PA10Controller.h
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1 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
2 /*
3  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
4  * All rights reserved. This program is made available under the terms of the
5  * Eclipse Public License v1.0 which accompanies this distribution, and is
6  * available at http://www.eclipse.org/legal/epl-v10.html
7  * Contributors:
8  * National Institute of Advanced Industrial Science and Technology (AIST)
9  * General Robotix Inc.
10  */
19 #ifndef PA10Controller_H
20 #define PA10Controller_H
21 
22 #define DOF (9)
23 
24 #include <rtm/idl/BasicDataType.hh>
25 #include <rtm/Manager.h>
26 #include <rtm/DataFlowComponentBase.h>
27 #include <rtm/CorbaPort.h>
28 #include <rtm/DataInPort.h>
29 #include <rtm/DataOutPort.h>
30 #include <rtm/idl/BasicDataTypeSkel.h>
31 
32 #include <vector>
33 
34 // Service implementation headers
35 // <rtc-template block="service_impl_h">
36 
37 // </rtc-template>
38 
39 // Service Consumer stub headers
40 // <rtc-template block="consumer_stub_h">
41 
42 // </rtc-template>
43 
44 using namespace RTC;
45 
48 {
49  public:
51  ~PA10Controller();
52 
53  // The initialize action (on CREATED->ALIVE transition)
54  // formaer rtc_init_entry()
55  virtual RTC::ReturnCode_t onInitialize();
56 
57  // The finalize action (on ALIVE->END transition)
58  // formaer rtc_exiting_entry()
59  // virtual RTC::ReturnCode_t onFinalize();
60 
61  // The startup action when ExecutionContext startup
62  // former rtc_starting_entry()
63  // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
64 
65  // The shutdown action when ExecutionContext stop
66  // former rtc_stopping_entry()
67  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
68 
69  // The activated action (Active state entry action)
70  // former rtc_active_entry()
71  virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
72 
73  // The deactivated action (Active state exit action)
74  // former rtc_active_exit()
75  virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
76 
77  // The execution action that is invoked periodically
78  // former rtc_active_do()
79  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
80 
81  // The aborting action when main logic error occurred.
82  // former rtc_aborting_entry()
83  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
84 
85  // The error action in ERROR state
86  // former rtc_error_do()
87  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
88 
89  // The reset action that is invoked resetting
90  // This is same but different the former rtc_init_entry()
91  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
92 
93  // The state update action that is invoked after onExecute() action
94  // no corresponding operation exists in OpenRTm-aist-0.2.0
95  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
96 
97  // The action that is invoked when execution context's rate is changed
98  // no corresponding operation exists in OpenRTm-aist-0.2.0
99  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
100 
101 
102  protected:
103  // Configuration variable declaration
104  // <rtc-template block="config_declare">
105 
106  // </rtc-template>
107 
108  // DataInPort declaration
109  // <rtc-template block="inport_declare">
110  TimedDoubleSeq m_angle;
112 
113  // </rtc-template>
114 
115  // DataOutPort declaration
116  // <rtc-template block="outport_declare">
117  TimedDoubleSeq m_torque;
119 
120  // </rtc-template>
121 
122  // CORBA Port declaration
123  // <rtc-template block="corbaport_declare">
124 
125  // </rtc-template>
126 
127  // Service declaration
128  // <rtc-template block="service_declare">
129 
130  // </rtc-template>
131 
132  // Consumer declaration
133  // <rtc-template block="consumer_declare">
134 
135  // </rtc-template>
136 
137  private:
138  int dummy;
139  std::ifstream angle, vel, gain;
140  double *Pgain;
141  double *Dgain;
142  std::vector<double> qold;
143  double q_ref[DOF], dq_ref[DOF];
144  void openFiles();
145  void closeFiles();
146 };
147 
148 extern "C"
149 {
151 };
152 
153 #endif // PA10Controller_H
ec_id
InPort< TimedDoubleSeq > m_angleIn
DLL_EXPORT void PA10ControllerInit(RTC::Manager *manager)
TimedDoubleSeq m_angle
TimedDoubleSeq m_torque
manager
#define DOF
std::ifstream vel
std::vector< double > qold
ExecutionContextHandle_t UniqueId
OutPort< TimedDoubleSeq > m_torqueOut
#define DLL_EXPORT


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