RobotHardware Class Reference

RT component that do nothing and don't have ports. This component is used to create an execution context. More...

#include <RobotHardware.h>

Inheritance diagram for RobotHardware:

List of all members.

Public Member Functions
virtual void	getTimeNow (Time &tm)
virtual RTC::ReturnCode_t	onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onInitialize ()
	RobotHardware (RTC::Manager *manager)
	Constructor.
virtual	~RobotHardware ()
	Destructor.
Protected Member Functions
robot *	robot_ptr (void)
Protected Attributes
std::vector< TimedAcceleration3D >	m_acc
	vector of actual acceleration (vector length = number of acceleration sensors)
std::vector< OutPort < TimedAcceleration3D > * >	m_accOut
TimedDoubleSeq	m_ctau
	array of commanded torques of joint with jointId
OutPort< TimedDoubleSeq >	m_ctauOut
TimedDoubleSeq	m_dq
	array of actual velocities of joint with jointId
OutPort< TimedDoubleSeq >	m_dqOut
TimedDoubleSeq	m_dqRef
	array of reference velocities of joint with jointId
InPort< TimedDoubleSeq >	m_dqRefIn
TimedLong	m_emergencySignal
OutPort< TimedLong >	m_emergencySignalOut
std::vector< TimedDoubleSeq >	m_force
	vector of actual 6D wrench (vector length = number of F/T sensors) 6D wrench vector = 3D force + 3D moment = fx, fy, fz, nx, ny, nz
std::vector< OutPort < TimedDoubleSeq > * >	m_forceOut
int	m_isDemoMode
TimedDoubleSeq	m_q
	array of actual angles of joint with jointId
OutPort< TimedDoubleSeq >	m_qOut
TimedDoubleSeq	m_qRef
	array of reference angles of joint with jointId
InPort< TimedDoubleSeq >	m_qRefIn
std::vector < TimedAngularVelocity3D >	m_rate
	vector of actual angular velocity (vector length = number of rate sensors)
std::vector< OutPort < TimedAngularVelocity3D > * >	m_rateOut
RTC::CorbaPort	m_RobotHardwareServicePort
OpenHRP::RobotHardwareService::TimedRobotState2	m_rstate2
OutPort < OpenHRP::RobotHardwareService::TimedRobotState2 >	m_rstate2Out
RobotHardwareService_impl	m_service0
OpenHRP::TimedLongSeqSeq	m_servoState
OutPort< OpenHRP::TimedLongSeqSeq >	m_servoStateOut
TimedDoubleSeq	m_tau
	array of actual torques of joint with jointId
OutPort< TimedDoubleSeq >	m_tauOut
TimedDoubleSeq	m_tauRef
	array of reference torques of joint with jointId
InPort< TimedDoubleSeq >	m_tauRefIn
Private Member Functions
void	getStatus2 (OpenHRP::RobotHardwareService::RobotState2 &rstate2)
Private Attributes
int	dummy
boost::shared_ptr< robot >	m_robot

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Detailed Description

RT component that do nothing and don't have ports. This component is used to create an execution context.

Definition at line 44 of file RobotHardware.h.

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Constructor & Destructor Documentation

RobotHardware::RobotHardware

(

RTC::Manager *

manager

)

Constructor.

Parameters:

manager

pointer to the Manager

Definition at line 45 of file RobotHardware.cpp.

RobotHardware::~RobotHardware

(

)

[virtual]

Destructor.

Definition at line 65 of file RobotHardware.cpp.

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Member Function Documentation

void RobotHardware::getStatus2

(

OpenHRP::RobotHardwareService::RobotState2 &

rstate2

)

[private]

Definition at line 403 of file RobotHardware.cpp.

virtual void RobotHardware::getTimeNow

(

Time &

tm

)

[inline, virtual]

Definition at line 106 of file RobotHardware.h.

RTC::ReturnCode_t RobotHardware::onExecute

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 224 of file RobotHardware.cpp.

