#include <SequencePlayer.h>

Inheritance diagram for SequencePlayer:

Public Member Functions
bool	addJointGroup (const char *gname, const OpenHRP::SequencePlayerService::StrSequence &jnames)
bool	clearJointAngles ()
bool	clearJointAnglesOfGroup (const char *gname)
void	loadPattern (const char *basename, double time)
virtual RTC::ReturnCode_t	onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onFinalize ()
virtual RTC::ReturnCode_t	onInitialize ()
seqplay *	player ()
void	playPattern (const OpenHRP::dSequenceSequence &pos, const OpenHRP::dSequenceSequence &rpy, const OpenHRP::dSequenceSequence &zmp, const OpenHRP::dSequence &tm)
bool	playPatternOfGroup (const char *gname, const OpenHRP::dSequenceSequence &pos, const OpenHRP::dSequence &tm)
bool	removeJointGroup (const char *gname)
hrp::BodyPtr	robot ()
	SequencePlayer (RTC::Manager *manager)
bool	setBasePos (const double *pos, double tm)
bool	setBaseRpy (const double *rpy, double tm)
void	setClearFlag ()
bool	setInitialState (double tm=0.0)
bool	setInterpolationMode (OpenHRP::SequencePlayerService::interpolationMode i_mode_)
bool	setJointAngle (short id, double angle, double tm)
bool	setJointAngles (const double *angles, double tm)
bool	setJointAngles (const double angles, const bool mask, double tm)
bool	setJointAnglesOfGroup (const char *gname, const OpenHRP::dSequence &jvs, double tm)
bool	setJointAnglesSequence (const OpenHRP::dSequenceSequence angless, const OpenHRP::bSequence &mask, const OpenHRP::dSequence &times)
bool	setJointAnglesSequenceFull (const OpenHRP::dSequenceSequence i_jvss, const OpenHRP::dSequenceSequence i_vels, const OpenHRP::dSequenceSequence i_torques, const OpenHRP::dSequenceSequence i_poss, const OpenHRP::dSequenceSequence i_rpys, const OpenHRP::dSequenceSequence i_accs, const OpenHRP::dSequenceSequence i_zmps, const OpenHRP::dSequenceSequence i_wrenches, const OpenHRP::dSequenceSequence i_optionals, const dSequence i_tms)
bool	setJointAnglesSequenceOfGroup (const char *gname, const OpenHRP::dSequenceSequence angless, const OpenHRP::dSequence &times)
void	setMaxIKError (double pos, double rot)
void	setMaxIKIteration (short iter)
bool	setTargetPose (const char gname, const double xyz, const double rpy, double tm, const char frame_name)
bool	setWrenches (const double *wrenches, double tm)
bool	setZmp (const double *zmp, double tm)
void	waitInterpolation ()
bool	waitInterpolationOfGroup (const char *gname)
virtual	~SequencePlayer ()
Public Attributes
double	dt
Protected Attributes
TimedAcceleration3D	m_accRef
OutPort< TimedAcceleration3D >	m_accRefOut
TimedPoint3D	m_basePos
TimedPoint3D	m_basePosInit
InPort< TimedPoint3D >	m_basePosInitIn
OutPort< TimedPoint3D >	m_basePosOut
TimedOrientation3D	m_baseRpy
TimedOrientation3D	m_baseRpyInit
InPort< TimedOrientation3D >	m_baseRpyInitIn
OutPort< TimedOrientation3D >	m_baseRpyOut
TimedDoubleSeq	m_optionalData
OutPort< TimedDoubleSeq >	m_optionalDataOut
TimedDoubleSeq	m_qInit
InPort< TimedDoubleSeq >	m_qInitIn
TimedDoubleSeq	m_qRef
OutPort< TimedDoubleSeq >	m_qRefOut
RTC::CorbaPort	m_SequencePlayerServicePort
SequencePlayerService_impl	m_service0
TimedDoubleSeq	m_tqRef
OutPort< TimedDoubleSeq >	m_tqRefOut
std::vector< TimedDoubleSeq >	m_wrenches
std::vector< OutPort < TimedDoubleSeq > * >	m_wrenchesOut
TimedPoint3D	m_zmpRef
TimedPoint3D	m_zmpRefInit
InPort< TimedPoint3D >	m_zmpRefInitIn
OutPort< TimedPoint3D >	m_zmpRefOut
Private Attributes
int	dummy
bool	m_clearFlag
unsigned int	m_debugLevel
double	m_error_pos
double	m_error_rot
std::string	m_fixedLink
hrp::Vector3	m_fixedP
hrp::Matrix33	m_fixedR
std::string	m_gname
short	m_iteration
coil::Mutex	m_mutex
hrp::Vector3	m_offsetP
hrp::Matrix33	m_offsetR
hrp::BodyPtr	m_robot
seqplay *	m_seq
double	m_timeToStartPlaying
bool	m_waitFlag
sem_t	m_waitSem
size_t	optional_data_dim

Detailed Description

Definition at line 40 of file SequencePlayer.h.

