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

#include <SequencePlayer.h>

Inheritance diagram for SequencePlayer:
Inheritance graph
[legend]

Public Member Functions

bool addJointGroup (const char *gname, const OpenHRP::SequencePlayerService::StrSequence &jnames)
 
bool clearJointAngles ()
 
bool clearJointAnglesOfGroup (const char *gname)
 
void loadPattern (const char *basename, double time)
 
virtual RTC::ReturnCode_t onActivated (RTC::UniqueId ec_id)
 
virtual RTC::ReturnCode_t onExecute (RTC::UniqueId ec_id)
 
virtual RTC::ReturnCode_t onFinalize ()
 
virtual RTC::ReturnCode_t onInitialize ()
 
seqplayplayer ()
 
void playPattern (const OpenHRP::dSequenceSequence &pos, const OpenHRP::dSequenceSequence &rpy, const OpenHRP::dSequenceSequence &zmp, const OpenHRP::dSequence &tm)
 
bool playPatternOfGroup (const char *gname, const OpenHRP::dSequenceSequence &pos, const OpenHRP::dSequence &tm)
 
bool removeJointGroup (const char *gname)
 
hrp::BodyPtr robot ()
 
 SequencePlayer (RTC::Manager *manager)
 
bool setBasePos (const double *pos, double tm)
 
bool setBaseRpy (const double *rpy, double tm)
 
void setClearFlag ()
 
bool setInitialState (double tm=0.0)
 
bool setInterpolationMode (OpenHRP::SequencePlayerService::interpolationMode i_mode_)
 
bool setJointAngle (short id, double angle, double tm)
 
bool setJointAngles (const double *angles, double tm)
 
bool setJointAngles (const double *angles, const bool *mask, double tm)
 
bool setJointAnglesOfGroup (const char *gname, const OpenHRP::dSequence &jvs, double tm)
 
bool setJointAnglesSequence (const OpenHRP::dSequenceSequence angless, const OpenHRP::bSequence &mask, const OpenHRP::dSequence &times)
 
bool setJointAnglesSequenceFull (const OpenHRP::dSequenceSequence i_jvss, const OpenHRP::dSequenceSequence i_vels, const OpenHRP::dSequenceSequence i_torques, const OpenHRP::dSequenceSequence i_poss, const OpenHRP::dSequenceSequence i_rpys, const OpenHRP::dSequenceSequence i_accs, const OpenHRP::dSequenceSequence i_zmps, const OpenHRP::dSequenceSequence i_wrenches, const OpenHRP::dSequenceSequence i_optionals, const dSequence i_tms)
 
bool setJointAnglesSequenceOfGroup (const char *gname, const OpenHRP::dSequenceSequence angless, const OpenHRP::dSequence &times)
 
void setMaxIKError (double pos, double rot)
 
void setMaxIKIteration (short iter)
 
bool setTargetPose (const char *gname, const double *xyz, const double *rpy, double tm, const char *frame_name)
 
bool setWrenches (const double *wrenches, double tm)
 
bool setZmp (const double *zmp, double tm)
 
void waitInterpolation ()
 
bool waitInterpolationOfGroup (const char *gname)
 
virtual ~SequencePlayer ()
 
- 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)
 

