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

#include <TorqueController.h>

Inheritance diagram for TorqueController:

Public Member Functions
bool	disableMultipleTorqueControllers (const OpenHRP::TorqueControllerService::StrSequence &jnames)

bool	disableTorqueController (std::string jname)

bool	enableMultipleTorqueControllers (const OpenHRP::TorqueControllerService::StrSequence &jnames)

bool	enableTorqueController (std::string jname)

bool	getTorqueControllerParam (const std::string jname, OpenHRP::TorqueControllerService::torqueControllerParam &i_param)

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 ()

bool	setMultipleReferenceTorques (const OpenHRP::TorqueControllerService::StrSequence &jnames, const OpenHRP::TorqueControllerService::dSequence &tauRefs)

bool	setReferenceTorque (std::string jname, double tauRef)

bool	setTorqueControllerParam (const std::string jname, const OpenHRP::TorqueControllerService::torqueControllerParam &i_param)

bool	startMultipleTorqueControls (const OpenHRP::TorqueControllerService::StrSequence &jnames)

bool	startTorqueControl (std::string jname)

bool	stopMultipleTorqueControls (const OpenHRP::TorqueControllerService::StrSequence &jnames)

bool	stopTorqueControl (std::string jname)

	TorqueController (RTC::Manager *manager)
	Constructor. More...

virtual	~TorqueController ()
	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
TimedDoubleSeq	m_qCurrentIn

InPort< TimedDoubleSeq >	m_qCurrentInIn

TimedDoubleSeq	m_qRefIn

InPort< TimedDoubleSeq >	m_qRefInIn

TimedDoubleSeq	m_qRefOut

OutPort< TimedDoubleSeq >	m_qRefOutOut

TorqueControllerService_impl	m_service0

TimedDoubleSeq	m_tauCurrentIn

InPort< TimedDoubleSeq >	m_tauCurrentInIn

TimedDoubleSeq	m_tauMaxIn

InPort< TimedDoubleSeq >	m_tauMaxInIn

RTC::CorbaPort	m_TorqueControllerServicePort

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	executeTorqueControl (hrp::dvector &dq)

bool	isDebug (int cycle=20)

void	updateParam (double &val, double &val_new)

Private Attributes
unsigned int	m_debugLevel

double	m_dt

long long	m_loop

std::vector< MotorTorqueController >	m_motorTorqueControllers

coil::Mutex	m_mutex

hrp::BodyPtr	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

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 44 of file TorqueController.h.

Constructor & Destructor Documentation

◆ TorqueController()

TorqueController::TorqueController ( RTC::Manager * manager )

Constructor.

Parameters

manager pointer to the Manager

Definition at line 41 of file TorqueController.cpp.

◆ ~TorqueController()

TorqueController::~TorqueController ( )

virtual

Destructor.

Definition at line 55 of file TorqueController.cpp.

Member Function Documentation

◆ disableMultipleTorqueControllers()

bool TorqueController::disableMultipleTorqueControllers ( const OpenHRP::TorqueControllerService::StrSequence & jnames )

Definition at line 460 of file TorqueController.cpp.

◆ disableTorqueController()

bool TorqueController::disableTorqueController ( std::string jname )

Definition at line 446 of file TorqueController.cpp.

◆ enableMultipleTorqueControllers()

bool TorqueController::enableMultipleTorqueControllers ( const OpenHRP::TorqueControllerService::StrSequence & jnames )

Definition at line 433 of file TorqueController.cpp.

◆ enableTorqueController()

bool TorqueController::enableTorqueController ( std::string jname )

Definition at line 419 of file TorqueController.cpp.

◆ executeTorqueControl()

void TorqueController::executeTorqueControl ( hrp::dvector & dq )

private

Definition at line 367 of file TorqueController.cpp.

◆ getTorqueControllerParam()

bool TorqueController::getTorqueControllerParam	(	const std::string	jname,
		OpenHRP::TorqueControllerService::torqueControllerParam &	i_param
	)

Definition at line 626 of file TorqueController.cpp.

◆ isDebug()

bool TorqueController::isDebug ( int cycle = 20 )

private

Definition at line 690 of file TorqueController.cpp.

◆ onActivated()

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

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 251 of file TorqueController.cpp.

◆ onDeactivated()

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

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 257 of file TorqueController.cpp.

◆ onExecute()

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

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 263 of file TorqueController.cpp.

◆ onInitialize()

RTC::ReturnCode_t TorqueController::onInitialize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 59 of file TorqueController.cpp.

◆ setMultipleReferenceTorques()

bool TorqueController::setMultipleReferenceTorques	(	const OpenHRP::TorqueControllerService::StrSequence &	jnames,
		const OpenHRP::TorqueControllerService::dSequence &	tauRefs
	)

Definition at line 555 of file TorqueController.cpp.

◆ setReferenceTorque()

bool TorqueController::setReferenceTorque	(	std::string	jname,
		double	tauRef
	)

Definition at line 536 of file TorqueController.cpp.

◆ setTorqueControllerParam()

bool TorqueController::setTorqueControllerParam	(	const std::string	jname,
		const OpenHRP::TorqueControllerService::torqueControllerParam &	i_param
	)

Definition at line 574 of file TorqueController.cpp.

◆ startMultipleTorqueControls()

bool TorqueController::startMultipleTorqueControls ( const OpenHRP::TorqueControllerService::StrSequence & jnames )

Definition at line 496 of file TorqueController.cpp.

◆ startTorqueControl()

bool TorqueController::startTorqueControl ( std::string jname )

Definition at line 473 of file TorqueController.cpp.

◆ stopMultipleTorqueControls()

bool TorqueController::stopMultipleTorqueControls ( const OpenHRP::TorqueControllerService::StrSequence & jnames )

Definition at line 523 of file TorqueController.cpp.

◆ stopTorqueControl()

bool TorqueController::stopTorqueControl ( std::string jname )

Definition at line 509 of file TorqueController.cpp.

◆ updateParam()

void TorqueController::updateParam	(	double &	val,
		double &	val_new
	)

private

Definition at line 681 of file TorqueController.cpp.

Member Data Documentation

◆ m_debugLevel

unsigned int TorqueController::m_debugLevel

private

Definition at line 164 of file TorqueController.h.

◆ m_dt

double TorqueController::m_dt

private

Definition at line 163 of file TorqueController.h.

◆ m_loop

long long TorqueController::m_loop

private

Definition at line 165 of file TorqueController.h.

◆ m_motorTorqueControllers

std::vector<MotorTorqueController> TorqueController::m_motorTorqueControllers

private

Definition at line 167 of file TorqueController.h.

◆ m_mutex

coil::Mutex TorqueController::m_mutex

private

Definition at line 168 of file TorqueController.h.

◆ m_qCurrentIn

TimedDoubleSeq TorqueController::m_qCurrentIn

protected

Definition at line 125 of file TorqueController.h.

◆ m_qCurrentInIn

InPort<TimedDoubleSeq> TorqueController::m_qCurrentInIn

protected

Definition at line 134 of file TorqueController.h.

◆ m_qRefIn

TimedDoubleSeq TorqueController::m_qRefIn

protected

Definition at line 126 of file TorqueController.h.

◆ m_qRefInIn

InPort<TimedDoubleSeq> TorqueController::m_qRefInIn

protected

Definition at line 135 of file TorqueController.h.

◆ m_qRefOut

TimedDoubleSeq TorqueController::m_qRefOut

protected

Definition at line 128 of file TorqueController.h.

◆ m_qRefOutOut

OutPort<TimedDoubleSeq> TorqueController::m_qRefOutOut

protected

Definition at line 141 of file TorqueController.h.

◆ m_robot

hrp::BodyPtr TorqueController::m_robot

private

Definition at line 166 of file TorqueController.h.

◆ m_service0

TorqueControllerService_impl TorqueController::m_service0

protected

Definition at line 158 of file TorqueController.h.

◆ m_tauCurrentIn

TimedDoubleSeq TorqueController::m_tauCurrentIn

protected

Definition at line 123 of file TorqueController.h.

◆ m_tauCurrentInIn

InPort<TimedDoubleSeq> TorqueController::m_tauCurrentInIn

protected

Definition at line 132 of file TorqueController.h.

◆ m_tauMaxIn

TimedDoubleSeq TorqueController::m_tauMaxIn

protected

Definition at line 124 of file TorqueController.h.

◆ m_tauMaxInIn

InPort<TimedDoubleSeq> TorqueController::m_tauMaxInIn

protected

Definition at line 133 of file TorqueController.h.

◆ m_TorqueControllerServicePort

RTC::CorbaPort TorqueController::m_TorqueControllerServicePort

protected

Definition at line 152 of file TorqueController.h.

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

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TorqueController()

◆ ~TorqueController()

Member Function Documentation

◆ disableMultipleTorqueControllers()

◆ disableTorqueController()

◆ enableMultipleTorqueControllers()

◆ enableTorqueController()

◆ executeTorqueControl()

◆ getTorqueControllerParam()

◆ isDebug()

◆ onActivated()

◆ onDeactivated()

◆ onExecute()

◆ onInitialize()

◆ setMultipleReferenceTorques()

◆ setReferenceTorque()

◆ setTorqueControllerParam()

◆ startMultipleTorqueControls()

◆ startTorqueControl()

◆ stopMultipleTorqueControls()

◆ stopTorqueControl()

◆ updateParam()

Member Data Documentation

◆ m_debugLevel

◆ m_dt

◆ m_loop

◆ m_motorTorqueControllers

◆ m_mutex

◆ m_qCurrentIn

◆ m_qCurrentInIn

◆ m_qRefIn

◆ m_qRefInIn

◆ m_qRefOut

◆ m_qRefOutOut

◆ m_robot

◆ m_service0

◆ m_tauCurrentIn

◆ m_tauCurrentInIn

◆ m_tauMaxIn

◆ m_tauMaxInIn

◆ m_TorqueControllerServicePort