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

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:
Inheritance graph

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)
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 Member Functions

robotrobot_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
PortAdmin m_portAdmin
PortConnectListeners m_portconnListeners
PortableServer::POA_var m_pPOA
ComponentProfile m_profile
coil::Properties m_properties
SDOPackage::Configuration_var m_pSdoConfig
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< robotm_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)


managerpointer to the Manager

Definition at line 46 of file RobotHardware.cpp.

RobotHardware::~RobotHardware ( )


Definition at line 68 of file RobotHardware.cpp.

Member Function Documentation

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

Definition at line 420 of file RobotHardware.cpp.

virtual void RobotHardware::getTimeNow ( Time &  tm)

Definition at line 107 of file RobotHardware.h.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 232 of file RobotHardware.cpp.

RTC::ReturnCode_t RobotHardware::onInitialize ( void  )

Reimplemented from RTC::RTObject_impl.

Definition at line 73 of file RobotHardware.cpp.

robot* RobotHardware::robot_ptr ( void  )

Definition at line 216 of file RobotHardware.h.

Member Data Documentation

int RobotHardware::dummy

Definition at line 220 of file RobotHardware.h.

std::vector<TimedAcceleration3D> RobotHardware::m_acc

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

Definition at line 190 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_ctau

array of commanded torques of joint with jointId

Definition at line 161 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_ctauOut

Definition at line 188 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_ddqRef

array of reference accelerations of joint with jointId

Definition at line 136 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_ddqRefIn

Definition at line 137 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_dq

array of actual velocities of joint with jointId

Definition at line 153 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_dqOut

Definition at line 186 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_dqRef

array of reference velocities of joint with jointId

Definition at line 131 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_dqRefIn

Definition at line 132 of file RobotHardware.h.

TimedLong RobotHardware::m_emergencySignal

Definition at line 180 of file RobotHardware.h.

OutPort<TimedLong> RobotHardware::m_emergencySignalOut

Definition at line 194 of file RobotHardware.h.

std::vector<TimedDoubleSeq> RobotHardware::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

Definition at line 178 of file RobotHardware.h.

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

Definition at line 192 of file RobotHardware.h.

int RobotHardware::m_isDemoMode

Definition at line 111 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_pdtau

array of PD controller torques of joint with jointId

Definition at line 165 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_pdtauOut

Definition at line 189 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_q

array of actual angles of joint with jointId

Definition at line 149 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_qOut

Definition at line 185 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_qRef

array of reference angles of joint with jointId

Definition at line 126 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_qRefIn

Definition at line 127 of file RobotHardware.h.

std::vector<TimedAngularVelocity3D> RobotHardware::m_rate

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

Definition at line 191 of file RobotHardware.h.

boost::shared_ptr<robot> RobotHardware::m_robot

Definition at line 221 of file RobotHardware.h.

RTC::CorbaPort RobotHardware::m_RobotHardwareServicePort

Definition at line 201 of file RobotHardware.h.

OpenHRP::RobotHardwareService::TimedRobotState2 RobotHardware::m_rstate2

Definition at line 181 of file RobotHardware.h.

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

Definition at line 195 of file RobotHardware.h.

RobotHardwareService_impl RobotHardware::m_service0

Definition at line 207 of file RobotHardware.h.

OpenHRP::TimedLongSeqSeq RobotHardware::m_servoState

Definition at line 179 of file RobotHardware.h.

OutPort<OpenHRP::TimedLongSeqSeq> RobotHardware::m_servoStateOut

Definition at line 193 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_tau

array of actual torques of joint with jointId

Definition at line 157 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_tauOut

Definition at line 187 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_tauRef

array of reference torques of joint with jointId

Definition at line 141 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_tauRefIn

Definition at line 142 of file RobotHardware.h.

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

Author(s): AIST, Fumio Kanehiro
autogenerated on Tue Feb 9 2021 03:39:37