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

#include <SamplePD_HG.h>

Inheritance diagram for SamplePD_HG:
Inheritance graph
[legend]

Public Member Functions

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 ()
 
 SamplePD_HG (RTC::Manager *manager)
 
 ~SamplePD_HG ()
 
- 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 Attributes

TimedDoubleSeq m_acc
 
OutPort< TimedDoubleSeq > m_accOut
 
TimedDoubleSeq m_angle_in
 
InPort< TimedDoubleSeq > m_angle_inIn
 
TimedDoubleSeq m_angle_out
 
OutPort< TimedDoubleSeq > m_angle_outOut
 
TimedDoubleSeq m_torque
 
OutPort< TimedDoubleSeq > m_torqueOut
 
TimedDoubleSeq m_vel
 
OutPort< TimedDoubleSeq > m_velOut
 
- 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 closeFiles ()
 
void openFiles ()
 

Private Attributes

std::ifstream acc
 
std::ifstream angle
 
double ddq_ref [DOF]
 
double * Dgain
 
double dq_ref [DOF]
 
int dummy
 
std::ifstream gain
 
double * Pgain
 
double q_ref [DOF]
 
std::vector< double > qold
 
std::ifstream vel
 

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

Definition at line 46 of file SamplePD_HG.h.

Constructor & Destructor Documentation

SamplePD_HG::SamplePD_HG ( RTC::Manager *  manager)

Definition at line 88 of file SamplePD_HG.cpp.

SamplePD_HG::~SamplePD_HG ( )

Definition at line 118 of file SamplePD_HG.cpp.

Member Function Documentation

void SamplePD_HG::closeFiles ( )
private

Definition at line 367 of file SamplePD_HG.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 191 of file SamplePD_HG.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 209 of file SamplePD_HG.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 218 of file SamplePD_HG.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 126 of file SamplePD_HG.cpp.

void SamplePD_HG::openFiles ( )
private

Definition at line 348 of file SamplePD_HG.cpp.

Member Data Documentation

std::ifstream SamplePD_HG::acc
private

Definition at line 145 of file SamplePD_HG.h.

std::ifstream SamplePD_HG::angle
private

Definition at line 145 of file SamplePD_HG.h.

double SamplePD_HG::ddq_ref[DOF]
private

Definition at line 149 of file SamplePD_HG.h.

double* SamplePD_HG::Dgain
private

Definition at line 147 of file SamplePD_HG.h.

double SamplePD_HG::dq_ref[DOF]
private

Definition at line 149 of file SamplePD_HG.h.

int SamplePD_HG::dummy
private

Definition at line 144 of file SamplePD_HG.h.

std::ifstream SamplePD_HG::gain
private

Definition at line 145 of file SamplePD_HG.h.

TimedDoubleSeq SamplePD_HG::m_acc
protected

Definition at line 121 of file SamplePD_HG.h.

OutPort<TimedDoubleSeq> SamplePD_HG::m_accOut
protected

Definition at line 122 of file SamplePD_HG.h.

TimedDoubleSeq SamplePD_HG::m_angle_in
protected

Definition at line 110 of file SamplePD_HG.h.

InPort<TimedDoubleSeq> SamplePD_HG::m_angle_inIn
protected

Definition at line 111 of file SamplePD_HG.h.

TimedDoubleSeq SamplePD_HG::m_angle_out
protected

Definition at line 117 of file SamplePD_HG.h.

OutPort<TimedDoubleSeq> SamplePD_HG::m_angle_outOut
protected

Definition at line 118 of file SamplePD_HG.h.

TimedDoubleSeq SamplePD_HG::m_torque
protected

Definition at line 123 of file SamplePD_HG.h.

OutPort<TimedDoubleSeq> SamplePD_HG::m_torqueOut
protected

Definition at line 124 of file SamplePD_HG.h.

TimedDoubleSeq SamplePD_HG::m_vel
protected

Definition at line 119 of file SamplePD_HG.h.

OutPort<TimedDoubleSeq> SamplePD_HG::m_velOut
protected

Definition at line 120 of file SamplePD_HG.h.

double* SamplePD_HG::Pgain
private

Definition at line 146 of file SamplePD_HG.h.

double SamplePD_HG::q_ref[DOF]
private

Definition at line 149 of file SamplePD_HG.h.

std::vector<double> SamplePD_HG::qold
private

Definition at line 148 of file SamplePD_HG.h.

std::ifstream SamplePD_HG::vel
private

Definition at line 145 of file SamplePD_HG.h.

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

openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat May 8 2021 02:42:43