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

RT component that do nothing and don't have ports. This component is used to create an execution context. More...

#include <RobotHardware.h>

Inheritance diagram for RobotHardware:
Inheritance graph
[legend]

Public Member Functions

virtual void getTimeNow (Time &tm)
 
virtual RTC::ReturnCode_t onExecute (RTC::UniqueId ec_id)
 
virtual RTC::ReturnCode_t onInitialize ()
 
 RobotHardware (RTC::Manager *manager)
 Constructor. More...
 
virtual ~RobotHardware ()
 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 Member Functions

robot * robot_ptr (void)
 
- Protected Member Functions inherited from RTC::RTObject_impl
virtual ReturnCode_t onAborting (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onActivated (RTC::UniqueId exec_handle)
 
void onAddPort (const PortProfile &pprof)
 
void onAttachExecutionContext (UniqueId ec_id)
 
virtual ReturnCode_t onDeactivated (RTC::UniqueId exec_handle)
 
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 ()
 

Protected Attributes

std::vector< TimedAcceleration3D > m_acc
 vector of actual acceleration (vector length = number of acceleration sensors) More...
 
std::vector< OutPort< TimedAcceleration3D > * > m_accOut
 
TimedDoubleSeq m_ctau
 array of commanded torques of joint with jointId More...
 
OutPort< TimedDoubleSeq > m_ctauOut
 
TimedDoubleSeq m_ddqRef
 array of reference accelerations of joint with jointId More...
 
InPort< TimedDoubleSeq > m_ddqRefIn
 
TimedDoubleSeq m_dq
 array of actual velocities of joint with jointId More...
 
OutPort< TimedDoubleSeq > m_dqOut
 
TimedDoubleSeq m_dqRef
 array of reference velocities of joint with jointId More...
 
InPort< TimedDoubleSeq > m_dqRefIn
 
TimedLong m_emergencySignal
 
OutPort< TimedLong > m_emergencySignalOut
 
std::vector< TimedDoubleSeq > m_force
 vector of actual 6D wrench (vector length = number of F/T sensors) 6D wrench vector = 3D force + 3D moment = fx, fy, fz, nx, ny, nz More...
 
std::vector< OutPort< TimedDoubleSeq > * > m_forceOut
 
int m_isDemoMode
 
TimedDoubleSeq m_pdtau
 array of PD controller torques of joint with jointId More...
 
OutPort< TimedDoubleSeq > m_pdtauOut
 
TimedDoubleSeq m_q
 array of actual angles of joint with jointId More...
 
OutPort< TimedDoubleSeq > m_qOut
 
TimedDoubleSeq m_qRef
 array of reference angles of joint with jointId More...
 
InPort< TimedDoubleSeq > m_qRefIn
 
std::vector< TimedAngularVelocity3D > m_rate
 vector of actual angular velocity (vector length = number of rate sensors) More...
 
std::vector< OutPort< TimedAngularVelocity3D > * > m_rateOut
 
RTC::CorbaPort m_RobotHardwareServicePort
 
OpenHRP::RobotHardwareService::TimedRobotState2 m_rstate2
 
OutPort< OpenHRP::RobotHardwareService::TimedRobotState2 > m_rstate2Out
 
RobotHardwareService_impl m_service0
 
OpenHRP::TimedLongSeqSeq m_servoState
 
OutPort< OpenHRP::TimedLongSeqSeq > m_servoStateOut
 
TimedDoubleSeq m_tau
 array of actual torques of joint with jointId More...
 
OutPort< TimedDoubleSeq > m_tauOut
 
TimedDoubleSeq m_tauRef
 array of reference torques of joint with jointId More...
 
InPort< TimedDoubleSeq > m_tauRefIn
 
- 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 Member Functions

void getStatus2 (OpenHRP::RobotHardwareService::RobotState2 &rstate2)
 

Private Attributes

int dummy
 
boost::shared_ptr< robot > m_robot
 

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
 

Detailed Description

RT component that do nothing and don't have ports. This component is used to create an execution context.

Definition at line 45 of file RobotHardware.h.

Constructor & Destructor Documentation

◆ RobotHardware()

RobotHardware::RobotHardware ( RTC::Manager *  manager)

Constructor.

Parameters
managerpointer to the Manager

Definition at line 46 of file RobotHardware.cpp.

◆ ~RobotHardware()

RobotHardware::~RobotHardware ( )
virtual

Destructor.

Definition at line 68 of file RobotHardware.cpp.

Member Function Documentation

◆ getStatus2()

void RobotHardware::getStatus2 ( OpenHRP::RobotHardwareService::RobotState2 &  rstate2)
private

Definition at line 420 of file RobotHardware.cpp.

◆ getTimeNow()

virtual void RobotHardware::getTimeNow ( Time &  tm)
inlinevirtual

Definition at line 107 of file RobotHardware.h.

◆ onExecute()

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

Reimplemented from RTC::RTObject_impl.

Definition at line 232 of file RobotHardware.cpp.

◆ onInitialize()

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

Reimplemented from RTC::RTObject_impl.

Definition at line 73 of file RobotHardware.cpp.

◆ robot_ptr()

robot* RobotHardware::robot_ptr ( void  )
inlineprotected

Definition at line 216 of file RobotHardware.h.

Member Data Documentation

◆ dummy

int RobotHardware::dummy
private

Definition at line 220 of file RobotHardware.h.

◆ m_acc

std::vector<TimedAcceleration3D> RobotHardware::m_acc
protected

vector of actual acceleration (vector length = number of acceleration sensors)

Definition at line 169 of file RobotHardware.h.

