#include <PyBody.h>

Inheritance diagram for PyBody:

[legend]

Public Types
enum	{ STRUCTURE, KINEMATICS }

Public Types inherited from BodyRTC
enum	emg_reason { EMG_NONE, EMG_SERVO_ERROR, EMG_FZ }

Public Types inherited from hrp::Body
enum	ExtraJointType

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

Public Member Functions
PyObject *	calcCM ()

void	calcForwardKinematics ()

std::string	getName ()

PyObject *	getPosition ()

PyObject *	getPosture ()

PyObject *	getRotation ()

PyLink *	joint (int i)

PyObject *	joints ()

PyLink *	link (std::string name)

PyObject *	links ()

void	notifyChanged (int change)

	PyBody (RTC::Manager *manager=&RTC::Manager::instance())

PyLink *	rootLink ()

void	setListener (PySimulator *i_sim)

void	setPosition (PyObject *v)

void	setPosture (PyObject *v)

void	setRotation (PyObject *v)

virtual	~PyBody ()

Public Member Functions inherited from BodyRTC
int	addJointGroup (const char *gname, const std::vector< int >jids)

	BodyRTC (RTC::Manager *manager=&RTC::Manager::instance())

bool	checkEmergency (emg_reason &o_reason, int &o_id)

void	createInPort (const std::string &config)

void	createOutPort (const std::string &config)

std::vector< int >	getJointGroup (const char *gname)

void	getStatus (OpenHRP::RobotHardwareService::RobotState *rs)

void	getStatus2 (OpenHRP::RobotHardwareService::RobotState2 *rs)

int	lengthDigitalInput ()

int	lengthDigitalOutput ()

bool	names2ids (const std::vector< std::string > &i_names, std::vector< int > &o_ids)

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

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

bool	postOneStep ()

bool	power (int jid, bool turnon)

bool	power (const char *jname, bool turnon)

bool	preOneStep ()

int	readCalibState (const int i)

void	readDataPorts ()

bool	readDigitalInput (char *o_din)

bool	readDigitalOutput (char *o_dout)

int	readPowerState (const int i)

int	readServoState (const int i)

bool	resetPosition ()

bool	servo (const char *jname, bool turnon)

bool	servo (int jid, bool turnon)

bool	setServoErrorLimit (const char *i_jname, double i_limit)

RTC::ReturnCode_t	setup ()

void	writeDataPorts (double time)

bool	writeDigitalOutput (const char *i_dout)

bool	writeDigitalOutputWithMask (const char i_dout, const char i_mask)

virtual	~BodyRTC (void)

Public Member Functions inherited from hrp::Body
void	addSensor (Sensor *sensor, int sensorType, int id)

	Body ()

	Body (const Body &org)

void	calcAngularMomentumJacobian (Link *base, dmatrix &H)

Vector3	calcCM ()

void	calcCMJacobian (Link *base, dmatrix &J)

void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)

void	calcInverseDynamics (Link *link, Vector3 &out_f, Vector3 &out_tau)

void	calcMassMatrix (dmatrix &out_M)

double	calcTotalMass ()

void	calcTotalMomentum (Vector3 &out_P, Vector3 &out_L)

void	calcTotalMomentumFromJacobian (Vector3 &out_P, Vector3 &out_L)

void	clearExternalForces ()

void	clearSensorValues ()

Light *	createLight (Link *link, int lightType, const std::string &name)

Sensor *	createSensor (Link *link, int sensorType, int id, const std::string &name)

void	getDefaultRootPosition (Vector3 &out_p, Matrix33 &out_R)

JointPathPtr	getJointPath (Link baseLink, Link targetLink)

void	initializeConfiguration ()

bool	installCustomizer ()

bool	installCustomizer (BodyCustomizerInterface *customizerInterface)

bool	isStaticModel ()

Link *	joint (int id) const

const std::vector< Link * > &	joints () const

Light *	light (const std::string &name)

Link *	link (int index) const

Link *	link (const std::string &name) const

const LinkTraverse &	links () const

const LinkTraverse &	linkTraverse () const

const std::string &	modelName ()

const std::string &	name ()

unsigned int	numJoints () const

unsigned int	numLinks () const

unsigned int	numSensors (int sensorType) const

unsigned int	numSensorTypes () const

void	putInformation (std::ostream &out)

Link *	rootLink () const

Sensor *	sensor (int sensorType, int sensorId) const

TSensor *	sensor (const std::string &name) const

TSensor *	sensor (int id) const

void	setColumnOfMassMatrix (dmatrix &M, int column)

void	setDefaultRootPosition (const Vector3 &p, const Matrix33 &R)

void	setModelName (const std::string &name)

void	setName (const std::string &name)

void	setRootLink (Link *link)

void	setVirtualJointForces ()

double	totalMass () const

void	updateLinkColdetModelPositions ()

void	updateLinkTree ()

virtual	~Body ()

Public Member Functions inherited from hrp::Referenced
	Referenced ()

virtual	~Referenced ()

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)

Public Member Functions inherited from GLbody
void	computeAABB (hrp::Vector3 &o_min, hrp::Vector3 &o_max)

void	divideLargeTriangles (double maxEdgeLen)

size_t	draw ()

void	draw ()

void	drawSensor (hrp::Sensor *i_sensor)

