#include <Controller_impl.h>

Inheritance diagram for Controller_impl:

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, JointValueSeqInfo >	JointValueSeqInfoMap

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

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

typedef boost::shared_ptr< RtcInfo >	RtcInfoPtr

typedef std::vector< RtcInfoPtr >	RtcInfoVector

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

BridgeConf *	bridgeConf

CameraSequence_var	cameras

Camera::CameraParameter_var	cparam

DynamicsSimulator_var	dynamicsSimulator

std::string	modelName

RTC::CorbaNaming *	naming

JointValueSeqInfoMap	outputJointValueSeqInfos

RtcInfoMap	rtcInfoMap

RtcInfoVector	rtcInfoVector

RTC::Manager *	rtcManager

SensorState_var	sensorState

bool	sensorStateUpdated

double	timeStep

ViewSimulator_var	viewSimulator

VirtualRobotRTC *	virtualRobotRTC

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:

Classes

Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation