Classes | Public Member Functions | Public Attributes | Private Types | Private Member Functions | Private Attributes | List of all members
Controller_impl Class Reference

#include <Controller_impl.h>

Inheritance diagram for Controller_impl:
Inheritance graph
[legend]

Classes

struct  JointValueSeqInfo
 
struct  RtcInfo
 

Public Member Functions

virtual omniObjRef * _do_get_interface ()
 
virtual void control ()
 
 Controller_impl (RTC::Manager *rtcManager, BridgeConf *bridgeConf)
 
virtual void destroy ()
 
void flushJointDataSeqToSimulator (DynamicsSimulator::LinkDataType linkDataType)
 
void flushLinkDataToSimulator (const std::string &linkName, DynamicsSimulator::LinkDataType linkDataType, const DblSequence &linkData)
 
ImageData * getCameraImageFromSimulator (int cameraId)
 
SensorState & getCurrentSensorState ()
 
DblSequence & getJointDataSeqRef (DynamicsSimulator::LinkDataType linkDataType)
 
DblSequence * getLinkDataFromSimulator (const std::string &linkName, DynamicsSimulator::LinkDataType linkDataType)
 
DblSequence * getSensorDataFromSimulator (const std::string &sensorName)
 
double getTimeStep ()
 
virtual void initialize ()
 
virtual void input ()
 
virtual void output ()
 
virtual void setDynamicsSimulator (DynamicsSimulator_ptr dynamicsSimulator)
 
virtual void setModelName (const char *localModelName)
 
void setTimeStep (CORBA::Double _timeStep)
 
virtual void setViewSimulator (ViewSimulator_ptr viewSimulator)
 
virtual void shutdown ()
 
virtual void start ()
 
virtual void stop ()
 
 ~Controller_impl ()
 

Public Attributes

double controlTime
 

Private Types

typedef std::map< DynamicsSimulator::LinkDataType, JointValueSeqInfoJointValueSeqInfoMap
 
typedef std::map< std::string, Port_Service_Var_TypePortMap
 
typedef std::map< std::string, RtcInfoPtrRtcInfoMap
 
typedef boost::shared_ptr< RtcInfoRtcInfoPtr
 
typedef std::vector< RtcInfoPtrRtcInfoVector
 

Private Member Functions

void activeComponents ()
 
Controller_impl::RtcInfoPtr addRtcVectorWithConnection (RTC::RTObject_var rtcRef)
 
int connectPorts (Port_Service_Ptr_Type outPort, Port_Service_Ptr_Type inPort)
 
void deactiveComponents ()
 
void detectRtcs ()
 
void disconnectRtcConnections (PortMap &refPortMap)
 
void makePortMap (RtcInfoPtr &rtcInfo)
 
void restart ()
 
void setupRtcConnections ()
 

Private Attributes

bool bRestart
 
BridgeConfbridgeConf
 
CameraSequence_var cameras
 
Camera::CameraParameter_var cparam
 
DynamicsSimulator_var dynamicsSimulator
 
std::string modelName
 
RTC::CorbaNamingnaming
 
JointValueSeqInfoMap outputJointValueSeqInfos
 
RtcInfoMap rtcInfoMap
 
RtcInfoVector rtcInfoVector
 
RTC::ManagerrtcManager
 
SensorState_var sensorState
 
bool sensorStateUpdated
 
double timeStep
 
ViewSimulator_var viewSimulator
 
VirtualRobotRTCvirtualRobotRTC
 

Detailed Description

Definition at line 39 of file Controller_impl.h.

Member Typedef Documentation

typedef std::map<DynamicsSimulator::LinkDataType, JointValueSeqInfo> Controller_impl::JointValueSeqInfoMap
private

Definition at line 116 of file Controller_impl.h.

typedef std::map<std::string, Port_Service_Var_Type> Controller_impl::PortMap
private

Definition at line 86 of file Controller_impl.h.

typedef std::map<std::string, RtcInfoPtr> Controller_impl::RtcInfoMap
private

Definition at line 98 of file Controller_impl.h.

typedef boost::shared_ptr<RtcInfo> Controller_impl::RtcInfoPtr
private

Definition at line 96 of file Controller_impl.h.

typedef std::vector<RtcInfoPtr> Controller_impl::RtcInfoVector
private

Definition at line 100 of file Controller_impl.h.

Constructor & Destructor Documentation

Controller_impl::Controller_impl ( RTC::Manager rtcManager,
BridgeConf bridgeConf 
)

Definition at line 35 of file Controller_impl.cpp.

Controller_impl::~Controller_impl ( )

Definition at line 51 of file Controller_impl.cpp.

Member Function Documentation

virtual omniObjRef* Controller_impl::_do_get_interface ( )
inlinevirtual

Definition at line 74 of file Controller_impl.h.

void Controller_impl::activeComponents ( )
private

Definition at line 551 of file Controller_impl.cpp.

