#include <Controller_impl.h>

Classes
struct	JointValueSeqInfo
struct	RtcInfo
Public Member Functions
virtual omniObjRef *	_do_get_interface ()
virtual void	control ()
	Controller_impl (RTC::Manager rtcManager, BridgeConf bridgeConf)
virtual void	destroy ()
void	flushJointDataSeqToSimulator (DynamicsSimulator::LinkDataType linkDataType)
void	flushLinkDataToSimulator (const std::string &linkName, DynamicsSimulator::LinkDataType linkDataType, const DblSequence &linkData)
ImageData *	getCameraImageFromSimulator (int cameraId)
SensorState &	getCurrentSensorState ()
DblSequence &	getJointDataSeqRef (DynamicsSimulator::LinkDataType linkDataType)
DblSequence *	getLinkDataFromSimulator (const std::string &linkName, DynamicsSimulator::LinkDataType linkDataType)
DblSequence *	getSensorDataFromSimulator (const std::string &sensorName)
double	getTimeStep ()
virtual void	initialize ()
virtual void	input ()
virtual void	output ()
virtual void	setDynamicsSimulator (DynamicsSimulator_ptr dynamicsSimulator)
virtual void	setModelName (const char *localModelName)
void	setTimeStep (CORBA::Double _timeStep)
virtual void	setViewSimulator (ViewSimulator_ptr viewSimulator)
virtual void	shutdown ()
virtual void	start ()
virtual void	stop ()
	~Controller_impl ()
Public Attributes
double	controlTime
Private Types
typedef std::map < DynamicsSimulator::LinkDataType, JointValueSeqInfo >	JointValueSeqInfoMap
typedef std::map< std::string, Port_Service_Var_Type >	PortMap
typedef std::map< std::string, RtcInfoPtr >	RtcInfoMap
typedef boost::shared_ptr < RtcInfo >	RtcInfoPtr
typedef std::vector< RtcInfoPtr >	RtcInfoVector
Private Member Functions
void	activeComponents ()
Controller_impl::RtcInfoPtr	addRtcVectorWithConnection (RTC::RTObject_var rtcRef)
int	connectPorts (Port_Service_Ptr_Type outPort, Port_Service_Ptr_Type inPort)
void	deactiveComponents ()
void	detectRtcs ()
void	disconnectRtcConnections (PortMap &refPortMap)
void	makePortMap (RtcInfoPtr &rtcInfo)
void	restart ()
void	setupRtcConnections ()
Private Attributes
bool	bRestart
BridgeConf *	bridgeConf
CameraSequence_var	cameras
Camera::CameraParameter_var	cparam
DynamicsSimulator_var	dynamicsSimulator
std::string	modelName
RTC::CorbaNaming *	naming
JointValueSeqInfoMap	outputJointValueSeqInfos
RtcInfoMap	rtcInfoMap
RtcInfoVector	rtcInfoVector
RTC::Manager *	rtcManager
SensorState_var	sensorState
bool	sensorStateUpdated
double	timeStep
ViewSimulator_var	viewSimulator
VirtualRobotRTC *	virtualRobotRTC

Detailed Description

Definition at line 39 of file Controller_impl.h.

Member Typedef Documentation

typedef std::map<DynamicsSimulator::LinkDataType, JointValueSeqInfo> Controller_impl::JointValueSeqInfoMap [private]

Definition at line 116 of file Controller_impl.h.

typedef std::map<std::string, Port_Service_Var_Type> Controller_impl::PortMap [private]

Definition at line 86 of file Controller_impl.h.

typedef std::map<std::string, RtcInfoPtr> Controller_impl::RtcInfoMap [private]

Definition at line 98 of file Controller_impl.h.

typedef boost::shared_ptr<RtcInfo> Controller_impl::RtcInfoPtr [private]

Definition at line 96 of file Controller_impl.h.

typedef std::vector<RtcInfoPtr> Controller_impl::RtcInfoVector [private]

Definition at line 100 of file Controller_impl.h.

Constructor & Destructor Documentation

Controller_impl::Controller_impl	(	RTC::Manager *	rtcManager,
		BridgeConf *	bridgeConf
	)

Definition at line 35 of file Controller_impl.cpp.

Controller_impl::~Controller_impl ( )

Definition at line 51 of file Controller_impl.cpp.

Member Function Documentation

virtual omniObjRef* Controller_impl::_do_get_interface ( ) [inline, virtual]

Definition at line 74 of file Controller_impl.h.

void Controller_impl::activeComponents ( ) [private]

Definition at line 551 of file Controller_impl.cpp.

Controller_impl::RtcInfoPtr Controller_impl::addRtcVectorWithConnection ( RTC::RTObject_var rtcRef ) [private]

Definition at line 165 of file Controller_impl.cpp.

int Controller_impl::connectPorts	(	Port_Service_Ptr_Type	outPort,
		Port_Service_Ptr_Type	inPort
	)		`[private]`

Definition at line 282 of file Controller_impl.cpp.

void Controller_impl::control ( ) [virtual]

Definition at line 467 of file Controller_impl.cpp.

void Controller_impl::deactiveComponents ( ) [private]

Definition at line 582 of file Controller_impl.cpp.

void Controller_impl::destroy ( ) [virtual]

Definition at line 498 of file Controller_impl.cpp.

void Controller_impl::detectRtcs ( ) [private]

Definition at line 62 of file Controller_impl.cpp.

void Controller_impl::disconnectRtcConnections ( PortMap & refPortMap ) [private]

void Controller_impl::flushJointDataSeqToSimulator ( DynamicsSimulator::LinkDataType linkDataType )

Definition at line 431 of file Controller_impl.cpp.

void Controller_impl::flushLinkDataToSimulator	(	const std::string &	linkName,
		DynamicsSimulator::LinkDataType	linkDataType,
		const DblSequence &	linkData
	)