RT component that do nothing and don't have ports. This component is used to create an execution context. More...

#include <RobotHardware.h>

Inheritance diagram for RobotHardware:

Public Member Functions
virtual void	getTimeNow (Time &tm)

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

virtual RTC::ReturnCode_t	onInitialize ()

	RobotHardware (RTC::Manager *manager)
	Constructor. More...

virtual	~RobotHardware ()
	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)

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 Member Functions
robot *	robot_ptr (void)

Protected Member Functions inherited from RTC::RTObject_impl
virtual ReturnCode_t	onAborting (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onActivated (RTC::UniqueId exec_handle)

void	onAddPort (const PortProfile &pprof)

void	onAttachExecutionContext (UniqueId ec_id)

virtual ReturnCode_t	onDeactivated (RTC::UniqueId exec_handle)

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 ()

Protected Attributes
std::vector< TimedAcceleration3D >	m_acc
	vector of actual acceleration (vector length = number of acceleration sensors) More...

std::vector< OutPort< TimedAcceleration3D > * >	m_accOut

TimedDoubleSeq	m_ctau
	array of commanded torques of joint with jointId More...

OutPort< TimedDoubleSeq >	m_ctauOut

TimedDoubleSeq	m_ddqRef
	array of reference accelerations of joint with jointId More...

InPort< TimedDoubleSeq >	m_ddqRefIn

TimedDoubleSeq	m_dq
	array of actual velocities of joint with jointId More...

OutPort< TimedDoubleSeq >	m_dqOut

TimedDoubleSeq	m_dqRef
	array of reference velocities of joint with jointId More...

InPort< TimedDoubleSeq >	m_dqRefIn

TimedLong	m_emergencySignal

OutPort< TimedLong >	m_emergencySignalOut

std::vector< TimedDoubleSeq >	m_force
	vector of actual 6D wrench (vector length = number of F/T sensors) 6D wrench vector = 3D force + 3D moment = fx, fy, fz, nx, ny, nz More...

std::vector< OutPort< TimedDoubleSeq > * >	m_forceOut

int	m_isDemoMode

TimedDoubleSeq	m_pdtau
	array of PD controller torques of joint with jointId More...

OutPort< TimedDoubleSeq >	m_pdtauOut

TimedDoubleSeq	m_q
	array of actual angles of joint with jointId More...

OutPort< TimedDoubleSeq >	m_qOut

TimedDoubleSeq	m_qRef
	array of reference angles of joint with jointId More...

InPort< TimedDoubleSeq >	m_qRefIn

std::vector< TimedAngularVelocity3D >	m_rate
	vector of actual angular velocity (vector length = number of rate sensors) More...

std::vector< OutPort< TimedAngularVelocity3D > * >	m_rateOut

RTC::CorbaPort	m_RobotHardwareServicePort

OpenHRP::RobotHardwareService::TimedRobotState2	m_rstate2

OutPort< OpenHRP::RobotHardwareService::TimedRobotState2 >	m_rstate2Out

RobotHardwareService_impl	m_service0

OpenHRP::TimedLongSeqSeq	m_servoState

OutPort< OpenHRP::TimedLongSeqSeq >	m_servoStateOut

TimedDoubleSeq	m_tau
	array of actual torques of joint with jointId More...

OutPort< TimedDoubleSeq >	m_tauOut

TimedDoubleSeq	m_tauRef
	array of reference torques of joint with jointId More...

InPort< TimedDoubleSeq >	m_tauRefIn

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	getStatus2 (OpenHRP::RobotHardwareService::RobotState2 &rstate2)

Private Attributes
int	dummy

boost::shared_ptr< robot >	m_robot

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

RT component that do nothing and don't have ports. This component is used to create an execution context.

Definition at line 45 of file RobotHardware.h.

Constructor & Destructor Documentation

RobotHardware::RobotHardware ( RTC::Manager * manager )

Constructor.

Parameters

manager pointer to the Manager

Definition at line 46 of file RobotHardware.cpp.

RobotHardware::~RobotHardware ( )

virtual

Destructor.

Definition at line 68 of file RobotHardware.cpp.

