OpenRTMUtil.h
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00001 #ifndef __OPENRTM_UTIL_H__
00002 #define __OPENRTM_UTIL_H__
00003 
00004 #include <rtm/RTObject.h>
00005 
00006 int connectPorts(RTC::PortService_ptr outPort, RTC::PortService_ptr inPort);
00007 void activateRtc(RTC::RtcBase* pRtc);
00008 void deactivateRtc(RTC::RtcBase* pRtc);
00009 const char *getServiceIOR(RTC::RTObject_var rtc, 
00010                           const char *sname);
00011 void setConfiguration(RTC::RTObject_var rtc, 
00012                       const std::string& name, const std::string& value);
00013 RTC::RTObject_var findRTC(const std::string &rtcName);
00014 
00015 class ClockReceiver
00016 {
00017 public:
00018     ClockReceiver(OpenRTM::ExtTrigExecutionContextService_ptr i_ec,
00019                   double i_period) : 
00020         m_ec(i_ec), m_period(i_period), m_time(i_period){}
00021     void tick(double dt){
00022         m_time += dt;
00023         if (m_time + dt/2 > m_period){
00024             m_ec->tick();
00025             m_time -= m_period;
00026         }
00027     }
00028 private:
00029     OpenRTM::ExtTrigExecutionContextService_ptr m_ec;
00030     double m_period;
00031     double m_time; 
00032 };
00033 
00034 
00035 #endif


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:18