ImpedanceController.cpp File Reference

impedance controller component $Date$ More...

#include <rtm/CorbaNaming.h>
#include <hrpModel/Link.h>
#include <hrpModel/Sensor.h>
#include <hrpModel/ModelLoaderUtil.h>
#include "ImpedanceController.h"
#include "JointPathEx.h"
#include <hrpModel/JointPath.h>
#include <hrpUtil/MatrixSolvers.h>
#include "hrpsys/util/Hrpsys.h"
#include <boost/assign.hpp>

Include dependency graph for ImpedanceController.cpp:

Go to the source code of this file.

Macros
#define	DEBUGP   ((m_debugLevel==1 && loop%200==0) || m_debugLevel > 1 )
#define	MAX_TRANSITION_COUNT   (static_cast<int>(2/m_dt))

Typedefs
typedef coil::Guard< coil::Mutex >	Guard

Functions
void	ImpedanceControllerInit (RTC::Manager *manager)

Variables
static const char *	impedancecontroller_spec []

Detailed Description

impedance controller component $Date$

$Id$

Definition in file ImpedanceController.cpp.

Macro Definition Documentation

DEBUGP

#define DEBUGP   ((m_debugLevel==1 && loop%200==0) || m_debugLevel > 1 )

Definition at line 310 of file ImpedanceController.cpp.

MAX_TRANSITION_COUNT

#define MAX_TRANSITION_COUNT   (static_cast<int>(2/m_dt))

Definition at line 21 of file ImpedanceController.cpp.

Typedef Documentation

Guard

typedef coil::Guard<coil::Mutex> Guard

Definition at line 22 of file ImpedanceController.cpp.

Function Documentation

ImpedanceControllerInit()

void ImpedanceControllerInit

(

RTC::Manager *

manager

)

Definition at line 813 of file ImpedanceController.cpp.

Variable Documentation

impedancecontroller_spec

const char* impedancecontroller_spec[]

static

Initial value:

=
    {
        "implementation_id", "ImpedanceController",
        "type_name",         "ImpedanceController",
        "description",       "impedance controller component",
        "version",           HRPSYS_PACKAGE_VERSION,
        "vendor",            "AIST",
        "category",          "example",
        "activity_type",     "DataFlowComponent",
        "max_instance",      "10",
        "language",          "C++",
        "lang_type",         "compile",
        
        "conf.default.debugLevel", "0",
        ""
    }

Definition at line 26 of file ImpedanceController.cpp.