#include <ObjectContactTurnaroundDetector.h>

Inheritance diagram for ObjectContactTurnaroundDetector:

Classes
struct	ee_trans

Public Member Functions
OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode	checkObjectContactTurnaroundDetection ()

bool	checkObjectContactTurnaroundDetectionForGeneralizedWrench (OpenHRP::ObjectContactTurnaroundDetectorService::DetectorModeSequence_out o_dms)

bool	getObjectContactTurnaroundDetectorParam (OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam &i_param_)

bool	getObjectForcesMoments (OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out o_forces, OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out o_moments, OpenHRP::ObjectContactTurnaroundDetectorService::DblSequence3_out o_3dofwrench, double &o_fric_coeff_wrench)

bool	getObjectGeneralizedConstraintWrenches (OpenHRP::ObjectContactTurnaroundDetectorService::objectGeneralizedConstraintWrenchesParam &o_param)

	ObjectContactTurnaroundDetector (RTC::Manager *manager)

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	setObjectContactTurnaroundDetectorParam (const OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam &i_param_)

void	startObjectContactTurnaroundDetection (const double i_ref_diff_wrench, const double i_max_time, const OpenHRP::ObjectContactTurnaroundDetectorService::StrSequence &i_ee_names)

bool	startObjectContactTurnaroundDetectionForGeneralizedWrench ()

virtual	~ObjectContactTurnaroundDetector ()

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)

ConfigurationParamListener *	addConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , const char *))

void	addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)

ConfigurationSetListener *	addConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))

void	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)

ConfigurationSetNameListener *	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::memfunc)(const char ))

void	addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)

ECActionListener *	addExecutionContextActionListener (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)

PortActionListener *	addPortActionListener (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)

PortConnectListener *	addPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &))

void	addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)

PortConnectRetListener *	addPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &, ReturnCode_t))

void	addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)

PostComponentActionListener *	addPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))

void	addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)

PreComponentActionListener *	addPreComponentActionListener (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 ExecutionContextList *	get_owned_contexts ()

virtual SDOPackage::OrganizationList *	get_owned_organizations ()

virtual ExecutionContextList *	get_participating_contexts ()

virtual PortServiceList *	get_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::NVList *	get_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::Properties &	getProperties ()

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
TimedBooleanSeq	m_contactStates

InPort< TimedBooleanSeq >	m_contactStatesIn

std::vector< TimedDoubleSeq >	m_force

std::vector< InPort< TimedDoubleSeq > * >	m_forceIn

RTC::CorbaPort	m_ObjectContactTurnaroundDetectorServicePort

TimedDoubleSeq	m_octdData

OutPort< TimedDoubleSeq >	m_octdDataOut

TimedDoubleSeq	m_qCurrent

InPort< TimedDoubleSeq >	m_qCurrentIn

TimedOrientation3D	m_rpy

InPort< TimedOrientation3D >	m_rpyIn

ObjectContactTurnaroundDetectorService_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

Manager *	m_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_impl *	m_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 Member Functions
void	calcFootMidCoords (hrp::Vector3 &new_foot_mid_pos, hrp::Matrix33 &new_foot_mid_rot)

void	calcFootOriginCoords (hrp::Vector3 &foot_origin_pos, hrp::Matrix33 &foot_origin_rot)

void	calcObjectContactTurnaroundDetectorState ()

OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode	checkObjectContactTurnaroundDetectionCommon (const size_t index)

std::string	getEENameFromSensorName (const std::string &sensor_name)

void	updateRootLinkPosRot (TimedOrientation3D tmprpy)

Private Attributes
int	dummy

std::map< std::string, ee_trans >	ee_map

int	loop

unsigned int	m_debugLevel

double	m_dt

coil::Mutex	m_mutex

hrp::BodyPtr	m_robot

boost::shared_ptr< ObjectContactTurnaroundDetectorBase >	octd

hrp::Vector3	octd_axis

std::vector< std::string >	octd_sensor_names

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	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

Definition at line 38 of file ObjectContactTurnaroundDetector.h.

