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24 #define TIMESTEP 0.002
26 #define WAIST_FILE "etc/root.dat"
29 const bool CONTROLLER_BRIDGE_DEBUG =
false;
37 "implementation_id",
"PD_HGtest",
38 "type_name",
"PD_HGtest",
39 "description",
"Sample PD component",
42 "category",
"Generic",
43 "activity_type",
"DataFlowComponent",
46 "lang_type",
"compile",
54 :
RTC::DataFlowComponentBase(manager),
56 m_torque0Out(
"torque0", m_torque0),
57 m_torque1Out(
"torque1", m_torque1),
58 m_root_transOut(
"root_trans", m_root_trans),
59 m_root_velOut(
"root_vel", m_root_vel),
60 m_root_accOut(
"root_acc", m_root_acc)
63 if( CONTROLLER_BRIDGE_DEBUG )
65 std::cout <<
"PD_HGtest::PD_HGtest" << std::endl;
90 if( CONTROLLER_BRIDGE_DEBUG )
92 std::cout <<
"onInitialize" << std::endl;
139 std::cout <<
"on Activated" << std::endl;
148 std::cout <<
"on Deactivated" << std::endl;
157 if( CONTROLLER_BRIDGE_DEBUG )
159 std::cout <<
"onExecute" << std::endl;
160 std::string localStr;
161 std::cin >> localStr;
164 static double root_x_p, root_x_v, root_x_a;
181 for(
int i=0;
i<6;
i++)
184 for(
int i=0;
i<6;
i++)
236 if (!
waist.is_open())
238 std::cerr <<
WAIST_FILE <<
" not opened" << std::endl;
257 manager->registerFactory(
profile,
258 RTC::Create<PD_HGtest>,
259 RTC::Delete<PD_HGtest>);
OutPort< TimedDoubleSeq > m_torque0Out
OutPort< TimedDoubleSeq > m_root_velOut
TimedDoubleSeq m_root_vel
virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id)
DLL_EXPORT void PD_HGtestInit(RTC::Manager *manager)
png_infop png_charpp int png_charpp profile
static const char * PD_HGtest_spec[]
OutPort< TimedDoubleSeq > m_torque1Out
PD_HGtest(RTC::Manager *manager)
virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id)
TimedDoubleSeq m_root_acc
virtual RTC::ReturnCode_t onInitialize()
OutPort< TimedDoubleSeq > m_root_accOut
OutPort< TimedPose3D > m_root_transOut
openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:04