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

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

#include <TorqueController.h>

Inheritance diagram for TorqueController:
Inheritance graph
[legend]

Public Member Functions

bool disableMultipleTorqueControllers (const OpenHRP::TorqueControllerService::StrSequence &jnames)
 
bool disableTorqueController (std::string jname)
 
bool enableMultipleTorqueControllers (const OpenHRP::TorqueControllerService::StrSequence &jnames)
 
bool enableTorqueController (std::string jname)
 
bool getTorqueControllerParam (const std::string jname, OpenHRP::TorqueControllerService::torqueControllerParam &i_param)
 
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 onInitialize ()
 
bool setMultipleReferenceTorques (const OpenHRP::TorqueControllerService::StrSequence &jnames, const OpenHRP::TorqueControllerService::dSequence &tauRefs)
 
bool setReferenceTorque (std::string jname, double tauRef)
 
bool setTorqueControllerParam (const std::string jname, const OpenHRP::TorqueControllerService::torqueControllerParam &i_param)
 
bool startMultipleTorqueControls (const OpenHRP::TorqueControllerService::StrSequence &jnames)
 
bool startTorqueControl (std::string jname)
 
bool stopMultipleTorqueControls (const OpenHRP::TorqueControllerService::StrSequence &jnames)
 
bool stopTorqueControl (std::string jname)
 
 TorqueController (RTC::Manager *manager)
 Constructor. More...
 
virtual ~TorqueController ()
 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

TimedDoubleSeq m_qCurrentIn
 
InPort< TimedDoubleSeq > m_qCurrentInIn
 
TimedDoubleSeq m_qRefIn
 
InPort< TimedDoubleSeq > m_qRefInIn
 
TimedDoubleSeq m_qRefOut
 
OutPort< TimedDoubleSeq > m_qRefOutOut
 
TorqueControllerService_impl m_service0
 
TimedDoubleSeq m_tauCurrentIn
 
InPort< TimedDoubleSeq > m_tauCurrentInIn
 
TimedDoubleSeq m_tauMaxIn
 
InPort< TimedDoubleSeq > m_tauMaxInIn
 
RTC::CorbaPort m_TorqueControllerServicePort
 
- 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 Member Functions

void executeTorqueControl (hrp::dvector &dq)
 
bool isDebug (int cycle=20)
 
void updateParam (double &val, double &val_new)
 

Private Attributes

unsigned int m_debugLevel
 
double m_dt
 
long long m_loop
 
std::vector< MotorTorqueControllerm_motorTorqueControllers
 
coil::Mutex m_mutex
 
hrp::BodyPtr 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
 
- 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 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 ()
 

Detailed Description

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

Definition at line 44 of file TorqueController.h.

Constructor & Destructor Documentation

TorqueController::TorqueController ( RTC::Manager manager)

Constructor.

Parameters
managerpointer to the Manager

Definition at line 41 of file TorqueController.cpp.

TorqueController::~TorqueController ( )
virtual

Destructor.

Definition at line 55 of file TorqueController.cpp.

Member Function Documentation

bool TorqueController::disableMultipleTorqueControllers ( const OpenHRP::TorqueControllerService::StrSequence &  jnames)

Definition at line 460 of file TorqueController.cpp.

bool TorqueController::disableTorqueController ( std::string  jname)

Definition at line 446 of file TorqueController.cpp.

bool TorqueController::enableMultipleTorqueControllers ( const OpenHRP::TorqueControllerService::StrSequence &  jnames)

Definition at line 433 of file TorqueController.cpp.

bool TorqueController::enableTorqueController ( std::string  jname)

Definition at line 419 of file TorqueController.cpp.

void TorqueController::executeTorqueControl ( hrp::dvector dq)
private

Definition at line 367 of file TorqueController.cpp.

bool TorqueController::getTorqueControllerParam ( const std::string  jname,
OpenHRP::TorqueControllerService::torqueControllerParam &  i_param 
)

Definition at line 626 of file TorqueController.cpp.

bool TorqueController::isDebug ( int  cycle = 20)
private

Definition at line 690 of file TorqueController.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 251 of file TorqueController.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 257 of file TorqueController.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 263 of file TorqueController.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 59 of file TorqueController.cpp.

bool TorqueController::setMultipleReferenceTorques ( const OpenHRP::TorqueControllerService::StrSequence &  jnames,
const OpenHRP::TorqueControllerService::dSequence &  tauRefs 
)

Definition at line 555 of file TorqueController.cpp.

bool TorqueController::setReferenceTorque ( std::string  jname,
double  tauRef 
)

Definition at line 536 of file TorqueController.cpp.

bool TorqueController::setTorqueControllerParam ( const std::string  jname,
const OpenHRP::TorqueControllerService::torqueControllerParam &  i_param 
)

Definition at line 574 of file TorqueController.cpp.

bool TorqueController::startMultipleTorqueControls ( const OpenHRP::TorqueControllerService::StrSequence &  jnames)

Definition at line 496 of file TorqueController.cpp.

bool TorqueController::startTorqueControl ( std::string  jname)

Definition at line 473 of file TorqueController.cpp.

bool TorqueController::stopMultipleTorqueControls ( const OpenHRP::TorqueControllerService::StrSequence &  jnames)

Definition at line 523 of file TorqueController.cpp.

bool TorqueController::stopTorqueControl ( std::string  jname)

Definition at line 509 of file TorqueController.cpp.

void TorqueController::updateParam ( double &  val,
double &  val_new 
)
private

Definition at line 681 of file TorqueController.cpp.

Member Data Documentation

unsigned int TorqueController::m_debugLevel
private

Definition at line 164 of file TorqueController.h.

double TorqueController::m_dt
private

Definition at line 163 of file TorqueController.h.

long long TorqueController::m_loop
private

Definition at line 165 of file TorqueController.h.

std::vector<MotorTorqueController> TorqueController::m_motorTorqueControllers
private

Definition at line 167 of file TorqueController.h.

coil::Mutex TorqueController::m_mutex
private

Definition at line 168 of file TorqueController.h.

TimedDoubleSeq TorqueController::m_qCurrentIn
protected

Definition at line 125 of file TorqueController.h.

InPort<TimedDoubleSeq> TorqueController::m_qCurrentInIn
protected

Definition at line 134 of file TorqueController.h.

TimedDoubleSeq TorqueController::m_qRefIn
protected

Definition at line 126 of file TorqueController.h.

InPort<TimedDoubleSeq> TorqueController::m_qRefInIn
protected

Definition at line 135 of file TorqueController.h.

TimedDoubleSeq TorqueController::m_qRefOut
protected

Definition at line 128 of file TorqueController.h.

OutPort<TimedDoubleSeq> TorqueController::m_qRefOutOut
protected

Definition at line 141 of file TorqueController.h.

hrp::BodyPtr TorqueController::m_robot
private

Definition at line 166 of file TorqueController.h.

TorqueControllerService_impl TorqueController::m_service0
protected

Definition at line 158 of file TorqueController.h.

TimedDoubleSeq TorqueController::m_tauCurrentIn
protected

Definition at line 123 of file TorqueController.h.

InPort<TimedDoubleSeq> TorqueController::m_tauCurrentInIn
protected

Definition at line 132 of file TorqueController.h.

TimedDoubleSeq TorqueController::m_tauMaxIn
protected

Definition at line 124 of file TorqueController.h.

InPort<TimedDoubleSeq> TorqueController::m_tauMaxInIn
protected

Definition at line 133 of file TorqueController.h.

RTC::CorbaPort TorqueController::m_TorqueControllerServicePort
protected

Definition at line 152 of file TorqueController.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