Public Attributes

double dt
 

Protected Attributes

TimedAcceleration3D m_accRef
 
OutPort< TimedAcceleration3D > m_accRefOut
 
TimedPoint3D m_basePos
 
TimedPoint3D m_basePosInit
 
InPort< TimedPoint3D > m_basePosInitIn
 
OutPort< TimedPoint3D > m_basePosOut
 
TimedOrientation3D m_baseRpy
 
TimedOrientation3D m_baseRpyInit
 
InPort< TimedOrientation3D > m_baseRpyInitIn
 
OutPort< TimedOrientation3D > m_baseRpyOut
 
TimedDoubleSeq m_optionalData
 
OutPort< TimedDoubleSeq > m_optionalDataOut
 
TimedDoubleSeq m_qInit
 
InPort< TimedDoubleSeq > m_qInitIn
 
TimedDoubleSeq m_qRef
 
OutPort< TimedDoubleSeq > m_qRefOut
 
RTC::CorbaPort m_SequencePlayerServicePort
 
SequencePlayerService_impl m_service0
 
TimedDoubleSeq m_tqRef
 
OutPort< TimedDoubleSeq > m_tqRefOut
 
std::vector< TimedDoubleSeq > m_wrenches
 
std::vector< OutPort< TimedDoubleSeq > * > m_wrenchesOut
 
TimedPoint3D m_zmpRef
 
TimedPoint3D m_zmpRefInit
 
InPort< TimedPoint3D > m_zmpRefInitIn
 
OutPort< TimedPoint3D > m_zmpRefOut
 
- 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
 
bool m_clearFlag
 
unsigned int m_debugLevel
 
double m_error_pos
 
double m_error_rot
 
std::string m_fixedLink
 
hrp::Vector3 m_fixedP
 
hrp::Matrix33 m_fixedR
 
std::string m_gname
 
short m_iteration
 
coil::Mutex m_mutex
 
hrp::Vector3 m_offsetP
 
hrp::Matrix33 m_offsetR
 
hrp::BodyPtr m_robot
 
seqplaym_seq
 
double m_timeToStartPlaying
 
bool m_waitFlag
 
sem_t m_waitSem
 
size_t optional_data_dim
 

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)
 
virtual ReturnCode_t onDeactivated (RTC::UniqueId exec_handle)
 
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 40 of file SequencePlayer.h.

Constructor & Destructor Documentation

SequencePlayer::SequencePlayer ( RTC::Manager manager)

Definition at line 43 of file SequencePlayer.cpp.

SequencePlayer::~SequencePlayer ( )
virtual

Definition at line 72 of file SequencePlayer.cpp.

Member Function Documentation

bool SequencePlayer::addJointGroup ( const char *  gname,
const OpenHRP::SequencePlayerService::StrSequence &  jnames 
)

Definition at line 823 of file SequencePlayer.cpp.

bool SequencePlayer::clearJointAngles ( )

Definition at line 477 of file SequencePlayer.cpp.

bool SequencePlayer::clearJointAnglesOfGroup ( const char *  gname)

Definition at line 506 of file SequencePlayer.cpp.

void SequencePlayer::loadPattern ( const char *  basename,
double  time 
)

Definition at line 701 of file SequencePlayer.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 207 of file SequencePlayer.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 221 of file SequencePlayer.cpp.

RTC::ReturnCode_t SequencePlayer::onFinalize ( void  )
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 185 of file SequencePlayer.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 77 of file SequencePlayer.cpp.

seqplay* SequencePlayer::player ( )
inline

Definition at line 96 of file SequencePlayer.h.

void SequencePlayer::playPattern ( const OpenHRP::dSequenceSequence &  pos,
const OpenHRP::dSequenceSequence &  rpy,
const OpenHRP::dSequenceSequence &  zmp,
const OpenHRP::dSequence &  tm 
)

Definition at line 789 of file SequencePlayer.cpp.

bool SequencePlayer::playPatternOfGroup ( const char *  gname,
const OpenHRP::dSequenceSequence &  pos,
const OpenHRP::dSequence &  tm 
)

Definition at line 869 of file SequencePlayer.cpp.

bool SequencePlayer::removeJointGroup ( const char *  gname)

Definition at line 845 of file SequencePlayer.cpp.

hrp::BodyPtr SequencePlayer::robot ( )
inline

Definition at line 97 of file SequencePlayer.h.

bool SequencePlayer::setBasePos ( const double *  pos,
double  tm 
)

Definition at line 544 of file SequencePlayer.cpp.

bool SequencePlayer::setBaseRpy ( const double *  rpy,
double  tm 
)

Definition at line 554 of file SequencePlayer.cpp.

void SequencePlayer::setClearFlag ( )

Definition at line 358 of file SequencePlayer.cpp.

bool SequencePlayer::setInitialState ( double  tm = 0.0)

Definition at line 750 of file SequencePlayer.cpp.

bool SequencePlayer::setInterpolationMode ( OpenHRP::SequencePlayerService::interpolationMode  i_mode_)

