VirtualForceSensor Class Reference

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

#include <VirtualForceSensor.h>

Inheritance diagram for VirtualForceSensor:

List of all members.

Classes
struct	VirtualForceSensorParam
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 ()
bool	removeVirtualForceSensorOffset (std::string sensorName)
	VirtualForceSensor (RTC::Manager *manager)
	Constructor.
virtual	~VirtualForceSensor ()
	Destructor.
Protected Attributes
std::vector< TimedDoubleSeq >	m_force
std::vector< OutPort < TimedDoubleSeq > * >	m_forceOut
TimedDoubleSeq	m_qCurrent
InPort< TimedDoubleSeq >	m_qCurrentIn
VirtualForceSensorService_impl	m_service0
TimedDoubleSeq	m_tauIn
InPort< TimedDoubleSeq >	m_tauInIn
RTC::CorbaPort	m_VirtualForceSensorServicePort
Private Member Functions
bool	calcRawVirtualForce (std::string sensorName, hrp::dvector &outputForce)
Private Attributes
unsigned int	m_debugLevel
double	m_dt
hrp::BodyPtr	m_robot
std::map< std::string, VirtualForceSensorParam >	m_sensors

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Detailed Description

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

Definition at line 43 of file VirtualForceSensor.h.

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Constructor & Destructor Documentation

VirtualForceSensor::VirtualForceSensor

(

RTC::Manager *

manager

)

Constructor.

Parameters:

manager

pointer to the Manager

Definition at line 35 of file VirtualForceSensor.cpp.

VirtualForceSensor::~VirtualForceSensor

(

)

[virtual]

Destructor.

Definition at line 47 of file VirtualForceSensor.cpp.

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Member Function Documentation

bool VirtualForceSensor::calcRawVirtualForce	(	std::string	sensorName,
		hrp::dvector &	outputForce
	)		[private]

Definition at line 345 of file VirtualForceSensor.cpp.

RTC::ReturnCode_t VirtualForceSensor::onActivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 165 of file VirtualForceSensor.cpp.

RTC::ReturnCode_t VirtualForceSensor::onDeactivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 171 of file VirtualForceSensor.cpp.

RTC::ReturnCode_t VirtualForceSensor::onExecute

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 178 of file VirtualForceSensor.cpp.

RTC::ReturnCode_t VirtualForceSensor::onInitialize

(

void

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 53 of file VirtualForceSensor.cpp.

bool VirtualForceSensor::removeVirtualForceSensorOffset

(

std::string

sensorName

)

Definition at line 319 of file VirtualForceSensor.cpp.

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Member Data Documentation

unsigned int VirtualForceSensor::m_debugLevel [private]

Definition at line 164 of file VirtualForceSensor.h.

double VirtualForceSensor::m_dt [private]

Definition at line 162 of file VirtualForceSensor.h.

std::vector<TimedDoubleSeq> VirtualForceSensor::m_force [protected]

Definition at line 125 of file VirtualForceSensor.h.

std::vector<OutPort<TimedDoubleSeq> *> VirtualForceSensor::m_forceOut [protected]

Definition at line 126 of file VirtualForceSensor.h.

TimedDoubleSeq VirtualForceSensor::m_qCurrent [protected]

Definition at line 113 of file VirtualForceSensor.h.

InPort<TimedDoubleSeq> VirtualForceSensor::m_qCurrentIn [protected]

Definition at line 118 of file VirtualForceSensor.h.

hrp::BodyPtr VirtualForceSensor::m_robot [private]

Definition at line 163 of file VirtualForceSensor.h.

std::map<std::string, VirtualForceSensorParam> VirtualForceSensor::m_sensors [private]

Definition at line 161 of file VirtualForceSensor.h.

VirtualForceSensorService_impl VirtualForceSensor::m_service0 [protected]

Definition at line 148 of file VirtualForceSensor.h.

TimedDoubleSeq VirtualForceSensor::m_tauIn [protected]

Definition at line 114 of file VirtualForceSensor.h.

InPort<TimedDoubleSeq> VirtualForceSensor::m_tauInIn [protected]

Definition at line 119 of file VirtualForceSensor.h.

RTC::CorbaPort VirtualForceSensor::m_VirtualForceSensorServicePort [protected]

Definition at line 142 of file VirtualForceSensor.h.

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

• VirtualForceSensor.h
• VirtualForceSensor.cpp