Public Member Functions | Protected Attributes | Private Attributes | List of all members
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:
Inheritance graph
[legend]

Public Member Functions

 ForwardKinematics (RTC::Manager *manager)
 Constructor. More...
 
::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. 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 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
 
- 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

int dummy
 
hrp::BodyPtr m_actBody
 
hrp::Linkm_actLink
 
coil::Mutex m_bodyMutex
 
hrp::BodyPtr m_refBody
 
hrp::Linkm_refLink
 
hrp::Linkm_sensorAttachedLink
 
std::string m_sensorAttachedLinkName
 
Time m_tm
 

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
 
- 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 onFinalize ()
 
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 ()
 

Detailed Description

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

Definition at line 45 of file ForwardKinematics.h.

Constructor & Destructor Documentation

ForwardKinematics::ForwardKinematics ( RTC::Manager manager)

Constructor.

Parameters
managerpointer 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.

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.


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