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24 template <
typename TSrc>
25 void copyDblArraySeqToTimedDoubleSeq(
const TSrc& src,
int arraySize, TimedDoubleSeq& dest)
27 CORBA::ULong
n = src.length();
28 CORBA::ULong m =
n * arraySize;
30 CORBA::ULong destPos = 0;
31 for(CORBA::ULong
i=0;
i <
n; ++
i){
32 for(
int j=0; j < arraySize; ++j){
33 dest.data[destPos++] = src[
i][j];
38 template <
typename TSrcSeq,
typename TDestSeq>
42 DynamicsSimulator::LinkDataType toDynamicsSimulatorLinkDataType(
DataTypeId id)
68 outPort(
info.portName.c_str(), values)
90 copyDblArraySeqToTimedDoubleSeq(state.force, 6,
values);
93 copyDblArraySeqToTimedDoubleSeq(state.rateGyro, 3,
values);
96 copyDblArraySeqToTimedDoubleSeq(state.accel, 3,
values);
114 linkName(
info.dataOwnerName)
126 for(
size_t i=0, k=0;
i<
n;
i++){
132 for(CORBA::ULong j=0; j < m; j++)
147 linkName(
info.dataOwnerName)
165 value.data.orientation.r = rpy[0];
166 value.data.orientation.p = rpy[1];
167 value.data.orientation.y = rpy[2];
181 sensorName(
info.dataOwnerName)
192 for(
size_t i=0, k=0;
i<
n;
i++){
198 for(CORBA::ULong j=0; j < m; j++)
214 sensorName(
info.dataOwnerName)
224 for(
size_t i=0;
i<
n;
i++){
243 sensorName(
info.dataOwnerName)
253 for(
size_t i=0;
i<
n;
i++){
272 cameraId(
info.dataOwnerId)
281 image.data = imageInput->longData;
295 cameraId(
info.dataOwnerId)
304 image.data = imageInput->octetData;
318 cameraId(
info.dataOwnerId)
327 image.data = imageInput->floatData;
340 inPort(
info.portName.c_str(), values)
354 if(
inPort.isNew() ==
false ){
363 CORBA::ULong
n =
values.data.length();
365 for(CORBA::ULong
i=0;
i <
n; ++
i){
372 inPort(
info.portName.c_str(), values),
373 linkName(
info.dataOwnerName)
384 CORBA::ULong m=
data.length()/
n;
385 for(
size_t i=0, k=0;
i<
n;
i++){
388 for(CORBA::ULong j=0; j<m; j++)
389 data0[j] =
data[k++];
398 if(
inPort.isNew() ==
false ){
403 CORBA::ULong
n =
values.data.length();
405 for(CORBA::ULong
i=0;
i <
n; ++
i){
412 inPort(
info.portName.c_str(), values),
413 linkName(
info.dataOwnerName)
429 if(
inPort.isNew() ==
false ){
439 values.data.orientation.p,
440 values.data.orientation.y);
441 for (
int i=0;
i<3;
i++){
442 for (
int j=0; j<3; j++){
virtual void inputDataFromSimulator(Controller_impl *controller)
ImageData * getCameraImageFromSimulator(int cameraId)
DynamicsSimulator::LinkDataType linkDataType
RTC::TimedDoubleSeq values
RTC::TimedAngularVelocity3D value
DepthImageOutPortHandler(PortInfo &info)
virtual void writeDataToPort()
RTC::TimedAcceleration3D value
DblSequence * getSensorDataFromSimulator(const std::string &sensorName)
virtual void inputDataFromSimulator(Controller_impl *controller)
RTC::TimedDoubleSeq value
Matrix33 rotFromRpy(const Vector3 &rpy)
RTC::OutPort< RTC::TimedAngularVelocity3D > outPort
virtual void writeDataToPort()
GyroSensorOutPortHandler(PortInfo &info)
GrayScaleImageOutPortHandler(PortInfo &info)
RTC::TimedDoubleSeq values
SensorState & getCurrentSensorState()
RTC::OutPort< RTC::TimedAcceleration3D > outPort
virtual void inputDataFromSimulator(Controller_impl *controller)
virtual void inputDataFromSimulator(Controller_impl *controller)
virtual void outputDataToSimulator(Controller_impl *controller)
virtual void inputDataFromSimulator(Controller_impl *controller)
JointDataSeqInPortHandler(PortInfo &info)
ColorImageOutPortHandler(PortInfo &info)
virtual void writeDataToPort()
void flushJointDataSeqToSimulator(DynamicsSimulator::LinkDataType linkDataType)
virtual void writeDataToPort()
virtual void writeDataToPort()
LinkDataInPortHandler(PortInfo &info)
std::vector< std::string > linkName
virtual void inputDataFromSimulator(Controller_impl *controller)
void setTime(T &value, double _time)
DblSequence & getJointDataSeqRef(DynamicsSimulator::LinkDataType linkDataType)
virtual void inputDataFromSimulator(Controller_impl *controller)
std::vector< std::string > linkName
SensorStateOutPortHandler(PortInfo &info)
virtual void readDataFromPort(Controller_impl *controller)
RTC::TimedDoubleSeq values
RTC::OutPort< RTC::TimedDoubleSeq > outPort
LinkDataOutPortHandler(PortInfo &info)
RTC::InPort< RTC::TimedDoubleSeq > inPort
std::vector< std::string > sensorName
SensorDataOutPortHandler(PortInfo &info)
void flushLinkDataToSimulator(const std::string &linkName, DynamicsSimulator::LinkDataType linkDataType, const DblSequence &linkData)
RTC::OutPort< RTC::TimedFloatSeq > outPort
virtual void outputDataToSimulator(Controller_impl *controller)
DynamicsSimulator::LinkDataType linkDataType
virtual void writeDataToPort()
AccelerationSensorOutPortHandler(PortInfo &info)
std::vector< std::string > sensorName
virtual void writeDataToPort()
virtual void writeDataToPort()
RTC::TimedDoubleSeq value
virtual void inputDataFromSimulator(Controller_impl *controller)
virtual void readDataFromPort(Controller_impl *controller)
RTC::OutPort< RTC::TimedDoubleSeq > outPort
HRP_UTIL_EXPORT Vector3 rpyFromRot(const Matrix33 &m)
std::vector< std::string > sensorName
RTC::OutPort< RTC::TimedOctetSeq > outPort
DynamicsSimulator::LinkDataType linkDataType
RTC::OutPort< RTC::TimedDoubleSeq > outPort
DblSequence * getLinkDataFromSimulator(const std::string &linkName, DynamicsSimulator::LinkDataType linkDataType)
RTC::InPort< RTC::TimedDoubleSeq > inPort
RTC::OutPort< RTC::TimedLongSeq > outPort
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