Classes | Public Member Functions | Protected Member Functions | Protected Attributes | Private Attributes | List of all members
CollisionDetector Class Reference

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

#include <CollisionDetector.h>

Inheritance diagram for CollisionDetector:
Inheritance graph
[legend]

Classes

class  CollisionLinkPair
 

Public Member Functions

bool checkIsSafeTransition (void)
 
 CollisionDetector (RTC::Manager *manager)
 Constructor. More...
 
bool disable (void)
 
bool enable (void)
 
bool getCollisionStatus (OpenHRP::CollisionDetectorService::CollisionState &state)
 
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 setCollisionLoop (int input_loop)
 
bool setTolerance (const char *i_link_pair_name, double i_tolerance)
 
virtual ~CollisionDetector ()
 Destructor. More...
 
- Public Member Functions inherited from RTC::DataFlowComponentBase
 DataFlowComponentBase (Manager *manager)
 
void init ()
 
virtual ~DataFlowComponentBase (void)
 
- Public Member Functions inherited from RTC::RTObject_impl
ReturnCode_t activate (RTC::UniqueId ec_id)
 
void addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)
 
ConfigurationParamListeneraddConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, const char *))
 
void addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)
 
ConfigurationSetListeneraddConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))
 
void addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)
 
ConfigurationSetNameListeneraddConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::*memfunc)(const char *))
 
void addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)
 
ECActionListeneraddExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))
 
bool addInPort (const char *name, InPortBase &inport)
 
bool addOutPort (const char *name, OutPortBase &outport)
 
bool addPort (PortBase &port)
 
bool addPort (PortService_ptr port)
 
bool addPort (CorbaPort &port)
 
PortActionListeneraddPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
 
void addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)
 
void addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)
 
PortConnectListeneraddPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &))
 
void addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)
 
PortConnectRetListeneraddPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &, ReturnCode_t))
 
void addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)
 
PostComponentActionListeneraddPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))
 
void addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)
 
PreComponentActionListeneraddPreComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))
 
bool addSdoServiceConsumer (const SDOPackage::ServiceProfile &prof)
 
bool addSdoServiceProvider (const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)
 
UniqueId attach_context (ExecutionContext_ptr exec_context)
 
UniqueId bindContext (ExecutionContext_ptr exec_context)
 
bool bindParameter (const char *param_name, VarType &var, const char *def_val, bool(*trans)(VarType &, const char *)=coil::stringTo)
 
ReturnCode_t deactivate (RTC::UniqueId ec_id)
 
void deletePort (PortService_ptr port)
 
void deletePort (CorbaPort &port)
 
void deletePort (PortBase &port)
 
void deletePortByName (const char *port_name)
 
ReturnCode_t detach_context (UniqueId exec_handle)
 
virtual ReturnCode_t exit ()
 
virtual ReturnCode_t finalize ()
 
void finalizeContexts ()
 
void finalizePorts ()
 
virtual ComponentProfile * get_component_profile ()
 
virtual SDOPackage::Configuration_ptr get_configuration ()
 
virtual ExecutionContext_ptr get_context (UniqueId exec_handle)
 
virtual ExecutionContextHandle_t get_context_handle (ExecutionContext_ptr cxt)
 
virtual SDOPackage::DeviceProfile * get_device_profile ()
 
virtual SDOPackage::Monitoring_ptr get_monitoring ()
 
virtual SDOPackage::OrganizationList * get_organizations ()
 
virtual ExecutionContextListget_owned_contexts ()
 
virtual SDOPackage::OrganizationList * get_owned_organizations ()
 
virtual ExecutionContextListget_participating_contexts ()
 
virtual PortServiceListget_ports ()
 
virtual char * get_sdo_id ()
 
virtual SDOPackage::SDOService_ptr get_sdo_service (const char *id)
 
virtual char * get_sdo_type ()
 
virtual SDOPackage::ServiceProfile * get_service_profile (const char *id)
 
virtual SDOPackage::ServiceProfileList * get_service_profiles ()
 
virtual CORBA::Any * get_status (const char *name)
 
virtual SDOPackage::NVListget_status_list ()
 
const char * getCategory ()
 
const char * getDescription ()
 
