Joystick2Velocity3D.h
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00001 // -*- C++ -*-
00010 #ifndef JOYSTICK2VELOCITY_H
00011 #define JOYSTICK2VELOCITY_H
00012 
00013 #include <rtm/idl/BasicDataType.hh>
00014 #include <rtm/idl/ExtendedDataTypes.hh>
00015 #include <rtm/Manager.h>
00016 #include <rtm/DataFlowComponentBase.h>
00017 #include <rtm/CorbaPort.h>
00018 #include <rtm/DataInPort.h>
00019 #include <rtm/DataOutPort.h>
00020 #include <rtm/idl/BasicDataTypeSkel.h>
00021 #include <rtm/idl/ExtendedDataTypesSkel.h>
00022 
00023 // Service implementation headers
00024 // <rtc-template block="service_impl_h">
00025 
00026 // </rtc-template>
00027 
00028 // Service Consumer stub headers
00029 // <rtc-template block="consumer_stub_h">
00030 
00031 // </rtc-template>
00032 
00033 using namespace RTC;
00034 
00038 class Joystick2Velocity3D
00039   : public RTC::DataFlowComponentBase
00040 {
00041  public:
00046   Joystick2Velocity3D(RTC::Manager* manager);
00050   ~Joystick2Velocity3D();
00051 
00052   // The initialize action (on CREATED->ALIVE transition)
00053   // formaer rtc_init_entry()
00054   virtual RTC::ReturnCode_t onInitialize();
00055 
00056   // The finalize action (on ALIVE->END transition)
00057   // formaer rtc_exiting_entry()
00058   // virtual RTC::ReturnCode_t onFinalize();
00059 
00060   // The startup action when ExecutionContext startup
00061   // former rtc_starting_entry()
00062   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00063 
00064   // The shutdown action when ExecutionContext stop
00065   // former rtc_stopping_entry()
00066   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00067 
00068   // The activated action (Active state entry action)
00069   // former rtc_active_entry()
00070   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00071 
00072   // The deactivated action (Active state exit action)
00073   // former rtc_active_exit()
00074   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00075 
00076   // The execution action that is invoked periodically
00077   // former rtc_active_do()
00078   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00079 
00080   // The aborting action when main logic error occurred.
00081   // former rtc_aborting_entry()
00082   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00083 
00084   // The error action in ERROR state
00085   // former rtc_error_do()
00086   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00087 
00088   // The reset action that is invoked resetting
00089   // This is same but different the former rtc_init_entry()
00090   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00091 
00092   // The state update action that is invoked after onExecute() action
00093   // no corresponding operation exists in OpenRTm-aist-0.2.0
00094   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00095 
00096   // The action that is invoked when execution context's rate is changed
00097   // no corresponding operation exists in OpenRTm-aist-0.2.0
00098   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00099 
00100 
00101  protected:
00102   // Configuration variable declaration
00103   // <rtc-template block="config_declare">
00104   
00105   // </rtc-template>
00106 
00107   TimedFloatSeq m_axes;
00108   TimedBooleanSeq m_buttons;
00109 
00110   // DataInPort declaration
00111   // <rtc-template block="inport_declare">
00112   InPort<TimedFloatSeq> m_axesIn;
00113   InPort<TimedBooleanSeq> m_buttonsIn;
00114   
00115   // </rtc-template>
00116 
00117   TimedVelocity3D m_vel, m_mirroredVel;
00118 
00119   // DataOutPort declaration
00120   // <rtc-template block="outport_declare">
00121   OutPort<TimedVelocity3D> m_velOut, m_mirroredVelOut;
00122   
00123   // </rtc-template>
00124 
00125   // CORBA Port declaration
00126   // <rtc-template block="corbaport_declare">
00127   
00128   // </rtc-template>
00129 
00130   // Service declaration
00131   // <rtc-template block="service_declare">
00132   
00133   // </rtc-template>
00134 
00135   // Consumer declaration
00136   // <rtc-template block="consumer_declare">
00137   
00138   // </rtc-template>
00139 
00140  private:
00141   int dummy, m_debugLevel;
00142   std::vector<unsigned int> m_axesIds;
00143   std::vector<double> m_scalesTranslation, m_scalesRotation;
00144   int m_rotateModeButton;
00145 };
00146 
00147 
00148 extern "C"
00149 {
00150   void Joystick2Velocity3DInit(RTC::Manager* manager);
00151 };
00152 
00153 #endif // JOYSTICK2VELOCITY_H


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:55