Classes | Public Member Functions | Protected Attributes | Private Attributes | List of all members
ReferenceForceUpdater Class Reference

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

#include <ReferenceForceUpdater.h>

Inheritance diagram for ReferenceForceUpdater:
Inheritance graph
[legend]

Classes

struct  ee_trans
 
struct  ReferenceForceUpdaterParam
 

Public Member Functions

void calcFootOriginCoords (hrp::Vector3 &foot_origin_pos, hrp::Matrix33 &foot_origin_rot)
 
bool eps_eq (const double a, const double b, const double eps=1e-3)
 
bool getReferenceForceUpdaterParam (const std::string &i_name_, OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam_out i_param)
 
bool getSupportedReferenceForceUpdaterNameSequence (OpenHRP::ReferenceForceUpdaterService::StrSequence_out o_names)
 
void getTargetParameters ()
 
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 onFinalize ()
 
virtual RTC::ReturnCode_t onInitialize ()
 
 ReferenceForceUpdater (RTC::Manager *manager)
 Constructor. More...
 
bool setReferenceForceUpdaterParam (const std::string &i_name_, const OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam &i_param)
 
bool startReferenceForceUpdater (const std::string &i_name_)
 
bool startReferenceForceUpdaterNoWait (const std::string &i_name_)
 
bool stopReferenceForceUpdater (const std::string &i_name_)
 
bool stopReferenceForceUpdaterNoWait (const std::string &i_name_)
 
void updateRefFootOriginExtMoment (const std::string &arm)
 
void updateRefForces (const std::string &arm)
 
void updateRefObjExtMoment0 (const std::string &arm)
 
void waitReferenceForceUpdaterTransition (const std::string &i_name_)
 
virtual ~ReferenceForceUpdater ()
 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_basePos
 
InPort< TimedPoint3D > m_basePosIn
 
TimedOrientation3D m_baseRpy
 
InPort< TimedOrientation3D > m_baseRpyIn
 
TimedPoint3D m_diffFootOriginExtMoment
 
InPort< TimedPoint3D > m_diffFootOriginExtMomentIn
 
std::vector< TimedDoubleSeq > m_force
 
std::vector< InPort< TimedDoubleSeq > * > m_forceIn
 
TimedDoubleSeq m_qRef
 
InPort< TimedDoubleSeq > m_qRefIn
 
std::vector< TimedDoubleSeq > m_ref_force_in
 
std::vector< TimedDoubleSeq > m_ref_force_out
 
std::vector< InPort< TimedDoubleSeq > * > m_ref_forceIn
 
std::vector< OutPort< TimedDoubleSeq > * > m_ref_forceOut
 
ReferenceForceUpdaterService_impl m_ReferenceForceUpdaterService
 
RTC::CorbaPort m_ReferenceForceUpdaterServicePort
 
TimedPoint3D m_refFootOriginExtMoment
 
TimedBoolean m_refFootOriginExtMomentIsHoldValue
 
OutPort< TimedBoolean > m_refFootOriginExtMomentIsHoldValueOut
 
OutPort< TimedPoint3D > m_refFootOriginExtMomentOut
 
TimedOrientation3D m_rpy
 
InPort< TimedOrientation3D > m_rpyIn
 
- 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

std::map< std::string, size_t > ee_index_map
 
std::map< std::string, ee_trans > ee_map
 
hrp::Matrix33 foot_origin_rot
 
const std::string footoriginextmoment_name
 
int loop
 
unsigned int m_debugLevel
 
double m_dt
 
coil::Mutex m_mutex
 
std::map< std::string, ReferenceForceUpdaterParam > m_RFUParam
 
hrp::BodyPtr m_robot
 
std::map< std::string, hrp::VirtualForceSensorParam > m_vfs
 
const std::string objextmoment0_name
 
std::vector< hrp::Vector3 > ref_force
 
std::map< std::string, interpolator * > ref_force_interpolator
 
std::map< std::string, interpolator * > transition_interpolator
 
std::vector< double > transition_interpolator_ratio
 
bool use_sh_base_pos_rpy
 

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 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 47 of file ReferenceForceUpdater.h.

Constructor & Destructor Documentation

◆ ReferenceForceUpdater()

ReferenceForceUpdater::ReferenceForceUpdater ( RTC::Manager *  manager)

Constructor.

Parameters
managerpointer to the Manager

Definition at line 54 of file ReferenceForceUpdater.cpp.

◆ ~ReferenceForceUpdater()

ReferenceForceUpdater::~ReferenceForceUpdater ( )
virtual

Destructor.

Definition at line 75 of file ReferenceForceUpdater.cpp.

Member Function Documentation

◆ calcFootOriginCoords()

void ReferenceForceUpdater::calcFootOriginCoords ( hrp::Vector3 &  foot_origin_pos,
hrp::Matrix33 &  foot_origin_rot 
)

Definition at line 540 of file ReferenceForceUpdater.cpp.

◆ eps_eq()

bool ReferenceForceUpdater::eps_eq ( const double  a,
const double  b,
const double  eps = 1e-3 
)
inline

Definition at line 122 of file ReferenceForceUpdater.h.

◆ getReferenceForceUpdaterParam()

bool ReferenceForceUpdater::getReferenceForceUpdaterParam ( const std::string &  i_name_,
OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam_out  i_param 
)

Definition at line 763 of file ReferenceForceUpdater.cpp.

◆ getSupportedReferenceForceUpdaterNameSequence()

bool ReferenceForceUpdater::getSupportedReferenceForceUpdaterNameSequence ( OpenHRP::ReferenceForceUpdaterService::StrSequence_out  o_names)

Definition at line 858 of file ReferenceForceUpdater.cpp.

◆ getTargetParameters()

void ReferenceForceUpdater::getTargetParameters ( )

Definition at line 486 of file ReferenceForceUpdater.cpp.

◆ onActivated()

RTC::ReturnCode_t ReferenceForceUpdater::onActivated ( RTC::UniqueId  ec_id)
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 312 of file ReferenceForceUpdater.cpp.

◆ onDeactivated()

RTC::ReturnCode_t ReferenceForceUpdater::onDeactivated ( RTC::UniqueId  ec_id)
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 318 of file ReferenceForceUpdater.cpp.

◆ onExecute()

RTC::ReturnCode_t ReferenceForceUpdater::onExecute ( RTC::UniqueId  ec_id)
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 326 of file ReferenceForceUpdater.cpp.

◆ onFinalize()

RTC::ReturnCode_t ReferenceForceUpdater::onFinalize ( void  )
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 284 of file ReferenceForceUpdater.cpp.

◆ onInitialize()

RTC::ReturnCode_t ReferenceForceUpdater::onInitialize ( void  )
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 81 of file ReferenceForceUpdater.cpp.

◆ setReferenceForceUpdaterParam()

bool ReferenceForceUpdater::setReferenceForceUpdaterParam ( const std::string &  i_name_,
const OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam &  i_param 
)

Definition at line 710 of file ReferenceForceUpdater.cpp.

◆ startReferenceForceUpdater()

bool ReferenceForceUpdater::startReferenceForceUpdater ( const std::string &  i_name_)

Definition at line 838 of file ReferenceForceUpdater.cpp.

◆ startReferenceForceUpdaterNoWait()

bool ReferenceForceUpdater::startReferenceForceUpdaterNoWait ( const std::string &  i_name_)

Definition at line 785 of file ReferenceForceUpdater.cpp.

◆ stopReferenceForceUpdater()

bool ReferenceForceUpdater::stopReferenceForceUpdater ( const std::string &  i_name_)

Definition at line 845 of file ReferenceForceUpdater.cpp.

◆ stopReferenceForceUpdaterNoWait()

bool ReferenceForceUpdater::stopReferenceForceUpdaterNoWait ( const std::string &  i_name_)

Definition at line 818 of file ReferenceForceUpdater.cpp.