ExecutionContext_ptr getExecutionContext (RTC::UniqueId ec_id)
 
double getExecutionRate (RTC::UniqueId ec_id)
 
const char * getInstanceName ()
 
std::vector< std::string > getNamingNames ()
 
RTObject_ptr getObjRef () const
 
coil::PropertiesgetProperties ()
 
const char * getTypeName ()
 
const char * getVendor ()
 
const char * getVersion ()
 
virtual ReturnCode_t initialize ()
 
virtual CORBA::Boolean is_alive (ExecutionContext_ptr exec_context)
 
bool isOwnExecutionContext (RTC::UniqueId ec_id)
 
virtual ReturnCode_t on_aborting (UniqueId exec_handle)
 
virtual ReturnCode_t on_activated (UniqueId exec_handle)
 
virtual ReturnCode_t on_deactivated (UniqueId exec_handle)
 
virtual ReturnCode_t on_error (UniqueId exec_handle)
 
virtual ReturnCode_t on_execute (UniqueId exec_handle)
 
virtual ReturnCode_t on_finalize ()
 
virtual ReturnCode_t on_initialize ()
 
virtual ReturnCode_t on_rate_changed (UniqueId exec_handle)
 
virtual ReturnCode_t on_reset (UniqueId exec_handle)
 
virtual ReturnCode_t on_shutdown (UniqueId exec_handle)
 
virtual ReturnCode_t on_startup (UniqueId exec_handle)
 
virtual ReturnCode_t on_state_update (UniqueId exec_handle)
 
bool readAll ()
 
void registerInPort (const char *name, InPortBase &inport)
 
void registerOutPort (const char *name, OutPortBase &outport)
 
void registerPort (PortBase &port)
 
void registerPort (PortService_ptr port)
 
void registerPort (CorbaPort &port)
 
void removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)
 
void removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)
 
void removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)
 
void removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)
 
bool removeInPort (InPortBase &port)
 
bool removeOutPort (OutPortBase &port)
 
bool removePort (PortService_ptr port)
 
bool removePort (CorbaPort &port)
 
bool removePort (PortBase &port)
 
void removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)
 
void removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)
 
void removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)
 
void removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)
 
void removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)
 
bool removeSdoServiceConsumer (const char *id)
 
bool removeSdoServiceProvider (const char *id)
 
ReturnCode_t reset (RTC::UniqueId ec_id)
 
 RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)
 
 RTObject_impl (Manager *manager)
 
ReturnCode_t setExecutionRate (RTC::UniqueId ec_id, double rate)
 
void setInstanceName (const char *instance_name)
 
void setObjRef (const RTObject_ptr rtobj)
 
void setProperties (const coil::Properties &prop)
 
void setReadAll (bool read=true, bool completion=false)
 
void setWriteAll (bool write=true, bool completion=false)
 
void updateParameters (const char *config_set)
 
bool writeAll ()
 
virtual ~RTObject_impl (void)
 

Protected Member Functions

void setupVClipModel (hrp::BodyPtr i_body)
 
void setupVClipModel (hrp::Link *i_link)
 
- Protected Member Functions inherited from RTC::RTObject_impl
virtual ReturnCode_t onAborting (RTC::UniqueId exec_handle)
 
void onAddPort (const PortProfile &pprof)
 
void onAttachExecutionContext (UniqueId ec_id)
 
void onDetachExecutionContext (UniqueId ec_id)
 
virtual ReturnCode_t onError (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onRateChanged (RTC::UniqueId exec_handle)
 
void onRemovePort (const PortProfile &pprof)
 
virtual ReturnCode_t onReset (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onShutdown (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onStartup (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onStateUpdate (RTC::UniqueId exec_handle)
 
void postOnAborting (UniqueId ec_id, ReturnCode_t ret)
 