Definition at line 806 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAngle ( short  id,
double  angle,
double  tm 
)

Definition at line 387 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAngles ( const double *  angles,
double  tm 
)

Definition at line 411 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAngles ( const double *  angles,
const bool *  mask,
double  tm 
)

Definition at line 436 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAnglesOfGroup ( const char *  gname,
const OpenHRP::dSequence &  jvs,
double  tm 
)

Definition at line 857 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAnglesSequence ( const OpenHRP::dSequenceSequence  angless,
const OpenHRP::bSequence &  mask,
const OpenHRP::dSequence &  times 
)

Definition at line 454 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAnglesSequenceFull ( const OpenHRP::dSequenceSequence  i_jvss,
const OpenHRP::dSequenceSequence  i_vels,
const OpenHRP::dSequenceSequence  i_torques,
const OpenHRP::dSequenceSequence  i_poss,
const OpenHRP::dSequenceSequence  i_rpys,
const OpenHRP::dSequenceSequence  i_accs,
const OpenHRP::dSequenceSequence  i_zmps,
const OpenHRP::dSequenceSequence  i_wrenches,
const OpenHRP::dSequenceSequence  i_optionals,
const dSequence  i_tms 
)

Definition at line 519 of file SequencePlayer.cpp.

bool SequencePlayer::setJointAnglesSequenceOfGroup ( const char *  gname,
const OpenHRP::dSequenceSequence  angless,
const OpenHRP::dSequence &  times 
)

Definition at line 489 of file SequencePlayer.cpp.

void SequencePlayer::setMaxIKError ( double  pos,
double  rot 
)

Definition at line 884 of file SequencePlayer.cpp.

void SequencePlayer::setMaxIKIteration ( short  iter)

Definition at line 889 of file SequencePlayer.cpp.

bool SequencePlayer::setTargetPose ( const char *  gname,
const double *  xyz,
const double *  rpy,
double  tm,
const char *  frame_name 
)

Definition at line 581 of file SequencePlayer.cpp.

bool SequencePlayer::setWrenches ( const double *  wrenches,
double  tm 
)

Definition at line 574 of file SequencePlayer.cpp.

bool SequencePlayer::setZmp ( const double *  zmp,
double  tm 
)

Definition at line 564 of file SequencePlayer.cpp.

void SequencePlayer::waitInterpolation ( )

Definition at line 366 of file SequencePlayer.cpp.

bool SequencePlayer::waitInterpolationOfGroup ( const char *  gname)

Definition at line 375 of file SequencePlayer.cpp.

Member Data Documentation

double SequencePlayer::dt

Definition at line 95 of file SequencePlayer.h.

int SequencePlayer::dummy
private

Definition at line 198 of file SequencePlayer.h.

TimedAcceleration3D SequencePlayer::m_accRef
protected

Definition at line 152 of file SequencePlayer.h.

OutPort<TimedAcceleration3D> SequencePlayer::m_accRefOut
protected

Definition at line 153 of file SequencePlayer.h.

TimedPoint3D SequencePlayer::m_basePos
protected

Definition at line 154 of file SequencePlayer.h.

TimedPoint3D SequencePlayer::m_basePosInit
protected

Definition at line 135 of file SequencePlayer.h.

InPort<TimedPoint3D> SequencePlayer::m_basePosInitIn
protected

Definition at line 136 of file SequencePlayer.h.

OutPort<TimedPoint3D> SequencePlayer::m_basePosOut
protected

Definition at line 155 of file SequencePlayer.h.

TimedOrientation3D SequencePlayer::m_baseRpy
protected

Definition at line 156 of file SequencePlayer.h.

TimedOrientation3D SequencePlayer::m_baseRpyInit
protected

Definition at line 137 of file SequencePlayer.h.

InPort<TimedOrientation3D> SequencePlayer::m_baseRpyInitIn
protected

Definition at line 138 of file SequencePlayer.h.

