Public Member Functions | Protected Attributes | Private Attributes | List of all members
OccupancyGridMap3D Class Reference

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

#include <OccupancyGridMap3D.h>

Inheritance diagram for OccupancyGridMap3D:
Inheritance graph
[legend]

Public Member Functions

void clear ()
 
OpenHRP::OGMap3D * getOGMap3D (const OpenHRP::AABB &region)
 
 OccupancyGridMap3D (RTC::Manager *manager)
 Constructor. More...
 
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 ()
 
void save (const char *filename)
 
virtual ~OccupancyGridMap3D ()
 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

PointCloudTypes::PointCloud m_cloud
 
InPort< PointCloudTypes::PointCloud > m_cloudIn
 
RTC::CorbaPort m_OGMap3DServicePort
 
TimedPose3D m_pose
 
InPort< TimedPose3D > m_poseIn
 
RangeData m_range
 
InPort< RangeData > m_rangeIn
 
TimedPoint3D m_sensorPos
 
InPort< TimedPoint3D > m_sensorPosIn
 
OGMap3DService_impl m_service0
 
TimedLong m_update
 
InPort< TimedLong > m_updateIn
 
OutPort< TimedLong > m_updateOut
 
TimedLong m_updateSignal
 
- 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
 
std::string m_cwd
 
int m_debugLevel
 
std::string m_initialMap
 
octomap::OcTree * m_knownMap
 
std::string m_knownMapPath
 
octomap::OcTree * m_map
 
coil::Mutex m_mutex
 
double m_occupiedThd
 
double m_resolution
 

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 OccupancyGridMap3D.h.

Constructor & Destructor Documentation

OccupancyGridMap3D::OccupancyGridMap3D ( RTC::Manager manager)

Constructor.

Parameters
managerpointer to the Manager

Definition at line 52 of file OccupancyGridMap3D.cpp.

OccupancyGridMap3D::~OccupancyGridMap3D ( )
virtual

Destructor.

Definition at line 70 of file OccupancyGridMap3D.cpp.

Member Function Documentation

void OccupancyGridMap3D::clear ( void  )

Definition at line 623 of file OccupancyGridMap3D.cpp.

OpenHRP::OGMap3D * OccupancyGridMap3D::getOGMap3D ( const OpenHRP::AABB &  region)

Definition at line 485 of file OccupancyGridMap3D.cpp.

RTC::ReturnCode_t OccupancyGridMap3D::onActivated ( RTC::UniqueId  ec_id)
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 158 of file OccupancyGridMap3D.cpp.

RTC::ReturnCode_t OccupancyGridMap3D::onDeactivated ( RTC::UniqueId  ec_id)
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 198 of file OccupancyGridMap3D.cpp.

RTC::ReturnCode_t OccupancyGridMap3D::onExecute ( RTC::UniqueId  ec_id)
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 207 of file OccupancyGridMap3D.cpp.

RTC::ReturnCode_t OccupancyGridMap3D::onInitialize ( void  )
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 76 of file OccupancyGridMap3D.cpp.

void OccupancyGridMap3D::save ( const char *  filename)

Definition at line 617 of file OccupancyGridMap3D.cpp.

Member Data Documentation

int OccupancyGridMap3D::dummy
private

Definition at line 166 of file OccupancyGridMap3D.h.

PointCloudTypes::PointCloud OccupancyGridMap3D::m_cloud
protected

Definition at line 117 of file OccupancyGridMap3D.h.

InPort<PointCloudTypes::PointCloud> OccupancyGridMap3D::m_cloudIn
protected

Definition at line 126 of file OccupancyGridMap3D.h.

std::string OccupancyGridMap3D::m_cwd
private

Definition at line 163 of file OccupancyGridMap3D.h.

int OccupancyGridMap3D::m_debugLevel
private

Definition at line 165 of file OccupancyGridMap3D.h.

std::string OccupancyGridMap3D::m_initialMap
private

Definition at line 161 of file OccupancyGridMap3D.h.

octomap::OcTree * OccupancyGridMap3D::m_knownMap
private

Definition at line 159 of file OccupancyGridMap3D.h.

std::string OccupancyGridMap3D::m_knownMapPath
private

Definition at line 162 of file OccupancyGridMap3D.h.

octomap::OcTree* OccupancyGridMap3D::m_map
private

Definition at line 159 of file OccupancyGridMap3D.h.

coil::Mutex OccupancyGridMap3D::m_mutex
private

Definition at line 164 of file OccupancyGridMap3D.h.

double OccupancyGridMap3D::m_occupiedThd
private

Definition at line 160 of file OccupancyGridMap3D.h.

RTC::CorbaPort OccupancyGridMap3D::m_OGMap3DServicePort
protected

Definition at line 143 of file OccupancyGridMap3D.h.

TimedPose3D OccupancyGridMap3D::m_pose
protected

Definition at line 118 of file OccupancyGridMap3D.h.

InPort<TimedPose3D> OccupancyGridMap3D::m_poseIn
protected

Definition at line 127 of file OccupancyGridMap3D.h.

RangeData OccupancyGridMap3D::m_range
protected

Definition at line 121 of file OccupancyGridMap3D.h.

InPort<RangeData> OccupancyGridMap3D::m_rangeIn
protected

Definition at line 125 of file OccupancyGridMap3D.h.

double OccupancyGridMap3D::m_resolution
private

Definition at line 160 of file OccupancyGridMap3D.h.

TimedPoint3D OccupancyGridMap3D::m_sensorPos
protected

Definition at line 119 of file OccupancyGridMap3D.h.

InPort<TimedPoint3D> OccupancyGridMap3D::m_sensorPosIn
protected

Definition at line 128 of file OccupancyGridMap3D.h.

OGMap3DService_impl OccupancyGridMap3D::m_service0
protected

Definition at line 149 of file OccupancyGridMap3D.h.

TimedLong OccupancyGridMap3D::m_update
protected

Definition at line 120 of file OccupancyGridMap3D.h.

InPort<TimedLong> OccupancyGridMap3D::m_updateIn
protected

Definition at line 129 of file OccupancyGridMap3D.h.

OutPort<TimedLong> OccupancyGridMap3D::m_updateOut
protected

Definition at line 137 of file OccupancyGridMap3D.h.

TimedLong OccupancyGridMap3D::m_updateSignal
protected

Definition at line 133 of file OccupancyGridMap3D.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