#include <SequencePlayer.h>

Inheritance diagram for SequencePlayer:

Public Member Functions
bool	addJointGroup (const char *gname, const OpenHRP::SequencePlayerService::StrSequence &jnames)

bool	clearJointAngles ()

bool	clearJointAnglesOfGroup (const char *gname)

void	loadPattern (const char *basename, double time)

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

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

virtual RTC::ReturnCode_t	onFinalize ()

virtual RTC::ReturnCode_t	onInitialize ()

seqplay *	player ()

void	playPattern (const OpenHRP::dSequenceSequence &pos, const OpenHRP::dSequenceSequence &rpy, const OpenHRP::dSequenceSequence &zmp, const OpenHRP::dSequence &tm)

bool	playPatternOfGroup (const char *gname, const OpenHRP::dSequenceSequence &pos, const OpenHRP::dSequence &tm)

bool	removeJointGroup (const char *gname)

hrp::BodyPtr	robot ()

	SequencePlayer (RTC::Manager *manager)

bool	setBasePos (const double *pos, double tm)

bool	setBaseRpy (const double *rpy, double tm)

void	setClearFlag ()

bool	setInitialState (double tm=0.0)

bool	setInterpolationMode (OpenHRP::SequencePlayerService::interpolationMode i_mode_)

bool	setJointAngle (short id, double angle, double tm)

bool	setJointAngles (const double *angles, double tm)

bool	setJointAngles (const double angles, const bool mask, double tm)

bool	setJointAnglesOfGroup (const char *gname, const OpenHRP::dSequence &jvs, double tm)

bool	setJointAnglesSequence (const OpenHRP::dSequenceSequence angless, const OpenHRP::bSequence &mask, const OpenHRP::dSequence &times)

bool	setJointAnglesSequenceFull (const OpenHRP::dSequenceSequence i_jvss, const OpenHRP::dSequenceSequence i_vels, const OpenHRP::dSequenceSequence i_torques, const OpenHRP::dSequenceSequence i_poss, const OpenHRP::dSequenceSequence i_rpys, const OpenHRP::dSequenceSequence i_accs, const OpenHRP::dSequenceSequence i_zmps, const OpenHRP::dSequenceSequence i_wrenches, const OpenHRP::dSequenceSequence i_optionals, const dSequence i_tms)

bool	setJointAnglesSequenceOfGroup (const char *gname, const OpenHRP::dSequenceSequence angless, const OpenHRP::dSequence &times)

void	setMaxIKError (double pos, double rot)

void	setMaxIKIteration (short iter)

bool	setTargetPose (const char gname, const double xyz, const double rpy, double tm, const char frame_name)

bool	setWrenches (const double *wrenches, double tm)

bool	setZmp (const double *zmp, double tm)

void	waitInterpolation ()

bool	waitInterpolationOfGroup (const char *gname)

virtual	~SequencePlayer ()

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)

Public Attributes
double	dt

Protected Attributes
TimedAcceleration3D	m_accRef

OutPort< TimedAcceleration3D >	m_accRefOut

TimedPoint3D	m_basePos

TimedPoint3D	m_basePosInit

InPort< TimedPoint3D >	m_basePosInitIn

OutPort< TimedPoint3D >	m_basePosOut

TimedOrientation3D	m_baseRpy

TimedOrientation3D	m_baseRpyInit

InPort< TimedOrientation3D >	m_baseRpyInitIn

OutPort< TimedOrientation3D >	m_baseRpyOut

TimedDoubleSeq	m_optionalData

OutPort< TimedDoubleSeq >	m_optionalDataOut

TimedDoubleSeq	m_qInit

InPort< TimedDoubleSeq >	m_qInitIn

TimedDoubleSeq	m_qRef

OutPort< TimedDoubleSeq >	m_qRefOut

RTC::CorbaPort	m_SequencePlayerServicePort

SequencePlayerService_impl	m_service0

TimedDoubleSeq	m_tqRef

OutPort< TimedDoubleSeq >	m_tqRefOut

std::vector< TimedDoubleSeq >	m_wrenches

std::vector< OutPort< TimedDoubleSeq > * >	m_wrenchesOut

TimedPoint3D	m_zmpRef

TimedPoint3D	m_zmpRefInit

InPort< TimedPoint3D >	m_zmpRefInitIn

OutPort< TimedPoint3D >	m_zmpRefOut

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

bool	m_clearFlag

unsigned int	m_debugLevel

double	m_error_pos

double	m_error_rot

std::string	m_fixedLink

hrp::Vector3	m_fixedP

hrp::Matrix33	m_fixedR

std::string	m_gname

short	m_iteration

coil::Mutex	m_mutex

hrp::Vector3	m_offsetP

hrp::Matrix33	m_offsetR

hrp::BodyPtr	m_robot

seqplay *	m_seq

double	m_timeToStartPlaying

bool	m_waitFlag

sem_t	m_waitSem

size_t	optional_data_dim

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)

virtual ReturnCode_t	onDeactivated (RTC::UniqueId exec_handle)

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

Definition at line 40 of file SequencePlayer.h.

Constructor & Destructor Documentation

◆ SequencePlayer()

SequencePlayer::SequencePlayer ( RTC::Manager * manager )

Definition at line 43 of file SequencePlayer.cpp.

◆ ~SequencePlayer()

SequencePlayer::~SequencePlayer ( )

virtual

Definition at line 72 of file SequencePlayer.cpp.

Member Function Documentation

◆ addJointGroup()

bool SequencePlayer::addJointGroup	(	const char *	gname,
		const OpenHRP::SequencePlayerService::StrSequence &	jnames
	)

Definition at line 831 of file SequencePlayer.cpp.

◆ clearJointAngles()

bool SequencePlayer::clearJointAngles ( )

Definition at line 481 of file SequencePlayer.cpp.

◆ clearJointAnglesOfGroup()

bool SequencePlayer::clearJointAnglesOfGroup ( const char * gname )

Definition at line 510 of file SequencePlayer.cpp.

◆ loadPattern()

void SequencePlayer::loadPattern	(	const char *	basename,
		double	time
	)

Definition at line 709 of file SequencePlayer.cpp.

◆ onActivated()

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

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 207 of file SequencePlayer.cpp.

◆ onExecute()

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

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 221 of file SequencePlayer.cpp.

◆ onFinalize()

RTC::ReturnCode_t SequencePlayer::onFinalize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 185 of file SequencePlayer.cpp.

◆ onInitialize()

RTC::ReturnCode_t SequencePlayer::onInitialize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 77 of file SequencePlayer.cpp.

◆ player()

seqplay* SequencePlayer::player ( )

inline

Definition at line 96 of file SequencePlayer.h.

◆ playPattern()

void SequencePlayer::playPattern	(	const OpenHRP::dSequenceSequence &	pos,
		const OpenHRP::dSequenceSequence &	rpy,
		const OpenHRP::dSequenceSequence &	zmp,
		const OpenHRP::dSequence &	tm
	)

Definition at line 797 of file SequencePlayer.cpp.

◆ playPatternOfGroup()

bool SequencePlayer::playPatternOfGroup	(	const char *	gname,
		const OpenHRP::dSequenceSequence &	pos,
		const OpenHRP::dSequence &	tm
	)

Definition at line 878 of file SequencePlayer.cpp.

◆ removeJointGroup()

bool SequencePlayer::removeJointGroup ( const char * gname )

Definition at line 853 of file SequencePlayer.cpp.

◆ robot()

hrp::BodyPtr SequencePlayer::robot ( )

inline

Definition at line 97 of file SequencePlayer.h.

◆ setBasePos()

bool SequencePlayer::setBasePos	(	const double *	pos,
		double	tm
	)

Definition at line 548 of file SequencePlayer.cpp.

◆ setBaseRpy()

bool SequencePlayer::setBaseRpy	(	const double *	rpy,
		double	tm
	)

Definition at line 559 of file SequencePlayer.cpp.

◆ setClearFlag()

void SequencePlayer::setClearFlag ( )

Definition at line 358 of file SequencePlayer.cpp.

◆ setInitialState()

bool SequencePlayer::setInitialState ( double tm = 0.0 )

Definition at line 758 of file SequencePlayer.cpp.

◆ setInterpolationMode()

bool SequencePlayer::setInterpolationMode ( OpenHRP::SequencePlayerService::interpolationMode i_mode_ )

Definition at line 814 of file SequencePlayer.cpp.

◆ setJointAngle()

bool SequencePlayer::setJointAngle	(	short	id,
		double	angle,
		double	tm
	)

Definition at line 387 of file SequencePlayer.cpp.

◆ setJointAngles() [1/2]

bool SequencePlayer::setJointAngles	(	const double *	angles,
		double	tm
	)

Definition at line 415 of file SequencePlayer.cpp.

◆ setJointAngles() [2/2]

bool SequencePlayer::setJointAngles	(	const double *	angles,
		const bool *	mask,
		double	tm
	)

Definition at line 440 of file SequencePlayer.cpp.

◆ setJointAnglesOfGroup()

bool SequencePlayer::setJointAnglesOfGroup	(	const char *	gname,
		const OpenHRP::dSequence &	jvs,
		double	tm
	)

Definition at line 866 of file SequencePlayer.cpp.

◆ setJointAnglesSequence()

bool SequencePlayer::setJointAnglesSequence	(	const OpenHRP::dSequenceSequence	angless,
		const OpenHRP::bSequence &	mask,
		const OpenHRP::dSequence &	times
	)

Definition at line 458 of file SequencePlayer.cpp.

◆ setJointAnglesSequenceFull()

bool SequencePlayer::setJointAnglesSequenceFull	(	const OpenHRP::dSequenceSequence	i_jvss,
		const OpenHRP::dSequenceSequence	i_vels,
		const OpenHRP::dSequenceSequence	i_torques,
		const OpenHRP::dSequenceSequence	i_poss,
		const OpenHRP::dSequenceSequence	i_rpys,
		const OpenHRP::dSequenceSequence	i_accs,
		const OpenHRP::dSequenceSequence	i_zmps,
		const OpenHRP::dSequenceSequence	i_wrenches,
		const OpenHRP::dSequenceSequence	i_optionals,
		const dSequence	i_tms
	)

Definition at line 523 of file SequencePlayer.cpp.

◆ setJointAnglesSequenceOfGroup()

bool SequencePlayer::setJointAnglesSequenceOfGroup	(	const char *	gname,
		const OpenHRP::dSequenceSequence	angless,
		const OpenHRP::dSequence &	times
	)

Definition at line 493 of file SequencePlayer.cpp.

◆ setMaxIKError()

void SequencePlayer::setMaxIKError	(	double	pos,
		double	rot
	)

Definition at line 893 of file SequencePlayer.cpp.

◆ setMaxIKIteration()

void SequencePlayer::setMaxIKIteration ( short iter )

Definition at line 898 of file SequencePlayer.cpp.

◆ setTargetPose()

bool SequencePlayer::setTargetPose	(	const char *	gname,
		const double *	xyz,
		const double *	rpy,
		double	tm,
		const char *	frame_name
	)

Definition at line 589 of file SequencePlayer.cpp.

◆ setWrenches()

bool SequencePlayer::setWrenches	(	const double *	wrenches,
		double	tm
	)

Definition at line 581 of file SequencePlayer.cpp.

◆ setZmp()

bool SequencePlayer::setZmp	(	const double *	zmp,
		double	tm
	)

Definition at line 570 of file SequencePlayer.cpp.

◆ waitInterpolation()

void SequencePlayer::waitInterpolation ( )

Definition at line 366 of file SequencePlayer.cpp.

◆ waitInterpolationOfGroup()

bool SequencePlayer::waitInterpolationOfGroup ( const char * gname )

Definition at line 375 of file SequencePlayer.cpp.

Member Data Documentation

◆ dt

double SequencePlayer::dt

Definition at line 95 of file SequencePlayer.h.

◆ dummy

int SequencePlayer::dummy

private

Definition at line 198 of file SequencePlayer.h.

◆ m_accRef

TimedAcceleration3D SequencePlayer::m_accRef

protected

Definition at line 152 of file SequencePlayer.h.

◆ m_accRefOut

OutPort<TimedAcceleration3D> SequencePlayer::m_accRefOut

protected

Definition at line 153 of file SequencePlayer.h.

◆ m_basePos

TimedPoint3D SequencePlayer::m_basePos

protected

Definition at line 154 of file SequencePlayer.h.

◆ m_basePosInit

TimedPoint3D SequencePlayer::m_basePosInit

protected

Definition at line 135 of file SequencePlayer.h.

◆ m_basePosInitIn

InPort<TimedPoint3D> SequencePlayer::m_basePosInitIn

protected

Definition at line 136 of file SequencePlayer.h.

◆ m_basePosOut

OutPort<TimedPoint3D> SequencePlayer::m_basePosOut

protected

Definition at line 155 of file SequencePlayer.h.

◆ m_baseRpy

TimedOrientation3D SequencePlayer::m_baseRpy

protected

Definition at line 156 of file SequencePlayer.h.

◆ m_baseRpyInit

TimedOrientation3D SequencePlayer::m_baseRpyInit

protected

Definition at line 137 of file SequencePlayer.h.

◆ m_baseRpyInitIn

InPort<TimedOrientation3D> SequencePlayer::m_baseRpyInitIn

protected

Definition at line 138 of file SequencePlayer.h.

◆ m_baseRpyOut

OutPort<TimedOrientation3D> SequencePlayer::m_baseRpyOut

protected

Definition at line 157 of file SequencePlayer.h.

◆ m_clearFlag

bool SequencePlayer::m_clearFlag

private

Definition at line 185 of file SequencePlayer.h.

◆ m_debugLevel

unsigned int SequencePlayer::m_debugLevel

private

Definition at line 189 of file SequencePlayer.h.

◆ m_error_pos

double SequencePlayer::m_error_pos

private

Definition at line 192 of file SequencePlayer.h.

◆ m_error_rot

double SequencePlayer::m_error_rot

private

Definition at line 192 of file SequencePlayer.h.

◆ m_fixedLink

std::string SequencePlayer::m_fixedLink

private

Definition at line 194 of file SequencePlayer.h.

◆ m_fixedP

hrp::Vector3 SequencePlayer::m_fixedP

private

Definition at line 195 of file SequencePlayer.h.

◆ m_fixedR

hrp::Matrix33 SequencePlayer::m_fixedR

private

Definition at line 196 of file SequencePlayer.h.

◆ m_gname

std::string SequencePlayer::m_gname

private

Definition at line 188 of file SequencePlayer.h.

◆ m_iteration

short SequencePlayer::m_iteration

private

Definition at line 193 of file SequencePlayer.h.

◆ m_mutex

coil::Mutex SequencePlayer::m_mutex

private

Definition at line 191 of file SequencePlayer.h.

◆ m_offsetP

hrp::Vector3 SequencePlayer::m_offsetP

private

Definition at line 195 of file SequencePlayer.h.

◆ m_offsetR

hrp::Matrix33 SequencePlayer::m_offsetR

private

Definition at line 196 of file SequencePlayer.h.

◆ m_optionalData

TimedDoubleSeq SequencePlayer::m_optionalData

protected

Definition at line 160 of file SequencePlayer.h.

◆ m_optionalDataOut

OutPort<TimedDoubleSeq> SequencePlayer::m_optionalDataOut

protected

Definition at line 161 of file SequencePlayer.h.

◆ m_qInit

TimedDoubleSeq SequencePlayer::m_qInit

protected

Definition at line 133 of file SequencePlayer.h.

◆ m_qInitIn

InPort<TimedDoubleSeq> SequencePlayer::m_qInitIn

protected

Definition at line 134 of file SequencePlayer.h.

◆ m_qRef

TimedDoubleSeq SequencePlayer::m_qRef

protected

Definition at line 146 of file SequencePlayer.h.

◆ m_qRefOut

OutPort<TimedDoubleSeq> SequencePlayer::m_qRefOut

protected

Definition at line 147 of file SequencePlayer.h.

◆ m_robot

hrp::BodyPtr SequencePlayer::m_robot

private

Definition at line 187 of file SequencePlayer.h.

◆ m_seq

seqplay* SequencePlayer::m_seq

private

Definition at line 184 of file SequencePlayer.h.

◆ m_SequencePlayerServicePort

RTC::CorbaPort SequencePlayer::m_SequencePlayerServicePort

protected

Definition at line 168 of file SequencePlayer.h.

◆ m_service0

SequencePlayerService_impl SequencePlayer::m_service0

protected

Definition at line 174 of file SequencePlayer.h.

◆ m_timeToStartPlaying

double SequencePlayer::m_timeToStartPlaying

private

Definition at line 197 of file SequencePlayer.h.

◆ m_tqRef

TimedDoubleSeq SequencePlayer::m_tqRef

protected

Definition at line 148 of file SequencePlayer.h.

◆ m_tqRefOut

OutPort<TimedDoubleSeq> SequencePlayer::m_tqRefOut

protected

Definition at line 149 of file SequencePlayer.h.

◆ m_waitFlag

bool SequencePlayer::m_waitFlag

private

Definition at line 185 of file SequencePlayer.h.

◆ m_waitSem

sem_t SequencePlayer::m_waitSem

private

Definition at line 186 of file SequencePlayer.h.

◆ m_wrenches

std::vector<TimedDoubleSeq> SequencePlayer::m_wrenches

protected

Definition at line 158 of file SequencePlayer.h.

◆ m_wrenchesOut

std::vector<OutPort<TimedDoubleSeq> *> SequencePlayer::m_wrenchesOut

protected

Definition at line 159 of file SequencePlayer.h.

◆ m_zmpRef

TimedPoint3D SequencePlayer::m_zmpRef

protected

Definition at line 150 of file SequencePlayer.h.

◆ m_zmpRefInit

TimedPoint3D SequencePlayer::m_zmpRefInit

protected

Definition at line 139 of file SequencePlayer.h.

◆ m_zmpRefInitIn

InPort<TimedPoint3D> SequencePlayer::m_zmpRefInitIn

protected

Definition at line 140 of file SequencePlayer.h.

◆ m_zmpRefOut

OutPort<TimedPoint3D> SequencePlayer::m_zmpRefOut

protected

Definition at line 151 of file SequencePlayer.h.

◆ optional_data_dim

size_t SequencePlayer::optional_data_dim

private

Definition at line 190 of file SequencePlayer.h.

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

Public Member Functions

Public Attributes

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SequencePlayer()

◆ ~SequencePlayer()

Member Function Documentation

◆ addJointGroup()

◆ clearJointAngles()

◆ clearJointAnglesOfGroup()

◆ loadPattern()

◆ onActivated()

◆ onExecute()

◆ onFinalize()

◆ onInitialize()

◆ player()

◆ playPattern()

◆ playPatternOfGroup()

◆ removeJointGroup()

◆ robot()

◆ setBasePos()

◆ setBaseRpy()

◆ setClearFlag()

◆ setInitialState()

◆ setInterpolationMode()

◆ setJointAngle()

◆ setJointAngles() [1/2]

◆ setJointAngles() [2/2]

◆ setJointAnglesOfGroup()

◆ setJointAnglesSequence()

◆ setJointAnglesSequenceFull()

◆ setJointAnglesSequenceOfGroup()

◆ setMaxIKError()

◆ setMaxIKIteration()

◆ setTargetPose()

◆ setWrenches()

◆ setZmp()

◆ waitInterpolation()

◆ waitInterpolationOfGroup()

Member Data Documentation

◆ dt

◆ dummy

◆ m_accRef

◆ m_accRefOut

◆ m_basePos

◆ m_basePosInit

◆ m_basePosInitIn

◆ m_basePosOut

◆ m_baseRpy

◆ m_baseRpyInit

◆ m_baseRpyInitIn

◆ m_baseRpyOut

◆ m_clearFlag

◆ m_debugLevel

◆ m_error_pos

◆ m_error_rot

◆ m_fixedLink

◆ m_fixedP

◆ m_fixedR

◆ m_gname

◆ m_iteration

◆ m_mutex

◆ m_offsetP

◆ m_offsetR

◆ m_optionalData

◆ m_optionalDataOut

◆ m_qInit

◆ m_qInitIn

◆ m_qRef

◆ m_qRefOut

◆ m_robot

◆ m_seq

◆ m_SequencePlayerServicePort

◆ m_service0

◆ m_timeToStartPlaying

◆ m_tqRef

◆ m_tqRefOut