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

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

#include <ServoController.h>

Inheritance diagram for ServoController:
Inheritance graph

Public Member Functions

bool addJointGroup (const char *gname, const ::OpenHRP::ServoControllerService::iSequence ids)
bool getDuration (short id, double &duration)
bool getJointAngle (short id, double &angle)
bool getJointAngles (OpenHRP::ServoControllerService::dSequence_out &angles)
bool getMaxTorque (short id, short &percentage)
bool getSpeed (short id, double &speed)
bool getTemperature (short id, double &temperature)
bool getTorque (short id, double &torque)
bool getVoltage (short id, double &voltage)
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 onFinalize ()
virtual RTC::ReturnCode_t onInitialize ()
bool removeJointGroup (const char *gname)
 ServoController (RTC::Manager *manager)
 Constructor. More...
bool servoOff ()
bool servoOn ()
bool setJointAngle (short id, double angle, double tm)
bool setJointAngles (const OpenHRP::ServoControllerService::dSequence angles, double tm)
bool setJointAnglesOfGroup (const char *gname, const ::OpenHRP::ServoControllerService::dSequence angles, double tm)
bool setMaxTorque (short id, short percentage)
bool setReset (short id)
virtual ~ServoController ()
 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

ServoControllerService_impl m_service0
RTC::CorbaPort m_ServoControllerServicePort
- 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 Attributes

std::map< std::string, std::vector< int > > joint_groups
std::vector< double > servo_dir
std::vector< intservo_id
std::vector< double > servo_offset

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 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 41 of file ServoController.h.

Constructor & Destructor Documentation

ServoController::ServoController ( RTC::Manager manager)


managerpointer to the Manager

Definition at line 39 of file ServoController.cpp.

ServoController::~ServoController ( )


Definition at line 48 of file ServoController.cpp.

Member Function Documentation

bool ServoController::addJointGroup ( const char *  gname,
const ::OpenHRP::ServoControllerService::iSequence  ids 

Definition at line 291 of file ServoController.cpp.

bool ServoController::getDuration ( short  id,
double &  duration 

Definition at line 361 of file ServoController.cpp.

bool ServoController::getJointAngle ( short  id,
double &  angle 

Definition at line 260 of file ServoController.cpp.

bool ServoController::getJointAngles ( OpenHRP::ServoControllerService::dSequence_out &  angles)

Definition at line 276 of file ServoController.cpp.

bool ServoController::getMaxTorque ( short  id,
short &  percentage 

Definition at line 381 of file ServoController.cpp.

bool ServoController::getSpeed ( short  id,
double &  speed 

Definition at line 371 of file ServoController.cpp.

bool ServoController::getTemperature ( short  id,
double &  temperature 

Definition at line 401 of file ServoController.cpp.

bool ServoController::getTorque ( short  id,
double &  torque 

Definition at line 391 of file ServoController.cpp.

bool ServoController::getVoltage ( short  id,
double &  voltage 

Definition at line 411 of file ServoController.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 174 of file ServoController.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 182 of file ServoController.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 190 of file ServoController.cpp.

RTC::ReturnCode_t ServoController::onFinalize ( void  )

Reimplemented from RTC::RTObject_impl.

Definition at line 154 of file ServoController.cpp.

RTC::ReturnCode_t ServoController::onInitialize ( void  )

Reimplemented from RTC::RTObject_impl.

Definition at line 54 of file ServoController.cpp.

bool ServoController::removeJointGroup ( const char *  gname)

Definition at line 304 of file ServoController.cpp.

bool ServoController::servoOff ( )

Definition at line 435 of file ServoController.cpp.

bool ServoController::servoOn ( )

Definition at line 421 of file ServoController.cpp.

bool ServoController::setJointAngle ( short  id,
double  angle,
double  tm 

Definition at line 230 of file ServoController.cpp.

bool ServoController::setJointAngles ( const OpenHRP::ServoControllerService::dSequence  angles,
double  tm 

Definition at line 240 of file ServoController.cpp.

bool ServoController::setJointAnglesOfGroup ( const char *  gname,
const ::OpenHRP::ServoControllerService::dSequence  angles,
double  tm 

Definition at line 311 of file ServoController.cpp.

bool ServoController::setMaxTorque ( short  id,
short  percentage 

Definition at line 341 of file ServoController.cpp.

bool ServoController::setReset ( short  id)

Definition at line 351 of file ServoController.cpp.

Member Data Documentation

std::map<std::string, std::vector<int> > ServoController::joint_groups

Definition at line 155 of file ServoController.h.

ServoControllerService_impl ServoController::m_service0

Definition at line 150 of file ServoController.h.

RTC::CorbaPort ServoController::m_ServoControllerServicePort

Definition at line 144 of file ServoController.h.

ServoSerial* ServoController::serial

Definition at line 159 of file ServoController.h.

std::vector<double> ServoController::servo_dir

Definition at line 158 of file ServoController.h.

std::vector<int> ServoController::servo_id

Definition at line 156 of file ServoController.h.

std::vector<double> ServoController::servo_offset

Definition at line 157 of file ServoController.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