ForwardKinematics Class Reference

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

#include <ForwardKinematics.h>

Inheritance diagram for ForwardKinematics:

List of all members.

Public Member Functions
	ForwardKinematics (RTC::Manager *manager)
	Constructor.
::CORBA::Boolean	getCurrentPose (const char *linkname, RTC::TimedDoubleSeq_out pose, const char *frame_name)
::CORBA::Boolean	getReferencePose (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)
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 ()
::CORBA::Boolean	selectBaseLink (const char *linkname)
virtual	~ForwardKinematics ()
	Destructor.
Protected Attributes
TimedPoint3D	m_basePosRef
InPort< TimedPoint3D >	m_basePosRefIn
TimedOrientation3D	m_baseRpyRef
InPort< TimedOrientation3D >	m_baseRpyRefIn
RTC::CorbaPort	m_ForwardKinematicsServicePort
TimedDoubleSeq	m_q
InPort< TimedDoubleSeq >	m_qIn
TimedDoubleSeq	m_qRef
InPort< TimedDoubleSeq >	m_qRefIn
TimedOrientation3D	m_sensorRpy
InPort< TimedOrientation3D >	m_sensorRpyIn
ForwardKinematicsService_impl	m_service0
Private Attributes
int	dummy
hrp::BodyPtr	m_actBody
hrp::Link *	m_actLink
coil::Mutex	m_bodyMutex
hrp::BodyPtr	m_refBody
hrp::Link *	m_refLink
hrp::Link *	m_sensorAttachedLink
std::string	m_sensorAttachedLinkName
Time	m_tm

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Detailed Description

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

Definition at line 45 of file ForwardKinematics.h.

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Constructor & Destructor Documentation

ForwardKinematics::ForwardKinematics

(

RTC::Manager *

manager

)

Constructor.

Parameters:

manager

pointer to the Manager

Definition at line 39 of file ForwardKinematics.cpp.

ForwardKinematics::~ForwardKinematics

(

)

[virtual]

Destructor.

Definition at line 53 of file ForwardKinematics.cpp.

---

Member Function Documentation

CORBA::Boolean ForwardKinematics::getCurrentPose	(	const char *	linkname,
		RTC::TimedDoubleSeq_out	pose,
		const char *	frame_name
	)

Definition at line 297 of file ForwardKinematics.cpp.

CORBA::Boolean ForwardKinematics::getReferencePose	(	const char *	linkname,
		RTC::TimedDoubleSeq_out	pose,
		const char *	frame_name
	)

Definition at line 267 of file ForwardKinematics.cpp.

CORBA::Boolean ForwardKinematics::getRelativeCurrentPosition	(	const char *	linknameFrom,
		const char *	linknameTo,
		const OpenHRP::ForwardKinematicsService::position	target,
		OpenHRP::ForwardKinematicsService::position	result
	)

Definition at line 329 of file ForwardKinematics.cpp.

RTC::ReturnCode_t ForwardKinematics::onActivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 143 of file ForwardKinematics.cpp.

RTC::ReturnCode_t ForwardKinematics::onDeactivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 159 of file ForwardKinematics.cpp.

RTC::ReturnCode_t ForwardKinematics::onExecute

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 165 of file ForwardKinematics.cpp.

RTC::ReturnCode_t ForwardKinematics::onInitialize

(

void

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 59 of file ForwardKinematics.cpp.

CORBA::Boolean ForwardKinematics::selectBaseLink

(

const char *

linkname

)

Definition at line 343 of file ForwardKinematics.cpp.

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Member Data Documentation

int ForwardKinematics::dummy [private]

Definition at line 157 of file ForwardKinematics.h.

hrp::BodyPtr ForwardKinematics::m_actBody [private]

Definition at line 158 of file ForwardKinematics.h.

hrp::Link * ForwardKinematics::m_actLink [private]

Definition at line 159 of file ForwardKinematics.h.

TimedPoint3D ForwardKinematics::m_basePosRef [protected]

Definition at line 121 of file ForwardKinematics.h.

InPort<TimedPoint3D> ForwardKinematics::m_basePosRefIn [protected]

Definition at line 129 of file ForwardKinematics.h.

TimedOrientation3D ForwardKinematics::m_baseRpyRef [protected]

Definition at line 122 of file ForwardKinematics.h.

InPort<TimedOrientation3D> ForwardKinematics::m_baseRpyRefIn [protected]

Definition at line 130 of file ForwardKinematics.h.

coil::Mutex ForwardKinematics::m_bodyMutex [private]

Definition at line 160 of file ForwardKinematics.h.

RTC::CorbaPort ForwardKinematics::m_ForwardKinematicsServicePort [protected]

Definition at line 141 of file ForwardKinematics.h.

TimedDoubleSeq ForwardKinematics::m_q [protected]

Definition at line 118 of file ForwardKinematics.h.

InPort<TimedDoubleSeq> ForwardKinematics::m_qIn [protected]

Definition at line 126 of file ForwardKinematics.h.

TimedDoubleSeq ForwardKinematics::m_qRef [protected]

Definition at line 120 of file ForwardKinematics.h.

InPort<TimedDoubleSeq> ForwardKinematics::m_qRefIn [protected]

Definition at line 128 of file ForwardKinematics.h.

hrp::BodyPtr ForwardKinematics::m_refBody [private]

Definition at line 158 of file ForwardKinematics.h.

hrp::Link* ForwardKinematics::m_refLink [private]

Definition at line 159 of file ForwardKinematics.h.

hrp::Link * ForwardKinematics::m_sensorAttachedLink [private]

Definition at line 159 of file ForwardKinematics.h.

std::string ForwardKinematics::m_sensorAttachedLinkName [private]

Definition at line 162 of file ForwardKinematics.h.

TimedOrientation3D ForwardKinematics::m_sensorRpy [protected]

Definition at line 119 of file ForwardKinematics.h.

InPort<TimedOrientation3D> ForwardKinematics::m_sensorRpyIn [protected]

Definition at line 127 of file ForwardKinematics.h.

ForwardKinematicsService_impl ForwardKinematics::m_service0 [protected]

Definition at line 147 of file ForwardKinematics.h.

Time ForwardKinematics::m_tm [private]

Definition at line 161 of file ForwardKinematics.h.

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

• ForwardKinematics.h
• ForwardKinematics.cpp