16 #ifndef OPENHRP_CONTROLLER_BRIDGE_CONTROLLER_IMPL_H_INCLUDED
17 #define OPENHRP_CONTROLLER_BRIDGE_CONTROLLER_IMPL_H_INCLUDED
22 #include <rtm/RTObject.h>
23 #include <rtm/CorbaNaming.h>
24 #include <rtm/idl/RTCStub.h>
26 #include <hrpCorba/Controller.hh>
27 #include <hrpCorba/ViewSimulator.hh>
28 #include <hrpCorba/DynamicsSimulator.hh>
40 :
virtual public POA_OpenHRP::Controller
46 SensorState& getCurrentSensorState();
47 DblSequence* getLinkDataFromSimulator
48 (
const std::string& linkName, DynamicsSimulator::LinkDataType linkDataType);
49 DblSequence* getSensorDataFromSimulator(
const std::string& sensorName);
50 ImageData* getCameraImageFromSimulator(
int cameraId);
51 DblSequence& getJointDataSeqRef(DynamicsSimulator::LinkDataType linkDataType);
52 void flushJointDataSeqToSimulator(DynamicsSimulator::LinkDataType linkDataType);
53 void flushLinkDataToSimulator(
const std::string& linkName,
54 DynamicsSimulator::LinkDataType linkDataType,
55 const DblSequence& linkData);
57 virtual void setDynamicsSimulator(DynamicsSimulator_ptr dynamicsSimulator);
58 virtual void setViewSimulator(ViewSimulator_ptr viewSimulator);
67 virtual void control();
73 virtual void shutdown();
75 virtual void setModelName(
const char* localModelName){ modelName = localModelName;}
76 virtual void initialize();
86 typedef std::map<std::string, Port_Service_Var_Type>
PortMap;
125 void setupRtcConnections();
128 void activeComponents();
129 void deactiveComponents();
130 void disconnectRtcConnections(
PortMap& refPortMap);