void postOnActivated (UniqueId ec_id, ReturnCode_t ret)
 
void postOnDeactivated (UniqueId ec_id, ReturnCode_t ret)
 
void postOnError (UniqueId ec_id, ReturnCode_t ret)
 
void postOnExecute (UniqueId ec_id, ReturnCode_t ret)
 
void postOnFinalize (UniqueId ec_id, ReturnCode_t ret)
 
void postOnInitialize (UniqueId ec_id, ReturnCode_t ret)
 
void postOnRateChanged (UniqueId ec_id, ReturnCode_t ret)
 
void postOnReset (UniqueId ec_id, ReturnCode_t ret)
 
void postOnShutdown (UniqueId ec_id, ReturnCode_t ret)
 
void postOnStartup (UniqueId ec_id, ReturnCode_t ret)
 
void postOnStateUpdate (UniqueId ec_id, ReturnCode_t ret)
 
void preOnAborting (UniqueId ec_id)
 
void preOnActivated (UniqueId ec_id)
 
void preOnDeactivated (UniqueId ec_id)
 
void preOnError (UniqueId ec_id)
 
void preOnExecute (UniqueId ec_id)
 
void preOnFinalize (UniqueId ec_id)
 
void preOnInitialize (UniqueId ec_id)
 
void preOnRateChanged (UniqueId ec_id)
 
void preOnReset (UniqueId ec_id)
 
void preOnShutdown (UniqueId ec_id)
 
void preOnStartup (UniqueId ec_id)
 
void preOnStateUpdate (UniqueId ec_id)
 
void shutdown ()
 

Protected Attributes

TimedLongSeq m_beepCommand
 
OutPort< TimedLongSeq > m_beepCommandOut
 
RTC::CorbaPort m_CollisionDetectorServicePort
 
TimedDoubleSeq m_q
 
TimedDoubleSeq m_qCurrent
 
InPort< TimedDoubleSeq > m_qCurrentIn
 
OutPort< TimedDoubleSeq > m_qOut
 
TimedDoubleSeq m_qRef
 
InPort< TimedDoubleSeq > m_qRefIn
 
CollisionDetectorService_impl m_service0
 
OpenHRP::TimedLongSeqSeq m_servoState
 
InPort< OpenHRP::TimedLongSeqSeq > m_servoStateIn
 
- Protected Attributes inherited from RTC::RTObject_impl
ComponentActionListeners m_actionListeners
 