Constructor & Destructor Documentation

SequencePlayer::SequencePlayer ( RTC::Manager * manager )

Definition at line 43 of file SequencePlayer.cpp.

SequencePlayer::~SequencePlayer ( ) [virtual]

Definition at line 72 of file SequencePlayer.cpp.

Member Function Documentation

bool SequencePlayer::addJointGroup	(	const char *	gname,
		const OpenHRP::SequencePlayerService::StrSequence &	jnames
	)

Definition at line 823 of file SequencePlayer.cpp.

bool SequencePlayer::clearJointAngles ( )

Definition at line 477 of file SequencePlayer.cpp.

bool SequencePlayer::clearJointAnglesOfGroup ( const char * gname )

Definition at line 506 of file SequencePlayer.cpp.

void SequencePlayer::loadPattern	(	const char *	basename,
		double	time
	)

Definition at line 701 of file SequencePlayer.cpp.

RTC::ReturnCode_t SequencePlayer::onActivated ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 207 of file SequencePlayer.cpp.

RTC::ReturnCode_t SequencePlayer::onExecute ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 221 of file SequencePlayer.cpp.

RTC::ReturnCode_t SequencePlayer::onFinalize ( void ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 185 of file SequencePlayer.cpp.

RTC::ReturnCode_t SequencePlayer::onInitialize ( void ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 77 of file SequencePlayer.cpp.

seqplay* SequencePlayer::player ( ) [inline]

Definition at line 96 of file SequencePlayer.h.

void SequencePlayer::playPattern	(	const OpenHRP::dSequenceSequence &	pos,
		const OpenHRP::dSequenceSequence &	rpy,
		const OpenHRP::dSequenceSequence &	zmp,
		const OpenHRP::dSequence &	tm
	)

Definition at line 789 of file SequencePlayer.cpp.

bool SequencePlayer::playPatternOfGroup	(	const char *	gname,
		const OpenHRP::dSequenceSequence &	pos,
		const OpenHRP::dSequence &	tm
	)

Definition at line 869 of file SequencePlayer.cpp.

bool SequencePlayer::removeJointGroup ( const char * gname )

Definition at line 845 of file SequencePlayer.cpp.

hrp::BodyPtr SequencePlayer::robot ( ) [inline]

Definition at line 97 of file SequencePlayer.h.

bool SequencePlayer::setBasePos	(	const double *	pos,
		double	tm
	)

Definition at line 544 of file SequencePlayer.cpp.

bool SequencePlayer::setBaseRpy	(	const double *	rpy,
		double	tm
	)

Definition at line 554 of file SequencePlayer.cpp.

void SequencePlayer::setClearFlag ( )

Definition at line 358 of file SequencePlayer.cpp.

bool SequencePlayer::setInitialState ( double tm = 0.0 )

Definition at line 750 of file SequencePlayer.cpp.

bool SequencePlayer::setInterpolationMode ( OpenHRP::SequencePlayerService::interpolationMode i_mode_ )

Definition at line 806 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAngle	(	short	id,
		double	angle,
		double	tm
	)

Definition at line 387 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAngles	(	const double *	angles,
		double	tm
	)

Definition at line 411 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAngles	(	const double *	angles,
		const bool *	mask,
		double	tm
	)

Definition at line 436 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAnglesOfGroup	(	const char *	gname,
		const OpenHRP::dSequence &	jvs,
		double	tm
	)

Definition at line 857 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAnglesSequence	(	const OpenHRP::dSequenceSequence	angless,
		const OpenHRP::bSequence &	mask,
		const OpenHRP::dSequence &	times
	)

Definition at line 454 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAnglesSequenceFull	(	const OpenHRP::dSequenceSequence	i_jvss,
		const OpenHRP::dSequenceSequence	i_vels,
		const OpenHRP::dSequenceSequence	i_torques,
		const OpenHRP::dSequenceSequence	i_poss,
		const OpenHRP::dSequenceSequence	i_rpys,
		const OpenHRP::dSequenceSequence	i_accs,
		const OpenHRP::dSequenceSequence	i_zmps,
		const OpenHRP::dSequenceSequence	i_wrenches,
		const OpenHRP::dSequenceSequence	i_optionals,
		const dSequence	i_tms
	)