◆ m_accOut

std::vector<OutPort<TimedAcceleration3D> *> RobotHardware::m_accOut
protected

Definition at line 190 of file RobotHardware.h.

◆ m_ctau

TimedDoubleSeq RobotHardware::m_ctau
protected

array of commanded torques of joint with jointId

Definition at line 161 of file RobotHardware.h.

◆ m_ctauOut

OutPort<TimedDoubleSeq> RobotHardware::m_ctauOut
protected

Definition at line 188 of file RobotHardware.h.

◆ m_ddqRef

TimedDoubleSeq RobotHardware::m_ddqRef
protected

array of reference accelerations of joint with jointId

Definition at line 136 of file RobotHardware.h.

◆ m_ddqRefIn

InPort<TimedDoubleSeq> RobotHardware::m_ddqRefIn
protected

Definition at line 137 of file RobotHardware.h.

◆ m_dq

TimedDoubleSeq RobotHardware::m_dq
protected

array of actual velocities of joint with jointId

Definition at line 153 of file RobotHardware.h.

◆ m_dqOut

OutPort<TimedDoubleSeq> RobotHardware::m_dqOut
protected

Definition at line 186 of file RobotHardware.h.

◆ m_dqRef

TimedDoubleSeq RobotHardware::m_dqRef
protected

array of reference velocities of joint with jointId

Definition at line 131 of file RobotHardware.h.

◆ m_dqRefIn

InPort<TimedDoubleSeq> RobotHardware::m_dqRefIn
protected

Definition at line 132 of file RobotHardware.h.

◆ m_emergencySignal

TimedLong RobotHardware::m_emergencySignal
protected

Definition at line 180 of file RobotHardware.h.

◆ m_emergencySignalOut

OutPort<TimedLong> RobotHardware::m_emergencySignalOut
protected

Definition at line 194 of file RobotHardware.h.

◆ m_force

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

vector of actual 6D wrench (vector length = number of F/T sensors) 6D wrench vector = 3D force + 3D moment = fx, fy, fz, nx, ny, nz

Definition at line 178 of file RobotHardware.h.

◆ m_forceOut

std::vector<OutPort<TimedDoubleSeq> *> RobotHardware::m_forceOut
protected

Definition at line 192 of file RobotHardware.h.

◆ m_isDemoMode

int RobotHardware::m_isDemoMode
protected

Definition at line 111 of file RobotHardware.h.

◆ m_pdtau

TimedDoubleSeq RobotHardware::m_pdtau
protected

array of PD controller torques of joint with jointId

Definition at line 165 of file RobotHardware.h.

◆ m_pdtauOut

OutPort<TimedDoubleSeq> RobotHardware::m_pdtauOut
protected

Definition at line 189 of file RobotHardware.h.

◆ m_q

TimedDoubleSeq RobotHardware::m_q
protected

array of actual angles of joint with jointId

Definition at line 149 of file RobotHardware.h.

◆ m_qOut

OutPort<TimedDoubleSeq> RobotHardware::m_qOut
protected

Definition at line 185 of file RobotHardware.h.

◆ m_qRef

TimedDoubleSeq RobotHardware::m_qRef
protected

array of reference angles of joint with jointId

Definition at line 126 of file RobotHardware.h.

◆ m_qRefIn

InPort<TimedDoubleSeq> RobotHardware::m_qRefIn
protected

Definition at line 127 of file RobotHardware.h.

◆ m_rate

std::vector<TimedAngularVelocity3D> RobotHardware::m_rate
protected

vector of actual angular velocity (vector length = number of rate sensors)

Definition at line 173 of file RobotHardware.h.

◆ m_rateOut

std::vector<OutPort<TimedAngularVelocity3D> *> RobotHardware::m_rateOut
protected

Definition at line 191 of file RobotHardware.h.

◆ m_robot

boost::shared_ptr<robot> RobotHardware::m_robot
private

Definition at line 221 of file RobotHardware.h.

◆ m_RobotHardwareServicePort

RTC::CorbaPort RobotHardware::m_RobotHardwareServicePort
protected

Definition at line 201 of file RobotHardware.h.

◆ m_rstate2

OpenHRP::RobotHardwareService::TimedRobotState2 RobotHardware::m_rstate2
protected

Definition at line 181 of file RobotHardware.h.

◆ m_rstate2Out

OutPort<OpenHRP::RobotHardwareService::TimedRobotState2> RobotHardware::m_rstate2Out
protected

Definition at line 195 of file RobotHardware.h.

◆ m_service0

RobotHardwareService_impl RobotHardware::m_service0
protected

Definition at line 207 of file RobotHardware.h.

◆ m_servoState

OpenHRP::TimedLongSeqSeq RobotHardware::m_servoState
protected

Definition at line 179 of file RobotHardware.h.

◆ m_servoStateOut

OutPort<OpenHRP::TimedLongSeqSeq> RobotHardware::m_servoStateOut
protected

Definition at line 193 of file RobotHardware.h.

◆ m_tau

TimedDoubleSeq RobotHardware::m_tau
protected

array of actual torques of joint with jointId

Definition at line 157 of file RobotHardware.h.

◆ m_tauOut

OutPort<TimedDoubleSeq> RobotHardware::m_tauOut
protected

Definition at line 187 of file RobotHardware.h.

◆ m_tauRef

TimedDoubleSeq RobotHardware::m_tauRef
protected

array of reference torques of joint with jointId

Definition at line 141 of file RobotHardware.h.

◆ m_tauRefIn

InPort<TimedDoubleSeq> RobotHardware::m_tauRefIn
protected

Definition at line 142 of file RobotHardware.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