ForwardKinematics.h

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// -*- C++ -*-
#ifndef NULL_COMPONENT_H
#define NULL_COMPONENT_H

#include <rtm/idl/BasicDataType.hh>
#include <rtm/idl/ExtendedDataTypes.hh>
#include <rtm/Manager.h>
#include <rtm/DataFlowComponentBase.h>
#include <rtm/CorbaPort.h>
#include <rtm/DataInPort.h>
#include <rtm/DataOutPort.h>
#include <rtm/idl/BasicDataTypeSkel.h>
#include <rtm/idl/ExtendedDataTypesSkel.h>

#include <hrpModel/Body.h>

// Service implementation headers
// <rtc-template block="service_impl_h">
#include "ForwardKinematicsService_impl.h"

// </rtc-template>

// Service Consumer stub headers
// <rtc-template block="consumer_stub_h">

// </rtc-template>

namespace hrp{
    class Link;
}

using namespace RTC;

class ForwardKinematics
  : public RTC::DataFlowComponentBase
{
 public:
  ForwardKinematics(RTC::Manager* manager);
  virtual ~ForwardKinematics();

  // The initialize action (on CREATED->ALIVE transition)
  // formaer rtc_init_entry()
  virtual RTC::ReturnCode_t onInitialize();

  // The finalize action (on ALIVE->END transition)
  // formaer rtc_exiting_entry()
  // virtual RTC::ReturnCode_t onFinalize();

  // The startup action when ExecutionContext startup
  // former rtc_starting_entry()
  // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);

  // The shutdown action when ExecutionContext stop
  // former rtc_stopping_entry()
  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);

  // The activated action (Active state entry action)
  // former rtc_active_entry()
  virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);

  // The deactivated action (Active state exit action)
  // former rtc_active_exit()
  virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);

  // The execution action that is invoked periodically
  // former rtc_active_do()
  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);

  // The aborting action when main logic error occurred.
  // former rtc_aborting_entry()
  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);

  // The error action in ERROR state
  // former rtc_error_do()
  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);

  // The reset action that is invoked resetting
  // This is same but different the former rtc_init_entry()
  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);

  // The state update action that is invoked after onExecute() action
  // no corresponding operation exists in OpenRTm-aist-0.2.0
  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);

  // The action that is invoked when execution context's rate is changed
  // no corresponding operation exists in OpenRTm-aist-0.2.0
  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);

  ::CORBA::Boolean getReferencePose(const char* linkname, RTC::TimedDoubleSeq_out pose, const char* frame_name);
  ::CORBA::Boolean getCurrentPose(const char* linkname, RTC::TimedDoubleSeq_out pose, const char* frame_name);
  ::CORBA::Boolean getRelativeCurrentPosition(const char* linknameFrom, const char *linknameTo, const OpenHRP::ForwardKinematicsService::position target, OpenHRP::ForwardKinematicsService::position result);
  ::CORBA::Boolean selectBaseLink(const char* linkname);
  
 protected:
  // Configuration variable declaration
  // <rtc-template block="config_declare">
  
  // </rtc-template>

  TimedDoubleSeq m_q;
  TimedOrientation3D m_sensorRpy;
  TimedDoubleSeq m_qRef;
  TimedPoint3D m_basePosRef;
  TimedOrientation3D m_baseRpyRef;

  // DataInPort declaration
  // <rtc-template block="inport_declare">
  InPort<TimedDoubleSeq> m_qIn;
  InPort<TimedOrientation3D> m_sensorRpyIn;
  InPort<TimedDoubleSeq> m_qRefIn;
  InPort<TimedPoint3D> m_basePosRefIn;
  InPort<TimedOrientation3D> m_baseRpyRefIn;
  
  // </rtc-template>

  // DataOutPort declaration
  // <rtc-template block="outport_declare">
  
  // </rtc-template>

  // CORBA Port declaration
  // <rtc-template block="corbaport_declare">
  RTC::CorbaPort m_ForwardKinematicsServicePort;
  
  // </rtc-template>

  // Service declaration
  // <rtc-template block="service_declare">
  ForwardKinematicsService_impl m_service0;
  
  // </rtc-template>

  // Consumer declaration
  // <rtc-template block="consumer_declare">
  
  // </rtc-template>

 private:
  int dummy;
  hrp::BodyPtr m_refBody, m_actBody;
  hrp::Link *m_refLink, *m_actLink, *m_sensorAttachedLink;
  coil::Mutex m_bodyMutex;
  Time m_tm;
  std::string m_sensorAttachedLinkName;
};


extern "C"
{
  void ForwardKinematicsInit(RTC::Manager* manager);
};

#endif // NULL_COMPONENT_H