OutPort<TimedOrientation3D> SequencePlayer::m_baseRpyOut
protected

Definition at line 157 of file SequencePlayer.h.

bool SequencePlayer::m_clearFlag
private

Definition at line 185 of file SequencePlayer.h.

unsigned int SequencePlayer::m_debugLevel
private

Definition at line 189 of file SequencePlayer.h.

double SequencePlayer::m_error_pos
private

Definition at line 192 of file SequencePlayer.h.

double SequencePlayer::m_error_rot
private

Definition at line 192 of file SequencePlayer.h.

std::string SequencePlayer::m_fixedLink
private

Definition at line 194 of file SequencePlayer.h.

hrp::Vector3 SequencePlayer::m_fixedP
private

Definition at line 195 of file SequencePlayer.h.

hrp::Matrix33 SequencePlayer::m_fixedR
private

Definition at line 196 of file SequencePlayer.h.

std::string SequencePlayer::m_gname
private

Definition at line 188 of file SequencePlayer.h.

short SequencePlayer::m_iteration
private

Definition at line 193 of file SequencePlayer.h.

coil::Mutex SequencePlayer::m_mutex
private

Definition at line 191 of file SequencePlayer.h.

hrp::Vector3 SequencePlayer::m_offsetP
private

Definition at line 195 of file SequencePlayer.h.

hrp::Matrix33 SequencePlayer::m_offsetR
private

Definition at line 196 of file SequencePlayer.h.

TimedDoubleSeq SequencePlayer::m_optionalData
protected

Definition at line 160 of file SequencePlayer.h.

OutPort<TimedDoubleSeq> SequencePlayer::m_optionalDataOut
protected

Definition at line 161 of file SequencePlayer.h.

TimedDoubleSeq SequencePlayer::m_qInit
protected

Definition at line 133 of file SequencePlayer.h.

InPort<TimedDoubleSeq> SequencePlayer::m_qInitIn
protected

Definition at line 134 of file SequencePlayer.h.

TimedDoubleSeq SequencePlayer::m_qRef
protected

Definition at line 146 of file SequencePlayer.h.

OutPort<TimedDoubleSeq> SequencePlayer::m_qRefOut
protected

Definition at line 147 of file SequencePlayer.h.

hrp::BodyPtr SequencePlayer::m_robot
private

Definition at line 187 of file SequencePlayer.h.

seqplay* SequencePlayer::m_seq
private

Definition at line 184 of file SequencePlayer.h.

RTC::CorbaPort SequencePlayer::m_SequencePlayerServicePort
protected

Definition at line 168 of file SequencePlayer.h.

SequencePlayerService_impl SequencePlayer::m_service0
protected

Definition at line 174 of file SequencePlayer.h.

double SequencePlayer::m_timeToStartPlaying
private

Definition at line 197 of file SequencePlayer.h.

TimedDoubleSeq SequencePlayer::m_tqRef
protected

Definition at line 148 of file SequencePlayer.h.

OutPort<TimedDoubleSeq> SequencePlayer::m_tqRefOut
protected

Definition at line 149 of file SequencePlayer.h.

bool SequencePlayer::m_waitFlag
private

Definition at line 185 of file SequencePlayer.h.

sem_t SequencePlayer::m_waitSem
private

Definition at line 186 of file SequencePlayer.h.

std::vector<TimedDoubleSeq> SequencePlayer::m_wrenches
protected

Definition at line 158 of file SequencePlayer.h.

std::vector<OutPort<TimedDoubleSeq> *> SequencePlayer::m_wrenchesOut
protected

Definition at line 159 of file SequencePlayer.h.

TimedPoint3D SequencePlayer::m_zmpRef
protected

Definition at line 150 of file SequencePlayer.h.

TimedPoint3D SequencePlayer::m_zmpRefInit
protected

Definition at line 139 of file SequencePlayer.h.

InPort<TimedPoint3D> SequencePlayer::m_zmpRefInitIn
protected

Definition at line 140 of file SequencePlayer.h.

OutPort<TimedPoint3D> SequencePlayer::m_zmpRefOut
protected

Definition at line 151 of file SequencePlayer.h.

size_t SequencePlayer::optional_data_dim
private

Definition at line 190 of file SequencePlayer.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