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15 #ifndef OPENHRP_CONTROLLER_BRIDGE_VIRTUAL_ROBOT_PORT_HANDLER_H_INCLUDED
16 #define OPENHRP_CONTROLLER_BRIDGE_VIRTUAL_ROBOT_PORT_HANDLER_H_INCLUDED
18 #include <boost/shared_ptr.hpp>
20 #include <rtm/idl/BasicDataType.hh>
21 #include <rtm/idl/ExtendedDataTypes.hh>
23 #include <rtm/PortBase.h>
24 #include <rtm/OutPort.h>
25 #include <rtm/InPort.h>
26 #include <rtm/idl/BasicDataTypeStub.h>
28 #include <hrpCorba/DynamicsSimulator.hh>
56 virtual void writeDataToPort() = 0;
59 value.tm.sec = (
unsigned long)_time;
60 value.tm.nsec = (
unsigned long)((_time-
value.tm.sec)*1000000000.0 + 0.5);
61 if(
value.tm.nsec >= 1000000000 ){
63 value.tm.nsec -= 1000000000;
88 virtual void writeDataToPort();
89 RTC::OutPort<RTC::TimedDoubleSeq>
outPort;
101 virtual void writeDataToPort();
114 virtual void writeDataToPort();
128 virtual void writeDataToPort();
140 virtual void writeDataToPort();
141 RTC::OutPort<RTC::TimedAngularVelocity3D>
outPort;
152 virtual void writeDataToPort();
153 RTC::OutPort<RTC::TimedAcceleration3D>
outPort;
165 virtual void writeDataToPort();
178 virtual void writeDataToPort();
191 virtual void writeDataToPort();
boost::shared_ptr< PortHandler > PortHandlerPtr
DynamicsSimulator::LinkDataType linkDataType
RTC::TimedDoubleSeq values
RTC::TimedAngularVelocity3D value
RTC::TimedAcceleration3D value
RTC::TimedDoubleSeq value
RTC::OutPort< RTC::TimedAngularVelocity3D > outPort
RTC::TimedDoubleSeq values
RTC::OutPort< RTC::TimedAcceleration3D > outPort
boost::shared_ptr< OutPortHandler > OutPortHandlerPtr
InPortHandler(PortInfo &info)
boost::shared_ptr< InPortHandler > InPortHandlerPtr
std::vector< std::string > linkName
void setTime(T &value, double _time)
std::vector< std::string > linkName
PortHandler(PortInfo &info)
RTC::TimedDoubleSeq values
RTC::OutPort< RTC::TimedDoubleSeq > outPort
RTC::InPort< RTC::TimedDoubleSeq > inPort
std::vector< std::string > sensorName
RTC::OutPort< RTC::TimedFloatSeq > outPort
DynamicsSimulator::LinkDataType linkDataType
RTC::PortService_var Port_Service_Var_Type
std::vector< std::string > sensorName
Port_Service_Var_Type portRef
RTC::TimedDoubleSeq value
RTC::OutPort< RTC::TimedDoubleSeq > outPort
std::vector< std::string > sensorName
RTC::OutPort< RTC::TimedOctetSeq > outPort
OutPortHandler(PortInfo &info)
DynamicsSimulator::LinkDataType linkDataType
RTC::OutPort< RTC::TimedDoubleSeq > outPort
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