Member Function Documentation

void RobotHardware::getStatus2 ( OpenHRP::RobotHardwareService::RobotState2 & rstate2 )

private

Definition at line 420 of file RobotHardware.cpp.

virtual void RobotHardware::getTimeNow ( Time & tm )

inlinevirtual

Definition at line 107 of file RobotHardware.h.

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

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 232 of file RobotHardware.cpp.

RTC::ReturnCode_t RobotHardware::onInitialize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 73 of file RobotHardware.cpp.

robot* RobotHardware::robot_ptr ( void )

inlineprotected

Definition at line 216 of file RobotHardware.h.

Member Data Documentation

int RobotHardware::dummy

private

Definition at line 220 of file RobotHardware.h.

std::vector<TimedAcceleration3D> RobotHardware::m_acc

protected

vector of actual acceleration (vector length = number of acceleration sensors)

Definition at line 169 of file RobotHardware.h.

std::vector<OutPort<TimedAcceleration3D> *> RobotHardware::m_accOut

protected

Definition at line 190 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_ctau

protected

array of commanded torques of joint with jointId

Definition at line 161 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_ctauOut

protected

Definition at line 188 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_ddqRef

protected

array of reference accelerations of joint with jointId

Definition at line 136 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_ddqRefIn

protected

Definition at line 137 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_dq

protected

array of actual velocities of joint with jointId

Definition at line 153 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_dqOut

protected

Definition at line 186 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_dqRef

protected

array of reference velocities of joint with jointId

Definition at line 131 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_dqRefIn

protected

Definition at line 132 of file RobotHardware.h.

TimedLong RobotHardware::m_emergencySignal

protected

Definition at line 180 of file RobotHardware.h.

OutPort<TimedLong> RobotHardware::m_emergencySignalOut

protected

Definition at line 194 of file RobotHardware.h.

std::vector<TimedDoubleSeq> RobotHardware::m_force

protected

vector of actual 6D wrench (vector length = number of F/T sensors) 6D wrench vector = 3D force + 3D moment = fx, fy, fz, nx, ny, nz

Definition at line 178 of file RobotHardware.h.

std::vector<OutPort<TimedDoubleSeq> *> RobotHardware::m_forceOut

protected

Definition at line 192 of file RobotHardware.h.

int RobotHardware::m_isDemoMode

protected

Definition at line 111 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_pdtau

protected

array of PD controller torques of joint with jointId

Definition at line 165 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_pdtauOut

protected

Definition at line 189 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_q

protected

array of actual angles of joint with jointId

Definition at line 149 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_qOut

protected

Definition at line 185 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_qRef

protected

array of reference angles of joint with jointId

Definition at line 126 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_qRefIn

protected

Definition at line 127 of file RobotHardware.h.

std::vector<TimedAngularVelocity3D> RobotHardware::m_rate

protected

vector of actual angular velocity (vector length = number of rate sensors)

Definition at line 173 of file RobotHardware.h.

std::vector<OutPort<TimedAngularVelocity3D> *> RobotHardware::m_rateOut

protected

Definition at line 191 of file RobotHardware.h.

boost::shared_ptr<robot> RobotHardware::m_robot

private

Definition at line 221 of file RobotHardware.h.

RTC::CorbaPort RobotHardware::m_RobotHardwareServicePort

protected

Definition at line 201 of file RobotHardware.h.

OpenHRP::RobotHardwareService::TimedRobotState2 RobotHardware::m_rstate2

protected

Definition at line 181 of file RobotHardware.h.

OutPort<OpenHRP::RobotHardwareService::TimedRobotState2> RobotHardware::m_rstate2Out

protected

Definition at line 195 of file RobotHardware.h.

RobotHardwareService_impl RobotHardware::m_service0

protected

Definition at line 207 of file RobotHardware.h.

OpenHRP::TimedLongSeqSeq RobotHardware::m_servoState

protected

Definition at line 179 of file RobotHardware.h.

OutPort<OpenHRP::TimedLongSeqSeq> RobotHardware::m_servoStateOut

protected

Definition at line 193 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_tau

protected

array of actual torques of joint with jointId

Definition at line 157 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_tauOut

protected

Definition at line 187 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_tauRef

protected

array of reference torques of joint with jointId

Definition at line 141 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_tauRefIn

protected

Definition at line 142 of file RobotHardware.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation