sample RT component which has one data input port and one data output port More...

#include <ForwardKinematics.h>

Inheritance diagram for ForwardKinematics:

Public Member Functions
	ForwardKinematics (RTC::Manager *manager)
	Constructor. More...

::CORBA::Boolean	getCurrentPose (const char linkname, RTC::TimedDoubleSeq_out pose, const char frame_name)

::CORBA::Boolean	getReferencePose (const char linkname, RTC::TimedDoubleSeq_out pose, const char frame_name)

::CORBA::Boolean	getRelativeCurrentPosition (const char linknameFrom, const char linknameTo, const OpenHRP::ForwardKinematicsService::position target, OpenHRP::ForwardKinematicsService::position result)

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 ()

::CORBA::Boolean	selectBaseLink (const char *linkname)

virtual	~ForwardKinematics ()
	Destructor. More...

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
TimedPoint3D	m_basePosRef

InPort< TimedPoint3D >	m_basePosRefIn

TimedOrientation3D	m_baseRpyRef

InPort< TimedOrientation3D >	m_baseRpyRefIn

RTC::CorbaPort	m_ForwardKinematicsServicePort

TimedDoubleSeq	m_q

InPort< TimedDoubleSeq >	m_qIn

TimedDoubleSeq	m_qRef

InPort< TimedDoubleSeq >	m_qRefIn

TimedOrientation3D	m_sensorRpy

InPort< TimedOrientation3D >	m_sensorRpyIn

ForwardKinematicsService_impl	m_service0

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 Attributes
int	dummy

hrp::BodyPtr	m_actBody

hrp::Link *	m_actLink

coil::Mutex	m_bodyMutex

hrp::BodyPtr	m_refBody

hrp::Link *	m_refLink

hrp::Link *	m_sensorAttachedLink

std::string	m_sensorAttachedLinkName

Time	m_tm

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

sample RT component which has one data input port and one data output port

Definition at line 45 of file ForwardKinematics.h.

Constructor & Destructor Documentation

◆ ForwardKinematics()

ForwardKinematics::ForwardKinematics ( RTC::Manager * manager )

Constructor.

Parameters

manager pointer to the Manager

Definition at line 39 of file ForwardKinematics.cpp.

◆ ~ForwardKinematics()

ForwardKinematics::~ForwardKinematics ( )

virtual

Destructor.

Definition at line 53 of file ForwardKinematics.cpp.

Member Function Documentation

◆ getCurrentPose()

CORBA::Boolean ForwardKinematics::getCurrentPose	(	const char *	linkname,
		RTC::TimedDoubleSeq_out	pose,
		const char *	frame_name
	)

Definition at line 297 of file ForwardKinematics.cpp.

◆ getReferencePose()

CORBA::Boolean ForwardKinematics::getReferencePose	(	const char *	linkname,
		RTC::TimedDoubleSeq_out	pose,
		const char *	frame_name
	)

Definition at line 267 of file ForwardKinematics.cpp.

◆ getRelativeCurrentPosition()

CORBA::Boolean ForwardKinematics::getRelativeCurrentPosition	(	const char *	linknameFrom,
		const char *	linknameTo,
		const OpenHRP::ForwardKinematicsService::position	target,
		OpenHRP::ForwardKinematicsService::position	result
	)

Definition at line 329 of file ForwardKinematics.cpp.

◆ onActivated()

RTC::ReturnCode_t ForwardKinematics::onActivated ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 143 of file ForwardKinematics.cpp.

◆ onDeactivated()

RTC::ReturnCode_t ForwardKinematics::onDeactivated ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 159 of file ForwardKinematics.cpp.

◆ onExecute()

RTC::ReturnCode_t ForwardKinematics::onExecute ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 165 of file ForwardKinematics.cpp.

◆ onInitialize()

RTC::ReturnCode_t ForwardKinematics::onInitialize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 59 of file ForwardKinematics.cpp.

◆ selectBaseLink()

CORBA::Boolean ForwardKinematics::selectBaseLink ( const char * linkname )

Definition at line 343 of file ForwardKinematics.cpp.

Member Data Documentation

◆ dummy

int ForwardKinematics::dummy

private

Definition at line 157 of file ForwardKinematics.h.

◆ m_actBody

hrp::BodyPtr ForwardKinematics::m_actBody

private

Definition at line 158 of file ForwardKinematics.h.

◆ m_actLink

hrp::Link * ForwardKinematics::m_actLink

private

Definition at line 159 of file ForwardKinematics.h.

◆ m_basePosRef

TimedPoint3D ForwardKinematics::m_basePosRef

protected

Definition at line 121 of file ForwardKinematics.h.

◆ m_basePosRefIn

InPort<TimedPoint3D> ForwardKinematics::m_basePosRefIn

protected

Definition at line 129 of file ForwardKinematics.h.

◆ m_baseRpyRef

TimedOrientation3D ForwardKinematics::m_baseRpyRef

protected

Definition at line 122 of file ForwardKinematics.h.

◆ m_baseRpyRefIn

InPort<TimedOrientation3D> ForwardKinematics::m_baseRpyRefIn

protected

Definition at line 130 of file ForwardKinematics.h.

◆ m_bodyMutex

coil::Mutex ForwardKinematics::m_bodyMutex

private

Definition at line 160 of file ForwardKinematics.h.

◆ m_ForwardKinematicsServicePort

RTC::CorbaPort ForwardKinematics::m_ForwardKinematicsServicePort

protected

Definition at line 141 of file ForwardKinematics.h.

◆ m_q

TimedDoubleSeq ForwardKinematics::m_q

protected

Definition at line 118 of file ForwardKinematics.h.

◆ m_qIn

InPort<TimedDoubleSeq> ForwardKinematics::m_qIn

protected

Definition at line 126 of file ForwardKinematics.h.

◆ m_qRef

TimedDoubleSeq ForwardKinematics::m_qRef

protected

Definition at line 120 of file ForwardKinematics.h.

◆ m_qRefIn

InPort<TimedDoubleSeq> ForwardKinematics::m_qRefIn

protected

Definition at line 128 of file ForwardKinematics.h.

◆ m_refBody

hrp::BodyPtr ForwardKinematics::m_refBody

private

Definition at line 158 of file ForwardKinematics.h.

◆ m_refLink

hrp::Link* ForwardKinematics::m_refLink

private

Definition at line 159 of file ForwardKinematics.h.

◆ m_sensorAttachedLink

hrp::Link * ForwardKinematics::m_sensorAttachedLink

private

Definition at line 159 of file ForwardKinematics.h.

◆ m_sensorAttachedLinkName

std::string ForwardKinematics::m_sensorAttachedLinkName

private

Definition at line 162 of file ForwardKinematics.h.

◆ m_sensorRpy

TimedOrientation3D ForwardKinematics::m_sensorRpy

protected

Definition at line 119 of file ForwardKinematics.h.

◆ m_sensorRpyIn

InPort<TimedOrientation3D> ForwardKinematics::m_sensorRpyIn

protected

Definition at line 127 of file ForwardKinematics.h.

◆ m_service0

ForwardKinematicsService_impl ForwardKinematics::m_service0

protected

Definition at line 147 of file ForwardKinematics.h.

◆ m_tm

Time ForwardKinematics::m_tm

private

Definition at line 161 of file ForwardKinematics.h.

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

Public Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ForwardKinematics()

◆ ~ForwardKinematics()

Member Function Documentation

◆ getCurrentPose()

◆ getReferencePose()

◆ getRelativeCurrentPosition()

◆ onActivated()

◆ onDeactivated()

◆ onExecute()

◆ onInitialize()

◆ selectBaseLink()

Member Data Documentation

◆ dummy

◆ m_actBody

◆ m_actLink

◆ m_basePosRef

◆ m_basePosRefIn

◆ m_baseRpyRef

◆ m_baseRpyRefIn

◆ m_bodyMutex

◆ m_ForwardKinematicsServicePort

◆ m_q

◆ m_qIn

◆ m_qRef

◆ m_qRefIn

◆ m_refBody

◆ m_refLink

◆ m_sensorAttachedLink

◆ m_sensorAttachedLinkName

◆ m_sensorRpy

◆ m_sensorRpyIn

◆ m_service0

◆ m_tm