ThermoLimiter Class Reference

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

#include <ThermoLimiter.h>

Inheritance diagram for ThermoLimiter:

List of all members.

Public Member Functions
bool	getParameter (OpenHRP::ThermoLimiterService::tlParam &i_tlp)
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 ()
bool	setParameter (const OpenHRP::ThermoLimiterService::tlParam &i_tlp)
	ThermoLimiter (RTC::Manager *manager)
	Constructor.
virtual	~ThermoLimiter ()
	Destructor.
Protected Attributes
TimedLongSeq	m_beepCommandOut
OutPort< TimedLongSeq >	m_beepCommandOutOut
TimedDoubleSeq	m_tauMaxOut
OutPort< TimedDoubleSeq >	m_tauMaxOutOut
TimedDoubleSeq	m_tempIn
InPort< TimedDoubleSeq >	m_tempInIn
ThermoLimiterService_impl	m_ThermoLimiterService
RTC::CorbaPort	m_ThermoLimiterServicePort
Private Member Functions
double	calcEmergencyRatio (RTC::TimedDoubleSeq &current, hrp::dvector &max, double alarmRatio, std::string &prefix)
void	calcMaxTorqueFromTemperature (hrp::dvector &tauMax)
void	callBeep (double ratio, double alarmRatio)
bool	isDebug (int cycle=200)
Private Attributes
BeepClient	bc
double	m_alarmRatio
unsigned int	m_debug_print_freq
unsigned int	m_debugLevel
double	m_dt
long long	m_loop
std::vector< MotorHeatParam >	m_motorHeatParams
hrp::dvector	m_motorTemperatureLimit
coil::Mutex	m_mutex
hrp::BodyPtr	m_robot

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Detailed Description

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

Definition at line 44 of file ThermoLimiter.h.

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Constructor & Destructor Documentation

ThermoLimiter::ThermoLimiter

(

RTC::Manager *

manager

)

Constructor.

Parameters:

manager

pointer to the Manager

Definition at line 40 of file ThermoLimiter.cpp.

ThermoLimiter::~ThermoLimiter

(

)

[virtual]

Destructor.

Definition at line 52 of file ThermoLimiter.cpp.

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Member Function Documentation

double ThermoLimiter::calcEmergencyRatio	(	RTC::TimedDoubleSeq &	current,
		hrp::dvector &	max,
		double	alarmRatio,
		std::string &	prefix
	)		[private]

Definition at line 345 of file ThermoLimiter.cpp.

void ThermoLimiter::calcMaxTorqueFromTemperature

(

hrp::dvector &

tauMax

)

[private]

Definition at line 315 of file ThermoLimiter.cpp.

void ThermoLimiter::callBeep	(	double	ratio,
		double	alarmRatio
	)		[private]

Definition at line 362 of file ThermoLimiter.cpp.

bool ThermoLimiter::getParameter

(

OpenHRP::ThermoLimiterService::tlParam &

i_tlp

)

Definition at line 401 of file ThermoLimiter.cpp.

bool ThermoLimiter::isDebug

(

int

cycle = 200

)

[private]

Definition at line 385 of file ThermoLimiter.cpp.

RTC::ReturnCode_t ThermoLimiter::onActivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 199 of file ThermoLimiter.cpp.

RTC::ReturnCode_t ThermoLimiter::onDeactivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 205 of file ThermoLimiter.cpp.

RTC::ReturnCode_t ThermoLimiter::onExecute

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 211 of file ThermoLimiter.cpp.

RTC::ReturnCode_t ThermoLimiter::onInitialize

(

void

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 56 of file ThermoLimiter.cpp.

bool ThermoLimiter::setParameter

(

const OpenHRP::ThermoLimiterService::tlParam &

i_tlp

)

Definition at line 390 of file ThermoLimiter.cpp.

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Member Data Documentation

BeepClient ThermoLimiter::bc [private]

Definition at line 157 of file ThermoLimiter.h.

double ThermoLimiter::m_alarmRatio [private]

Definition at line 152 of file ThermoLimiter.h.

TimedLongSeq ThermoLimiter::m_beepCommandOut [protected]

Definition at line 116 of file ThermoLimiter.h.

OutPort<TimedLongSeq> ThermoLimiter::m_beepCommandOutOut [protected]

Definition at line 127 of file ThermoLimiter.h.

unsigned int ThermoLimiter::m_debug_print_freq [private]

Definition at line 151 of file ThermoLimiter.h.

unsigned int ThermoLimiter::m_debugLevel [private]

Definition at line 151 of file ThermoLimiter.h.

double ThermoLimiter::m_dt [private]

Definition at line 149 of file ThermoLimiter.h.

long long ThermoLimiter::m_loop [private]

Definition at line 150 of file ThermoLimiter.h.

std::vector<MotorHeatParam> ThermoLimiter::m_motorHeatParams [private]

Definition at line 155 of file ThermoLimiter.h.

hrp::dvector ThermoLimiter::m_motorTemperatureLimit [private]

Definition at line 153 of file ThermoLimiter.h.

coil::Mutex ThermoLimiter::m_mutex [private]

Definition at line 156 of file ThermoLimiter.h.

hrp::BodyPtr ThermoLimiter::m_robot [private]

Definition at line 154 of file ThermoLimiter.h.

TimedDoubleSeq ThermoLimiter::m_tauMaxOut [protected]

Definition at line 115 of file ThermoLimiter.h.

OutPort<TimedDoubleSeq> ThermoLimiter::m_tauMaxOutOut [protected]

Definition at line 126 of file ThermoLimiter.h.

TimedDoubleSeq ThermoLimiter::m_tempIn [protected]

Definition at line 114 of file ThermoLimiter.h.

InPort<TimedDoubleSeq> ThermoLimiter::m_tempInIn [protected]

Definition at line 120 of file ThermoLimiter.h.

ThermoLimiterService_impl ThermoLimiter::m_ThermoLimiterService [protected]

Definition at line 144 of file ThermoLimiter.h.

RTC::CorbaPort ThermoLimiter::m_ThermoLimiterServicePort [protected]

Definition at line 138 of file ThermoLimiter.h.

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

• ThermoLimiter.h
• ThermoLimiter.cpp