Controller_impl::RtcInfoPtr Controller_impl::addRtcVectorWithConnection ( RTC::RTObject_var  rtcRef)
private

Definition at line 165 of file Controller_impl.cpp.

int Controller_impl::connectPorts ( Port_Service_Ptr_Type  outPort,
Port_Service_Ptr_Type  inPort 
)
private

Definition at line 282 of file Controller_impl.cpp.

void Controller_impl::control ( )
virtual

Definition at line 467 of file Controller_impl.cpp.

void Controller_impl::deactiveComponents ( )
private

Definition at line 582 of file Controller_impl.cpp.

void Controller_impl::destroy ( )
virtual

Definition at line 498 of file Controller_impl.cpp.

void Controller_impl::detectRtcs ( )
private

Definition at line 62 of file Controller_impl.cpp.

void Controller_impl::disconnectRtcConnections ( PortMap refPortMap)
private
void Controller_impl::flushJointDataSeqToSimulator ( DynamicsSimulator::LinkDataType  linkDataType)

Definition at line 431 of file Controller_impl.cpp.

void Controller_impl::flushLinkDataToSimulator ( const std::string &  linkName,
DynamicsSimulator::LinkDataType  linkDataType,
const DblSequence &  linkData 
)

Definition at line 443 of file Controller_impl.cpp.

ImageData * Controller_impl::getCameraImageFromSimulator ( int  cameraId)

Definition at line 398 of file Controller_impl.cpp.

SensorState & Controller_impl::getCurrentSensorState ( )

Definition at line 370 of file Controller_impl.cpp.

DblSequence & Controller_impl::getJointDataSeqRef ( DynamicsSimulator::LinkDataType  linkDataType)

Definition at line 425 of file Controller_impl.cpp.

DblSequence * Controller_impl::getLinkDataFromSimulator ( const std::string &  linkName,
DynamicsSimulator::LinkDataType  linkDataType 
)

Definition at line 382 of file Controller_impl.cpp.

DblSequence * Controller_impl::getSensorDataFromSimulator ( const std::string &  sensorName)

Definition at line 390 of file Controller_impl.cpp.

double Controller_impl::getTimeStep ( )
inline

Definition at line 62 of file Controller_impl.h.

void Controller_impl::initialize ( void  )
virtual

Definition at line 510 of file Controller_impl.cpp.

void Controller_impl::input ( )
virtual

Definition at line 413 of file Controller_impl.cpp.

void Controller_impl::makePortMap ( RtcInfoPtr rtcInfo)
private

Definition at line 153 of file Controller_impl.cpp.

void Controller_impl::output ( )
virtual

Definition at line 451 of file Controller_impl.cpp.

void Controller_impl::restart ( )
private

Definition at line 547 of file Controller_impl.cpp.

void Controller_impl::setDynamicsSimulator ( DynamicsSimulator_ptr  dynamicsSimulator)
virtual

Definition at line 331 of file Controller_impl.cpp.

virtual void Controller_impl::setModelName ( const char *  localModelName)
inlinevirtual

Definition at line 75 of file Controller_impl.h.

void Controller_impl::setTimeStep ( CORBA::Double  _timeStep)
inline

Definition at line 59 of file Controller_impl.h.

void Controller_impl::setupRtcConnections ( )
private

Definition at line 221 of file Controller_impl.cpp.

void Controller_impl::setViewSimulator ( ViewSimulator_ptr  viewSimulator)
virtual

Definition at line 337 of file Controller_impl.cpp.

void Controller_impl::shutdown ( )
virtual

Definition at line 538 of file Controller_impl.cpp.

void Controller_impl::start ( void  )
virtual

Definition at line 343 of file Controller_impl.cpp.

void Controller_impl::stop ( void  )
virtual

Definition at line 492 of file Controller_impl.cpp.

Member Data Documentation

bool Controller_impl::bRestart
private

Definition at line 132 of file Controller_impl.h.

BridgeConf* Controller_impl::bridgeConf
private

Definition at line 80 of file Controller_impl.h.

CameraSequence_var Controller_impl::cameras
private

Definition at line 119 of file Controller_impl.h.

double Controller_impl::controlTime

Definition at line 77 of file Controller_impl.h.

Camera::CameraParameter_var Controller_impl::cparam
private

Definition at line 120 of file Controller_impl.h.

DynamicsSimulator_var Controller_impl::dynamicsSimulator
private

Definition at line 105 of file Controller_impl.h.

std::string Controller_impl::modelName
private

Definition at line 83 of file Controller_impl.h.

RTC::CorbaNaming* Controller_impl::naming
private

Definition at line 103 of file Controller_impl.h.

JointValueSeqInfoMap Controller_impl::outputJointValueSeqInfos
private

Definition at line 117 of file Controller_impl.h.

RtcInfoMap Controller_impl::rtcInfoMap
private

Definition at line 99 of file Controller_impl.h.

RtcInfoVector Controller_impl::rtcInfoVector
private

Definition at line 101 of file Controller_impl.h.

RTC::Manager* Controller_impl::rtcManager
private

Definition at line 81 of file Controller_impl.h.

SensorState_var Controller_impl::sensorState
private

Definition at line 108 of file Controller_impl.h.

bool Controller_impl::sensorStateUpdated
private

Definition at line 109 of file Controller_impl.h.

double Controller_impl::timeStep
private

Definition at line 131 of file Controller_impl.h.

ViewSimulator_var Controller_impl::viewSimulator
private

Definition at line 106 of file Controller_impl.h.

VirtualRobotRTC* Controller_impl::virtualRobotRTC
private

Definition at line 84 of file Controller_impl.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 Apr 13 2019 02:14:28