Stabilizer.cpp File Reference

stabilizer filter $Date$ More...

#include <rtm/CorbaNaming.h>
#include <hrpModel/Link.h>
#include <hrpModel/Sensor.h>
#include <hrpModel/ModelLoaderUtil.h>
#include "Stabilizer.h"
#include "hrpsys/util/VectorConvert.h"
#include <math.h>
#include <boost/lambda/lambda.hpp>

Include dependency graph for Stabilizer.cpp:

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Defines
#define	DEBUGP   ((m_debugLevel==1 && loop%200==0) || m_debugLevel > 1 )
#define	DEBUGP2   (loop%10==0)
#define	deg2rad(x)   ((x) * M_PI / 180.0)
#define	rad2deg(rad)   (rad * 180 / M_PI)
Typedefs
typedef coil::Guard< coil::Mutex >	Guard
Functions
static std::ostream &	operator<< (std::ostream &os, const struct RTC::Time &tm)
void	StabilizerInit (RTC::Manager *manager)
static double	switching_inpact_absorber (double force, double lower_th, double upper_th)
Variables
static const char *	stabilizer_spec []

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Detailed Description

stabilizer filter $Date$

$Id$

Definition in file Stabilizer.cpp.

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Define Documentation

#define DEBUGP   ((m_debugLevel==1 && loop%200==0) || m_debugLevel > 1 )

Definition at line 546 of file Stabilizer.cpp.

#define DEBUGP2   (loop%10==0)

Definition at line 547 of file Stabilizer.cpp.

#define deg2rad

(

x

)

((x) * M_PI / 180.0)

Definition at line 22 of file Stabilizer.cpp.

#define rad2deg

(

rad

)

(rad * 180 / M_PI)

Definition at line 25 of file Stabilizer.cpp.

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Typedef Documentation

typedef coil::Guard<coil::Mutex> Guard

Definition at line 19 of file Stabilizer.cpp.

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Function Documentation

static std::ostream& operator<<	(	std::ostream &	os,
		const struct RTC::Time &	tm
	)		[static]

Definition at line 48 of file Stabilizer.cpp.

void StabilizerInit

(

RTC::Manager *

manager

)

Definition at line 2822 of file Stabilizer.cpp.

static double switching_inpact_absorber	(	double	force,
		double	lower_th,
		double	upper_th
	)		[static]

Definition at line 2523 of file Stabilizer.cpp.

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Variable Documentation

const char* stabilizer_spec[] [static]

Initial value:

  {
    "implementation_id", "Stabilizer",
    "type_name",         "Stabilizer",
    "description",       "stabilizer",
    "version",           HRPSYS_PACKAGE_VERSION,
    "vendor",            "AIST",
    "category",          "example",
    "activity_type",     "DataFlowComponent",
    "max_instance",      "10",
    "language",          "C++",
    "lang_type",         "compile",
    
    "conf.default.debugLevel", "0",
    ""
  }

Definition at line 30 of file Stabilizer.cpp.