Constructor & Destructor Documentation

ObjectContactTurnaroundDetector::ObjectContactTurnaroundDetector ( RTC::Manager * manager )

Definition at line 41 of file ObjectContactTurnaroundDetector.cpp.

ObjectContactTurnaroundDetector::~ObjectContactTurnaroundDetector ( )

virtual

Definition at line 57 of file ObjectContactTurnaroundDetector.cpp.

Member Function Documentation

void ObjectContactTurnaroundDetector::calcFootMidCoords	(	hrp::Vector3 &	new_foot_mid_pos,
		hrp::Matrix33 &	new_foot_mid_rot
	)

private

Definition at line 322 of file ObjectContactTurnaroundDetector.cpp.

void ObjectContactTurnaroundDetector::calcFootOriginCoords	(	hrp::Vector3 &	foot_origin_pos,
		hrp::Matrix33 &	foot_origin_rot
	)

private

Definition at line 336 of file ObjectContactTurnaroundDetector.cpp.

void ObjectContactTurnaroundDetector::calcObjectContactTurnaroundDetectorState ( )

private

Definition at line 369 of file ObjectContactTurnaroundDetector.cpp.

OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode ObjectContactTurnaroundDetector::checkObjectContactTurnaroundDetection ( )

Definition at line 478 of file ObjectContactTurnaroundDetector.cpp.

OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode ObjectContactTurnaroundDetector::checkObjectContactTurnaroundDetectionCommon ( const size_t index )

private

Definition at line 452 of file ObjectContactTurnaroundDetector.cpp.

bool ObjectContactTurnaroundDetector::checkObjectContactTurnaroundDetectionForGeneralizedWrench ( OpenHRP::ObjectContactTurnaroundDetectorService::DetectorModeSequence_out o_dms )

Definition at line 484 of file ObjectContactTurnaroundDetector.cpp.

std::string ObjectContactTurnaroundDetector::getEENameFromSensorName ( const std::string & sensor_name )

inlineprivate

Definition at line 159 of file ObjectContactTurnaroundDetector.h.

bool ObjectContactTurnaroundDetector::getObjectContactTurnaroundDetectorParam ( OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam & i_param_ )

Definition at line 568 of file ObjectContactTurnaroundDetector.cpp.

bool ObjectContactTurnaroundDetector::getObjectForcesMoments	(	OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out	o_forces,
		OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out	o_moments,
		OpenHRP::ObjectContactTurnaroundDetectorService::DblSequence3_out	o_3dofwrench,
		double &	o_fric_coeff_wrench
	)

Definition at line 628 of file ObjectContactTurnaroundDetector.cpp.

bool ObjectContactTurnaroundDetector::getObjectGeneralizedConstraintWrenches ( OpenHRP::ObjectContactTurnaroundDetectorService::objectGeneralizedConstraintWrenchesParam & o_param )

Definition at line 653 of file ObjectContactTurnaroundDetector.cpp.

RTC::ReturnCode_t ObjectContactTurnaroundDetector::onActivated ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 239 of file ObjectContactTurnaroundDetector.cpp.

RTC::ReturnCode_t ObjectContactTurnaroundDetector::onDeactivated ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 245 of file ObjectContactTurnaroundDetector.cpp.

RTC::ReturnCode_t ObjectContactTurnaroundDetector::onExecute ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 252 of file ObjectContactTurnaroundDetector.cpp.

RTC::ReturnCode_t ObjectContactTurnaroundDetector::onFinalize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 220 of file ObjectContactTurnaroundDetector.cpp.

RTC::ReturnCode_t ObjectContactTurnaroundDetector::onInitialize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 62 of file ObjectContactTurnaroundDetector.cpp.

bool ObjectContactTurnaroundDetector::setObjectContactTurnaroundDetectorParam ( const OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam & i_param_ )

Definition at line 494 of file ObjectContactTurnaroundDetector.cpp.

void ObjectContactTurnaroundDetector::startObjectContactTurnaroundDetection	(	const double	i_ref_diff_wrench,
		const double	i_max_time,
		const OpenHRP::ObjectContactTurnaroundDetectorService::StrSequence &	i_ee_names
	)