Stabilizer.cpp File Reference

stabilizer filter $Date$ More...

#include <rtm/CorbaNaming.h>
#include <hrpModel/Link.h>
#include <hrpModel/Sensor.h>
#include <hrpModel/ModelLoaderUtil.h>
#include "Stabilizer.h"
#include "hrpsys/util/VectorConvert.h"
#include <math.h>
#include <boost/lambda/lambda.hpp>

Include dependency graph for Stabilizer.cpp:

Go to the source code of this file.

Macros
#define	DEBUGP   ((m_debugLevel==1 && loop%200==0) || m_debugLevel > 1 )
#define	DEBUGP2   (loop%10==0)
#define	deg2rad(x)   ((x) * M_PI / 180.0)
#define	rad2deg(rad)   (rad * 180 / M_PI)

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

Functions
static std::ostream &	operator<< (std::ostream &os, const struct RTC::Time &tm)
void	StabilizerInit (RTC::Manager *manager)
static double	switching_inpact_absorber (double force, double lower_th, double upper_th)

Variables
static const char *	stabilizer_spec []

Detailed Description

stabilizer filter $Date$

$Id$

Definition in file Stabilizer.cpp.

Macro Definition Documentation

DEBUGP

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

Definition at line 546 of file Stabilizer.cpp.

DEBUGP2

#define DEBUGP2   (loop%10==0)

Definition at line 547 of file Stabilizer.cpp.

deg2rad

#define deg2rad

(

x

)

((x) * M_PI / 180.0)

Definition at line 22 of file Stabilizer.cpp.

rad2deg

#define rad2deg

(

rad

)

(rad * 180 / M_PI)

Definition at line 25 of file Stabilizer.cpp.

Typedef Documentation

Guard

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

Definition at line 19 of file Stabilizer.cpp.

Function Documentation

operator<<()

static std::ostream& operator<< ( std::ostream &  os, const struct RTC::Time &  tm  )

static

Definition at line 48 of file Stabilizer.cpp.

StabilizerInit()

void StabilizerInit

(

RTC::Manager *

manager

)

Definition at line 2831 of file Stabilizer.cpp.

switching_inpact_absorber()

static double switching_inpact_absorber ( double  force, double  lower_th, double  upper_th  )

static

Definition at line 2532 of file Stabilizer.cpp.

Variable Documentation

stabilizer_spec

const char* stabilizer_spec[]

static

Initial value:

=
  {
    "implementation_id", "Stabilizer",
    "type_name",         "Stabilizer",
    "description",       "stabilizer",
    "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 30 of file Stabilizer.cpp.