ConfigAdmin m_configsets
 
bool m_created
 
std::vector< ExecutionContextBase * > m_eclist
 
ExecutionContextServiceList m_ecMine
 
ExecutionContextServiceList m_ecOther
 
bool m_exiting
 
std::vector< InPortBase * > m_inports
 
RTObject_var m_objref
 
std::vector< OutPortBase * > m_outports
 
Managerm_pManager
 
CORBA::ORB_var m_pORB
 
PortAdmin m_portAdmin
 
PortConnectListeners m_portconnListeners
 
PortableServer::POA_var m_pPOA
 
ComponentProfile m_profile
 
coil::Properties m_properties
 
SDOPackage::Configuration_var m_pSdoConfig
 
SDOPackage::Configuration_implm_pSdoConfigImpl
 
bool m_readAll
 
bool m_readAllCompletion
 
SDOPackage::OrganizationList m_sdoOrganizations
 
SDOPackage::OrganizationList m_sdoOwnedOrganizations
 
SdoServiceAdmin m_sdoservice
 
SDOPackage::NVList m_sdoStatus
 
bool m_writeAll
 
bool m_writeAllCompletion
 
Logger rtclog
 

Private Attributes

BeepClient bc
 
int collision_beep_count
 
int collision_beep_freq
 
int default_recover_time
 
int dummy
 
double i_dt
 
bool is_beep_port_connected
 
int m_collision_loop
 
std::vector< intm_curr_collision_mask
 
unsigned int m_debugLevel
 
double m_dt
 
bool m_enable
 
bool m_have_safe_posture
 
std::vector< intm_init_collision_mask
 
interpolatorm_interpolator
 
double * m_lastsafe_jointdata
 
bool * m_link_collision
 
int m_loop_for_check
 
std::map< std::string, CollisionLinkPair * > m_pair
 
double * m_recover_jointdata
 
int m_recover_time
 
hrp::BodyPtr m_robot
 
bool m_safe_posture
 
OpenHRP::CollisionDetectorService::CollisionState m_state
 
bool m_use_limb_collision
 
bool m_use_viewer
 
std::vector< Vclip::Polyhedron * > m_VclipLinks
 

Additional Inherited Members

- Public Types inherited from RTC::RTObject_impl
typedef ExecutionContextActionListener ECActionListener
 
typedef ExecutionContextActionListenerType ECActionListenerType
 
typedef PostComponentActionListener PostCompActionListener
 
typedef PostComponentActionListenerType PostCompActionListenerType
 
typedef PreComponentActionListener PreCompActionListener
 
typedef PreComponentActionListenerType PreCompActionListenerType
 

Detailed Description

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

Definition at line 51 of file CollisionDetector.h.

Constructor & Destructor Documentation

CollisionDetector::CollisionDetector ( RTC::Manager manager)

Constructor.

Parameters
managerpointer to the Manager

Definition at line 60 of file CollisionDetector.cpp.

CollisionDetector::~CollisionDetector ( )
virtual

Destructor.

Definition at line 94 of file CollisionDetector.cpp.

Member Function Documentation

bool CollisionDetector::checkIsSafeTransition ( void  )

Definition at line 726 of file CollisionDetector.cpp.

bool CollisionDetector::disable ( void  )

Definition at line 774 of file CollisionDetector.cpp.

bool CollisionDetector::enable ( void  )

Definition at line 736 of file CollisionDetector.cpp.

bool CollisionDetector::getCollisionStatus ( OpenHRP::CollisionDetectorService::CollisionState &  state)

Definition at line 710 of file CollisionDetector.cpp.

RTC::ReturnCode_t CollisionDetector::onActivated ( RTC::UniqueId  ec_id)
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 318 of file CollisionDetector.cpp.

RTC::ReturnCode_t CollisionDetector::onDeactivated ( RTC::UniqueId  ec_id)
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 325 of file CollisionDetector.cpp.

RTC::ReturnCode_t CollisionDetector::onExecute ( RTC::UniqueId  ec_id)
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 332 of file CollisionDetector.cpp.

RTC::ReturnCode_t CollisionDetector::onFinalize ( void  )
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 295 of file CollisionDetector.cpp.

RTC::ReturnCode_t CollisionDetector::onInitialize ( void  )
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 101 of file CollisionDetector.cpp.

bool CollisionDetector::setCollisionLoop ( int  input_loop)

Definition at line 702 of file CollisionDetector.cpp.

bool CollisionDetector::setTolerance ( const char *  i_link_pair_name,
double  i_tolerance 
)

Definition at line 689 of file CollisionDetector.cpp.

void CollisionDetector::setupVClipModel ( hrp::BodyPtr  i_body)
protected

Definition at line 716 of file CollisionDetector.cpp.

void CollisionDetector::setupVClipModel ( hrp::Link i_link)
protected

Definition at line 785 of file CollisionDetector.cpp.

Member Data Documentation

BeepClient CollisionDetector::bc
private

Definition at line 204 of file CollisionDetector.h.

int CollisionDetector::collision_beep_count
private

Definition at line 201 of file CollisionDetector.h.

int CollisionDetector::collision_beep_freq
private

Definition at line 201 of file CollisionDetector.h.

int CollisionDetector::default_recover_time
private

Definition at line 198 of file CollisionDetector.h.

int CollisionDetector::dummy
private

Definition at line 208 of file CollisionDetector.h.

double CollisionDetector::i_dt
private

Definition at line 197 of file CollisionDetector.h.

bool CollisionDetector::is_beep_port_connected
private

Definition at line 207 of file CollisionDetector.h.