RTC::ReturnCode_t RobotHardware::onInitialize

(

void

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 70 of file RobotHardware.cpp.

robot* RobotHardware::robot_ptr

(

void

)

[inline, protected]

Definition at line 205 of file RobotHardware.h.

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Member Data Documentation

int RobotHardware::dummy [private]

Definition at line 209 of file RobotHardware.h.

std::vector<TimedAcceleration3D> RobotHardware::m_acc [protected]

vector of actual acceleration (vector length = number of acceleration sensors)

Definition at line 159 of file RobotHardware.h.

std::vector<OutPort<TimedAcceleration3D> *> RobotHardware::m_accOut [protected]

Definition at line 179 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_ctau [protected]

array of commanded torques of joint with jointId

Definition at line 155 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_ctauOut [protected]

Definition at line 178 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_dq [protected]

array of actual velocities of joint with jointId

Definition at line 147 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_dqOut [protected]

Definition at line 176 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_dqRef [protected]

array of reference velocities of joint with jointId

Definition at line 130 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_dqRefIn [protected]

Definition at line 131 of file RobotHardware.h.

TimedLong RobotHardware::m_emergencySignal [protected]

Definition at line 170 of file RobotHardware.h.

OutPort<TimedLong> RobotHardware::m_emergencySignalOut [protected]

Definition at line 183 of file RobotHardware.h.

std::vector<TimedDoubleSeq> RobotHardware::m_force [protected]

vector of actual 6D wrench (vector length = number of F/T sensors) 6D wrench vector = 3D force + 3D moment = fx, fy, fz, nx, ny, nz

Definition at line 168 of file RobotHardware.h.

std::vector<OutPort<TimedDoubleSeq> *> RobotHardware::m_forceOut [protected]

Definition at line 181 of file RobotHardware.h.

int RobotHardware::m_isDemoMode [protected]

Definition at line 110 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_q [protected]

array of actual angles of joint with jointId

Definition at line 143 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_qOut [protected]

Definition at line 175 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_qRef [protected]

array of reference angles of joint with jointId

Definition at line 125 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_qRefIn [protected]

Definition at line 126 of file RobotHardware.h.

std::vector<TimedAngularVelocity3D> RobotHardware::m_rate [protected]

vector of actual angular velocity (vector length = number of rate sensors)

Definition at line 163 of file RobotHardware.h.

std::vector<OutPort<TimedAngularVelocity3D> *> RobotHardware::m_rateOut [protected]

Definition at line 180 of file RobotHardware.h.

boost::shared_ptr<robot> RobotHardware::m_robot [private]

Definition at line 210 of file RobotHardware.h.

RTC::CorbaPort RobotHardware::m_RobotHardwareServicePort [protected]

Definition at line 190 of file RobotHardware.h.

OpenHRP::RobotHardwareService::TimedRobotState2 RobotHardware::m_rstate2 [protected]

Definition at line 171 of file RobotHardware.h.

OutPort<OpenHRP::RobotHardwareService::TimedRobotState2> RobotHardware::m_rstate2Out [protected]

Definition at line 184 of file RobotHardware.h.

RobotHardwareService_impl RobotHardware::m_service0 [protected]

Definition at line 196 of file RobotHardware.h.

OpenHRP::TimedLongSeqSeq RobotHardware::m_servoState [protected]

Definition at line 169 of file RobotHardware.h.

OutPort<OpenHRP::TimedLongSeqSeq> RobotHardware::m_servoStateOut [protected]

Definition at line 182 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_tau [protected]

array of actual torques of joint with jointId

Definition at line 151 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_tauOut [protected]

Definition at line 177 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_tauRef [protected]

array of reference torques of joint with jointId

Definition at line 135 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_tauRefIn [protected]

Definition at line 136 of file RobotHardware.h.

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

• RobotHardware.h
• RobotHardware.cpp