◆ updateRefFootOriginExtMoment()

void ReferenceForceUpdater::updateRefFootOriginExtMoment ( const std::string &  arm)

Definition at line 565 of file ReferenceForceUpdater.cpp.

◆ updateRefForces()

void ReferenceForceUpdater::updateRefForces ( const std::string &  arm)

Definition at line 626 of file ReferenceForceUpdater.cpp.

◆ updateRefObjExtMoment0()

void ReferenceForceUpdater::updateRefObjExtMoment0 ( const std::string &  arm)

Definition at line 583 of file ReferenceForceUpdater.cpp.

◆ waitReferenceForceUpdaterTransition()

void ReferenceForceUpdater::waitReferenceForceUpdaterTransition ( const std::string &  i_name_)

Definition at line 852 of file ReferenceForceUpdater.cpp.

Member Data Documentation

◆ ee_index_map

std::map<std::string, size_t> ReferenceForceUpdater::ee_index_map
private

Definition at line 240 of file ReferenceForceUpdater.h.

◆ ee_map

std::map<std::string, ee_trans> ReferenceForceUpdater::ee_map
private

Definition at line 239 of file ReferenceForceUpdater.h.

◆ foot_origin_rot

hrp::Matrix33 ReferenceForceUpdater::foot_origin_rot
private

Definition at line 246 of file ReferenceForceUpdater.h.

◆ footoriginextmoment_name

const std::string ReferenceForceUpdater::footoriginextmoment_name
private

Definition at line 249 of file ReferenceForceUpdater.h.

◆ loop

int ReferenceForceUpdater::loop
private

Definition at line 248 of file ReferenceForceUpdater.h.

◆ m_basePos

TimedPoint3D ReferenceForceUpdater::m_basePos
protected

Definition at line 134 of file ReferenceForceUpdater.h.

◆ m_basePosIn

InPort<TimedPoint3D> ReferenceForceUpdater::m_basePosIn
protected

Definition at line 135 of file ReferenceForceUpdater.h.

◆ m_baseRpy

TimedOrientation3D ReferenceForceUpdater::m_baseRpy
protected

Definition at line 136 of file ReferenceForceUpdater.h.

◆ m_baseRpyIn

InPort<TimedOrientation3D> ReferenceForceUpdater::m_baseRpyIn
protected

Definition at line 137 of file ReferenceForceUpdater.h.

◆ m_debugLevel

unsigned int ReferenceForceUpdater::m_debugLevel
private

Definition at line 237 of file ReferenceForceUpdater.h.

◆ m_diffFootOriginExtMoment

TimedPoint3D ReferenceForceUpdater::m_diffFootOriginExtMoment
protected

Definition at line 144 of file ReferenceForceUpdater.h.

◆ m_diffFootOriginExtMomentIn

InPort<TimedPoint3D> ReferenceForceUpdater::m_diffFootOriginExtMomentIn
protected

Definition at line 145 of file ReferenceForceUpdater.h.

◆ m_dt

double ReferenceForceUpdater::m_dt
private

Definition at line 236 of file ReferenceForceUpdater.h.

◆ m_force

std::vector<TimedDoubleSeq> ReferenceForceUpdater::m_force
protected

Definition at line 138 of file ReferenceForceUpdater.h.

◆ m_forceIn

std::vector<InPort<TimedDoubleSeq> *> ReferenceForceUpdater::m_forceIn
protected

Definition at line 139 of file ReferenceForceUpdater.h.

◆ m_mutex

coil::Mutex ReferenceForceUpdater::m_mutex
private

Definition at line 238 of file ReferenceForceUpdater.h.

◆ m_qRef

TimedDoubleSeq ReferenceForceUpdater::m_qRef
protected

Definition at line 122 of file ReferenceForceUpdater.h.

◆ m_qRefIn

InPort<TimedDoubleSeq> ReferenceForceUpdater::m_qRefIn
protected

Definition at line 133 of file ReferenceForceUpdater.h.

◆ m_ref_force_in

std::vector<TimedDoubleSeq> ReferenceForceUpdater::m_ref_force_in
protected

Definition at line 140 of file ReferenceForceUpdater.h.