TimedLongSeq CollisionDetector::m_beepCommand
protected

Definition at line 142 of file CollisionDetector.h.

OutPort<TimedLongSeq> CollisionDetector::m_beepCommandOut
protected

Definition at line 143 of file CollisionDetector.h.

int CollisionDetector::m_collision_loop
private

Definition at line 189 of file CollisionDetector.h.

RTC::CorbaPort CollisionDetector::m_CollisionDetectorServicePort
protected

Definition at line 149 of file CollisionDetector.h.

std::vector<int> CollisionDetector::m_curr_collision_mask
private

Definition at line 184 of file CollisionDetector.h.

unsigned int CollisionDetector::m_debugLevel
private

Definition at line 199 of file CollisionDetector.h.

double CollisionDetector::m_dt
private

Definition at line 192 of file CollisionDetector.h.

bool CollisionDetector::m_enable
private

Definition at line 200 of file CollisionDetector.h.

bool CollisionDetector::m_have_safe_posture
private

Definition at line 202 of file CollisionDetector.h.

std::vector<int> CollisionDetector::m_init_collision_mask
private

Definition at line 184 of file CollisionDetector.h.

interpolator* CollisionDetector::m_interpolator
private

Definition at line 196 of file CollisionDetector.h.

double * CollisionDetector::m_lastsafe_jointdata
private

Definition at line 194 of file CollisionDetector.h.

bool* CollisionDetector::m_link_collision
private

Definition at line 195 of file CollisionDetector.h.

int CollisionDetector::m_loop_for_check
private

Definition at line 189 of file CollisionDetector.h.

std::map<std::string, CollisionLinkPair *> CollisionDetector::m_pair
private

Definition at line 188 of file CollisionDetector.h.

TimedDoubleSeq CollisionDetector::m_q
protected

Definition at line 140 of file CollisionDetector.h.

TimedDoubleSeq CollisionDetector::m_qCurrent
protected

Definition at line 131 of file CollisionDetector.h.

InPort<TimedDoubleSeq> CollisionDetector::m_qCurrentIn
protected

Definition at line 132 of file CollisionDetector.h.

OutPort<TimedDoubleSeq> CollisionDetector::m_qOut
protected

Definition at line 141 of file CollisionDetector.h.

TimedDoubleSeq CollisionDetector::m_qRef
protected

Definition at line 129 of file CollisionDetector.h.

InPort<TimedDoubleSeq> CollisionDetector::m_qRefIn
protected

Definition at line 130 of file CollisionDetector.h.

double* CollisionDetector::m_recover_jointdata
private

Definition at line 194 of file CollisionDetector.h.

int CollisionDetector::m_recover_time
private

Definition at line 191 of file CollisionDetector.h.

hrp::BodyPtr CollisionDetector::m_robot
private

Definition at line 187 of file CollisionDetector.h.

bool CollisionDetector::m_safe_posture
private

Definition at line 190 of file CollisionDetector.h.

CollisionDetectorService_impl CollisionDetector::m_service0
protected

Definition at line 155 of file CollisionDetector.h.

OpenHRP::TimedLongSeqSeq CollisionDetector::m_servoState
protected

Definition at line 133 of file CollisionDetector.h.

InPort<OpenHRP::TimedLongSeqSeq> CollisionDetector::m_servoStateIn
protected

Definition at line 134 of file CollisionDetector.h.

OpenHRP::CollisionDetectorService::CollisionState CollisionDetector::m_state
private

Definition at line 203 of file CollisionDetector.h.

bool CollisionDetector::m_use_limb_collision
private

Definition at line 185 of file CollisionDetector.h.

bool CollisionDetector::m_use_viewer
private

Definition at line 186 of file CollisionDetector.h.

std::vector<Vclip::Polyhedron *> CollisionDetector::m_VclipLinks
private

Definition at line 183 of file CollisionDetector.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Tue Feb 9 2021 03:39:37