GLcamera *	findCamera (const char *i_name)

GLcamera *	findCamera (const char *i_name)

GLcamera *	findCamera (const char *i_name)

virtual const irr::core::aabbox3d< irr::f32 > &	getBoundingBox () const

boost::function2< void, hrp::Body , hrp::Sensor >	getSensorDrawCallback ()

	GLbody ()

	GLbody (irr::scene::ISceneNode i_parent, irr::scene::ISceneManager i_mgr, irr::s32 i_id, OpenHRP::BodyInfo_var i_binfo)

	GLbody (OpenHRP::BodyInfo_var i_binfo)

virtual void	render ()

void	setPosition (double x, double y, double z)

template<class T >
void	setPosition (const T &p)

void	setPosture (const double *i_angles)

void	setPosture (const double i_angles, double i_pos, double *i_rpy)

void	setPosture (const hrp::dvector &i_q, const hrp::Vector3 &i_p, const hrp::Matrix33 &i_R)

void	setPosture (double i_angles, double i_pos, double *i_rpy)

void	setPosture (double i_angles, double i_pos, double *i_rpy)

void	setRotation (const double *R)

void	setRotation (double r, double p, double y)

void	setSensorDrawCallback (boost::function2< void, hrp::Body , hrp::Sensor > f)

	~GLbody ()

	~GLbody ()

Static Public Member Functions
static void	moduleInit (RTC::Manager *)

Static Public Member Functions inherited from BodyRTC
static void	moduleInit (RTC::Manager *)

Static Public Member Functions inherited from hrp::Body
static BodyInterface *	bodyInterface ()

Static Public Member Functions inherited from GLbody
static void	useAbsTransformToDraw ()

Private Attributes
PySimulator *	simulator

Static Private Attributes
static const char *	pybody_spec []

Additional Inherited Members
Public Attributes inherited from BodyRTC
int	m_emergencyId

BodyRTC::emg_reason	m_emergencyReason

std::vector< double >	m_servoErrorLimit

Public Attributes inherited from hrp::Body
	EJ_XY

	EJ_XYZ

	EJ_Z

std::vector< ExtraJoint >	extraJoints

Protected Member Functions inherited from hrp::Referenced
int	refCounter ()

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	onExecute (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onFinalize ()

virtual ReturnCode_t	onInitialize ()

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 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

Detailed Description

Definition at line 8 of file PyBody.h.

Member Enumeration Documentation

anonymous enum

Enumerator
STRUCTURE
KINEMATICS

Definition at line 11 of file PyBody.h.

Constructor & Destructor Documentation

PyBody::PyBody ( RTC::Manager * manager = &RTC::Manager::instance() )

Definition at line 26 of file PyBody.cpp.

PyBody::~PyBody ( )

virtual

Definition at line 30 of file PyBody.cpp.

Member Function Documentation

PyObject * PyBody::calcCM ( )

Definition at line 120 of file PyBody.cpp.

void PyBody::calcForwardKinematics ( )

Definition at line 76 of file PyBody.cpp.

std::string PyBody::getName ( void )

Definition at line 115 of file PyBody.cpp.

PyObject * PyBody::getPosition ( )

Definition at line 55 of file PyBody.cpp.

PyObject * PyBody::getPosture ( )

Definition at line 65 of file PyBody.cpp.

PyObject * PyBody::getRotation ( )

Definition at line 60 of file PyBody.cpp.

PyLink * PyBody::joint ( int i )

Definition at line 101 of file PyBody.cpp.

PyObject * PyBody::joints ( )

Definition at line 105 of file PyBody.cpp.

PyLink * PyBody::link ( std::string name )

Definition at line 86 of file PyBody.cpp.

PyObject * PyBody::links ( )

Definition at line 91 of file PyBody.cpp.

void PyBody::moduleInit ( RTC::Manager * manager )

static

Definition at line 153 of file PyBody.cpp.

void PyBody::notifyChanged ( int change )

Definition at line 130 of file PyBody.cpp.

PyLink * PyBody::rootLink ( )

Definition at line 81 of file PyBody.cpp.

void PyBody::setListener ( PySimulator * i_sim )

Definition at line 143 of file PyBody.cpp.

void PyBody::setPosition ( PyObject * v )

Definition at line 35 of file PyBody.cpp.

void PyBody::setPosture ( PyObject * v )

Definition at line 45 of file PyBody.cpp.

void PyBody::setRotation ( PyObject * v )

Definition at line 40 of file PyBody.cpp.

Member Data Documentation

const char * PyBody::pybody_spec

staticprivate

Initial value:

=
{
    "implementation_id", "PyBody",
    "type_name",         "PyBody",
    "description",       "PyBody component",
    "version",           "0.1",
    "vendor",            "AIST",
    "category",          "Generic",
    "activity_type",     "DataFlowComponent",
    "max_instance",      "10",
    "language",          "C++",
    "lang_type",         "compile",
    
    ""
}

Definition at line 34 of file PyBody.h.

PySimulator* PyBody::simulator

private

Definition at line 35 of file PyBody.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation