sample
JoystickControl
Controller
JoystickController.h
Go to the documentation of this file.
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// -*- C++ -*-
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/*
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* Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
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* All rights reserved. This program is made available under the terms of the
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* Eclipse Public License v1.0 which accompanies this distribution, and is
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* available at http://www.eclipse.org/legal/epl-v10.html
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* Contributors:
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* National Institute of Advanced Industrial Science and Technology (AIST)
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* General Robotix Inc.
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*/
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#ifndef JOYSTICKCONTROLLER_H
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#define JOYSTICKCONTROLLER_H
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#include <rtm/idl/BasicDataType.hh>
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#include <
rtm/Manager.h
>
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#include <rtm/DataFlowComponentBase.h>
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#include <
rtm/CorbaPort.h
>
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#include <
rtm/DataInPort.h
>
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#include <
rtm/DataOutPort.h
>
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#include <rtm/idl/BasicDataTypeSkel.h>
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// Service implementation headers
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// <rtc-template block="service_impl_h">
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// </rtc-template>
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// Service Consumer stub headers
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// <rtc-template block="consumer_stub_h">
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// </rtc-template>
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using namespace
RTC
;
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class
JoystickController
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:
public
RTC::DataFlowComponentBase
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{
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public
:
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JoystickController
(
RTC::Manager
*
manager
);
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~
JoystickController
();
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// <rtc-template block="public_attribute">
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// </rtc-template>
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// <rtc-template block="public_operation">
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// </rtc-template>
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// The initialize action (on CREATED->ALIVE transition)
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// formaer rtc_init_entry()
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virtual
RTC::ReturnCode_t onInitialize();
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// The finalize action (on ALIVE->END transition)
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// formaer rtc_exiting_entry()
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// virtual RTC::ReturnCode_t onFinalize();
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// The startup action when ExecutionContext startup
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// former rtc_starting_entry()
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// virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
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// The shutdown action when ExecutionContext stop
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// former rtc_stopping_entry()
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// virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
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// The activated action (Active state entry action)
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// former rtc_active_entry()
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// virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
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// The deactivated action (Active state exit action)
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// former rtc_active_exit()
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// virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
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// The execution action that is invoked periodically
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// former rtc_active_do()
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virtual
RTC::ReturnCode_t onExecute(
RTC::UniqueId
ec_id
);
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// The aborting action when main logic error occurred.
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// former rtc_aborting_entry()
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// virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
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// The error action in ERROR state
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// former rtc_error_do()
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// virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
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// The reset action that is invoked resetting
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// This is same but different the former rtc_init_entry()
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// virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
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// The state update action that is invoked after onExecute() action
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// no corresponding operation exists in OpenRTm-aist-0.2.0
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// virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
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// The action that is invoked when execution context's rate is changed
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// no corresponding operation exists in OpenRTm-aist-0.2.0
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// virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
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protected
:
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// <rtc-template block="protected_attribute">
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// </rtc-template>
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// <rtc-template block="protected_operation">
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// </rtc-template>
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// DataInPort declaration
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// <rtc-template block="inport_declare">
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TimedDoubleSeq
m_angle
;
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InPort<TimedDoubleSeq>
m_angleIn
;
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TimedDoubleSeq
m_velocity
;
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InPort<TimedDoubleSeq>
m_velocityIn
;
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TimedFloatSeq
m_command
;
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InPort<TimedFloatSeq>
m_commandIn
;
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// </rtc-template>
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// DataOutPort declaration
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// <rtc-template block="outport_declare">
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TimedDoubleSeq
m_torque
;
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OutPort<TimedDoubleSeq>
m_torqueOut
;
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// </rtc-template>
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// CORBA Port declaration
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// <rtc-template block="corbaport_declare">
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// </rtc-template>
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// Service declaration
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// <rtc-template block="service_declare">
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// </rtc-template>
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// Consumer declaration
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// <rtc-template block="consumer_declare">
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// </rtc-template>
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private
:
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int
dummy
;
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// <rtc-template block="private_attribute">
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// </rtc-template>
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// <rtc-template block="private_operation">
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// </rtc-template>
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};
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extern
"C"
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{
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DLL_EXPORT
void
JoystickControllerInit
(
RTC::Manager
*
manager
);
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};
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#endif // JOYSTICKCONTROLLER_H
ec_id
ec_id
RTC
RTC::Manager
JoystickController::m_angle
TimedDoubleSeq m_angle
Definition:
JoystickController.h:117
RTC::DataFlowComponentBase
JoystickController::m_torque
TimedDoubleSeq m_torque
Definition:
JoystickController.h:129
JoystickController::m_velocity
TimedDoubleSeq m_velocity
Definition:
JoystickController.h:119
manager
manager
DataOutPort.h
CorbaPort.h
Manager.h
JoystickController::m_commandIn
InPort< TimedFloatSeq > m_commandIn
Definition:
JoystickController.h:122
RTC::UniqueId
ExecutionContextHandle_t UniqueId
JoystickController
Definition:
JoystickController.h:42
JoystickController::m_angleIn
InPort< TimedDoubleSeq > m_angleIn
Definition:
JoystickController.h:118
DataInPort.h
JoystickController::m_torqueOut
OutPort< TimedDoubleSeq > m_torqueOut
Definition:
JoystickController.h:130
JoystickController::dummy
int dummy
Definition:
JoystickController.h:150
JoystickController::m_command
TimedFloatSeq m_command
Definition:
JoystickController.h:121
RTC::InPort< TimedDoubleSeq >
RTC::OutPort< TimedDoubleSeq >
JoystickControllerInit
DLL_EXPORT void JoystickControllerInit(RTC::Manager *manager)
Definition:
JoystickController.cpp:194
JoystickController::m_velocityIn
InPort< TimedDoubleSeq > m_velocityIn
Definition:
JoystickController.h:120
DLL_EXPORT
#define DLL_EXPORT
Definition:
bush_customizer.cpp:20
openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:04