHeatParams
hrp::BodyPtr m_robot

Detailed Description

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

Definition at line 44 of file ThermoEstimator.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
managerpointer to the Manager

Definition at line 42 of file ThermoEstimator.cpp.

Destructor.

Definition at line 56 of file ThermoEstimator.cpp.


Member Function Documentation

void ThermoEstimator::calculateJointTemperature ( double  tau,
MotorHeatParam param 
) [private]

Definition at line 367 of file ThermoEstimator.cpp.

Definition at line 339 of file ThermoEstimator.cpp.

bool ThermoEstimator::isDebug ( int  cycle = 200) [private]

Definition at line 378 of file ThermoEstimator.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 188 of file ThermoEstimator.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 194 of file ThermoEstimator.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 200 of file ThermoEstimator.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 60 of file ThermoEstimator.cpp.


Member Data Documentation

Definition at line 159 of file ThermoEstimator.h.

unsigned int ThermoEstimator::m_debugLevel [private]

Definition at line 157 of file ThermoEstimator.h.

double ThermoEstimator::m_dt [private]

Definition at line 155 of file ThermoEstimator.h.

Definition at line 161 of file ThermoEstimator.h.

long long ThermoEstimator::m_loop [private]

Definition at line 156 of file ThermoEstimator.h.

Definition at line 160 of file ThermoEstimator.h.

TimedDoubleSeq ThermoEstimator::m_qCurrentIn [protected]

Definition at line 114 of file ThermoEstimator.h.

InPort<TimedDoubleSeq> ThermoEstimator::m_qCurrentInIn [protected]

Definition at line 124 of file ThermoEstimator.h.

TimedDoubleSeq ThermoEstimator::m_qRefIn [protected]

Definition at line 113 of file ThermoEstimator.h.

InPort<TimedDoubleSeq> ThermoEstimator::m_qRefInIn [protected]

Definition at line 123 of file ThermoEstimator.h.

Definition at line 158 of file ThermoEstimator.h.

OpenHRP::TimedLongSeqSeq ThermoEstimator::m_servoStateIn [protected]

Definition at line 115 of file ThermoEstimator.h.

InPort<OpenHRP::TimedLongSeqSeq> ThermoEstimator::m_servoStateInIn [protected]

Definition at line 125 of file ThermoEstimator.h.

OpenHRP::TimedLongSeqSeq ThermoEstimator::m_servoStateOut [protected]

Definition at line 118 of file ThermoEstimator.h.

OutPort<OpenHRP::TimedLongSeqSeq> ThermoEstimator::m_servoStateOutOut [protected]

Definition at line 132 of file ThermoEstimator.h.

TimedDoubleSeq ThermoEstimator::m_tauIn [protected]

Definition at line 112 of file ThermoEstimator.h.

InPort<TimedDoubleSeq> ThermoEstimator::m_tauInIn [protected]

Definition at line 122 of file ThermoEstimator.h.

TimedDoubleSeq ThermoEstimator::m_tempOut [protected]

Definition at line 117 of file ThermoEstimator.h.

OutPort<TimedDoubleSeq> ThermoEstimator::m_tempOutOut [protected]

Definition at line 131 of file ThermoEstimator.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:21