◆ m_ref_force_out

std::vector<TimedDoubleSeq> ReferenceForceUpdater::m_ref_force_out
protected

Definition at line 151 of file ReferenceForceUpdater.h.

◆ m_ref_forceIn

std::vector<InPort<TimedDoubleSeq> *> ReferenceForceUpdater::m_ref_forceIn
protected

Definition at line 141 of file ReferenceForceUpdater.h.

◆ m_ref_forceOut

std::vector<OutPort<TimedDoubleSeq> *> ReferenceForceUpdater::m_ref_forceOut
protected

Definition at line 152 of file ReferenceForceUpdater.h.

◆ m_ReferenceForceUpdaterService

ReferenceForceUpdaterService_impl ReferenceForceUpdater::m_ReferenceForceUpdaterService
protected

Definition at line 173 of file ReferenceForceUpdater.h.

◆ m_ReferenceForceUpdaterServicePort

RTC::CorbaPort ReferenceForceUpdater::m_ReferenceForceUpdaterServicePort
protected

Definition at line 167 of file ReferenceForceUpdater.h.

◆ m_refFootOriginExtMoment

TimedPoint3D ReferenceForceUpdater::m_refFootOriginExtMoment
protected

Definition at line 153 of file ReferenceForceUpdater.h.

◆ m_refFootOriginExtMomentIsHoldValue

TimedBoolean ReferenceForceUpdater::m_refFootOriginExtMomentIsHoldValue
protected

Definition at line 155 of file ReferenceForceUpdater.h.

◆ m_refFootOriginExtMomentIsHoldValueOut

OutPort<TimedBoolean> ReferenceForceUpdater::m_refFootOriginExtMomentIsHoldValueOut
protected

Definition at line 156 of file ReferenceForceUpdater.h.

◆ m_refFootOriginExtMomentOut

OutPort<TimedPoint3D> ReferenceForceUpdater::m_refFootOriginExtMomentOut
protected

Definition at line 154 of file ReferenceForceUpdater.h.

◆ m_RFUParam

std::map<std::string, ReferenceForceUpdaterParam> ReferenceForceUpdater::m_RFUParam
private

Definition at line 241 of file ReferenceForceUpdater.h.

◆ m_robot

hrp::BodyPtr ReferenceForceUpdater::m_robot
private

Definition at line 235 of file ReferenceForceUpdater.h.

◆ m_rpy

TimedOrientation3D ReferenceForceUpdater::m_rpy
protected

Definition at line 142 of file ReferenceForceUpdater.h.

◆ m_rpyIn

InPort<TimedOrientation3D> ReferenceForceUpdater::m_rpyIn
protected

Definition at line 143 of file ReferenceForceUpdater.h.

◆ m_vfs

std::map<std::string, hrp::VirtualForceSensorParam> ReferenceForceUpdater::m_vfs
private

Definition at line 234 of file ReferenceForceUpdater.h.

◆ objextmoment0_name

const std::string ReferenceForceUpdater::objextmoment0_name
private

Definition at line 249 of file ReferenceForceUpdater.h.

◆ ref_force

std::vector<hrp::Vector3> ReferenceForceUpdater::ref_force
private

Definition at line 242 of file ReferenceForceUpdater.h.

◆ ref_force_interpolator

std::map<std::string, interpolator*> ReferenceForceUpdater::ref_force_interpolator
private

Definition at line 243 of file ReferenceForceUpdater.h.

◆ transition_interpolator

std::map<std::string, interpolator*> ReferenceForceUpdater::transition_interpolator
private

Definition at line 244 of file ReferenceForceUpdater.h.

◆ transition_interpolator_ratio

std::vector<double> ReferenceForceUpdater::transition_interpolator_ratio
private

Definition at line 245 of file ReferenceForceUpdater.h.

◆ use_sh_base_pos_rpy

bool ReferenceForceUpdater::use_sh_base_pos_rpy
private

Definition at line 247 of file ReferenceForceUpdater.h.

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

hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:22