sample RT component which has one data input port and one data output port More...
#include <ServoController.h>
Public Member Functions | |
| bool | addJointGroup (const char *gname, const ::OpenHRP::ServoControllerService::iSequence ids) |
| bool | getDuration (short id, double &duration) |
| bool | getJointAngle (short id, double &angle) |
| bool | getJointAngles (OpenHRP::ServoControllerService::dSequence_out &angles) |
| bool | getMaxTorque (short id, short &percentage) |
| bool | getSpeed (short id, double &speed) |
| bool | getTemperature (short id, double &temperature) |
| bool | getTorque (short id, double &torque) |
| bool | getVoltage (short id, double &voltage) |
| 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 | onFinalize () |
| virtual RTC::ReturnCode_t | onInitialize () |
| bool | removeJointGroup (const char *gname) |
| ServoController (RTC::Manager *manager) | |
| Constructor. | |
| bool | servoOff () |
| bool | servoOn () |
| bool | setJointAngle (short id, double angle, double tm) |
| bool | setJointAngles (const OpenHRP::ServoControllerService::dSequence angles, double tm) |
| bool | setJointAnglesOfGroup (const char *gname, const ::OpenHRP::ServoControllerService::dSequence angles, double tm) |
| bool | setMaxTorque (short id, short percentage) |
| bool | setReset (short id) |
| virtual | ~ServoController () |
| Destructor. | |
Protected Attributes | |
| ServoControllerService_impl | m_service0 |
| RTC::CorbaPort | m_ServoControllerServicePort |
Private Attributes | |
| std::map< std::string, std::vector< int > > | joint_groups |
| ServoSerial * | serial |
| std::vector< double > | servo_dir |
| std::vector< int > | servo_id |
| std::vector< double > | servo_offset |
Detailed Description
sample RT component which has one data input port and one data output port
Definition at line 41 of file ServoController.h.
Constructor & Destructor Documentation
| ServoController::ServoController | ( | RTC::Manager * | manager | ) |
Constructor.
- Parameters:
-
manager pointer to the Manager
Definition at line 39 of file ServoController.cpp.
| ServoController::~ServoController | ( | ) | [virtual] |
Destructor.
Definition at line 48 of file ServoController.cpp.
Member Function Documentation
| bool ServoController::addJointGroup | ( | const char * | gname, |
| const ::OpenHRP::ServoControllerService::iSequence | ids | ||
| ) |
Definition at line 291 of file ServoController.cpp.
| bool ServoController::getDuration | ( | short | id, |
| double & | duration | ||
| ) |
Definition at line 361 of file ServoController.cpp.
| bool ServoController::getJointAngle | ( | short | id, |
| double & | angle | ||
| ) |
Definition at line 260 of file ServoController.cpp.
| bool ServoController::getJointAngles | ( | OpenHRP::ServoControllerService::dSequence_out & | angles | ) |
Definition at line 276 of file ServoController.cpp.
| bool ServoController::getMaxTorque | ( | short | id, |
| short & | percentage | ||
| ) |
Definition at line 381 of file ServoController.cpp.
| bool ServoController::getSpeed | ( | short | id, |
| double & | speed | ||
| ) |
Definition at line 371 of file ServoController.cpp.
| bool ServoController::getTemperature | ( | short | id, |
| double & | temperature | ||
| ) |
Definition at line 401 of file ServoController.cpp.
| bool ServoController::getTorque | ( | short | id, |
| double & | torque | ||
| ) |
Definition at line 391 of file ServoController.cpp.
| bool ServoController::getVoltage | ( | short | id, |
| double & | voltage | ||
| ) |
Definition at line 411 of file ServoController.cpp.
| RTC::ReturnCode_t ServoController::onActivated | ( | RTC::UniqueId | ec_id | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 174 of file ServoController.cpp.
| RTC::ReturnCode_t ServoController::onDeactivated | ( | RTC::UniqueId | ec_id | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 182 of file ServoController.cpp.
| RTC::ReturnCode_t ServoController::onExecute | ( | RTC::UniqueId | ec_id | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 190 of file ServoController.cpp.
| RTC::ReturnCode_t ServoController::onFinalize | ( | void | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 154 of file ServoController.cpp.
| RTC::ReturnCode_t ServoController::onInitialize | ( | void | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 54 of file ServoController.cpp.
| bool ServoController::removeJointGroup | ( | const char * | gname | ) |
Definition at line 304 of file ServoController.cpp.
| bool ServoController::servoOff | ( | ) |
Definition at line 435 of file ServoController.cpp.
| bool ServoController::servoOn | ( | ) |
Definition at line 421 of file ServoController.cpp.
| bool ServoController::setJointAngle | ( | short | id, |
| double | angle, | ||
| double | tm | ||
| ) |
Definition at line 230 of file ServoController.cpp.
| bool ServoController::setJointAngles | ( | const OpenHRP::ServoControllerService::dSequence | angles, |
| double | tm | ||
| ) |
Definition at line 240 of file ServoController.cpp.
| bool ServoController::setJointAnglesOfGroup | ( | const char * | gname, |
| const ::OpenHRP::ServoControllerService::dSequence | angles, | ||
| double | tm | ||
| ) |
Definition at line 311 of file ServoController.cpp.
| bool ServoController::setMaxTorque | ( | short | id, |
| short | percentage | ||
| ) |
Definition at line 341 of file ServoController.cpp.
| bool ServoController::setReset | ( | short | id | ) |
Definition at line 351 of file ServoController.cpp.
Member Data Documentation
std::map<std::string, std::vector<int> > ServoController::joint_groups [private] |
Definition at line 155 of file ServoController.h.
Definition at line 150 of file ServoController.h.
Definition at line 144 of file ServoController.h.
ServoSerial* ServoController::serial [private] |
Definition at line 159 of file ServoController.h.
std::vector<double> ServoController::servo_dir [private] |
Definition at line 158 of file ServoController.h.
std::vector<int> ServoController::servo_id [private] |
Definition at line 156 of file ServoController.h.
std::vector<double> ServoController::servo_offset [private] |
Definition at line 157 of file ServoController.h.
The documentation for this class was generated from the following files: