Classes | Public Member Functions | Protected Member Functions | Protected Attributes | Private Attributes
CollisionDetector Class Reference

sample RT component which has one data input port and one data output port More...

#include <CollisionDetector.h>

Inheritance diagram for CollisionDetector:
Inheritance graph
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List of all members.

Classes

class  CollisionLinkPair

Public Member Functions

bool checkIsSafeTransition (void)
 CollisionDetector (RTC::Manager *manager)
 Constructor.
bool disable (void)
bool enable (void)
bool getCollisionStatus (OpenHRP::CollisionDetectorService::CollisionState &state)
virtual RTC::ReturnCode_t onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onDeactivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onFinalize ()
virtual RTC::ReturnCode_t onInitialize ()
bool setCollisionLoop (int input_loop)
bool setTolerance (const char *i_link_pair_name, double i_tolerance)
virtual ~CollisionDetector ()
 Destructor.

Protected Member Functions

void setupVClipModel (hrp::BodyPtr i_body)
void setupVClipModel (hrp::Link *i_link)

Protected Attributes

TimedLongSeq m_beepCommand
OutPort< TimedLongSeq > m_beepCommandOut
RTC::CorbaPort m_CollisionDetectorServicePort
TimedDoubleSeq m_q
TimedDoubleSeq m_qCurrent
InPort< TimedDoubleSeq > m_qCurrentIn
OutPort< TimedDoubleSeq > m_qOut
TimedDoubleSeq m_qRef
InPort< TimedDoubleSeq > m_qRefIn
CollisionDetectorService_impl m_service0
OpenHRP::TimedLongSeqSeq m_servoState
InPort< OpenHRP::TimedLongSeqSeq > m_servoStateIn

Private Attributes

BeepClient bc
int collision_beep_count
int collision_beep_freq
int default_recover_time
int dummy
double i_dt
bool is_beep_port_connected
int m_collision_loop
std::vector< intm_curr_collision_mask
unsigned int m_debugLevel
double m_dt
bool m_enable
bool m_have_safe_posture
std::vector< intm_init_collision_mask
interpolatorm_interpolator
double * m_lastsafe_jointdata
bool * m_link_collision
int m_loop_for_check
std::map< std::string,
CollisionLinkPair * > 
m_pair
double * m_recover_jointdata
int m_recover_time
hrp::BodyPtr m_robot
bool m_safe_posture
OpenHRP::CollisionDetectorService::CollisionState m_state
bool m_use_limb_collision
bool m_use_viewer
std::vector< Vclip::Polyhedron * > m_VclipLinks

Detailed Description

sample RT component which has one data input port and one data output port

Definition at line 51 of file CollisionDetector.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
managerpointer to the Manager

Definition at line 60 of file CollisionDetector.cpp.

Destructor.

Definition at line 94 of file CollisionDetector.cpp.


Member Function Documentation

Definition at line 726 of file CollisionDetector.cpp.

Definition at line 774 of file CollisionDetector.cpp.

Definition at line 736 of file CollisionDetector.cpp.

bool CollisionDetector::getCollisionStatus ( OpenHRP::CollisionDetectorService::CollisionState &  state)

Definition at line 710 of file CollisionDetector.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 318 of file CollisionDetector.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 325 of file CollisionDetector.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 332 of file CollisionDetector.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 295 of file CollisionDetector.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 101 of file CollisionDetector.cpp.

Definition at line 702 of file CollisionDetector.cpp.

bool CollisionDetector::setTolerance ( const char *  i_link_pair_name,
double  i_tolerance 
)

Definition at line 689 of file CollisionDetector.cpp.

Definition at line 716 of file CollisionDetector.cpp.

Definition at line 785 of file CollisionDetector.cpp.


Member Data Documentation

Definition at line 204 of file CollisionDetector.h.

Definition at line 201 of file CollisionDetector.h.

Definition at line 201 of file CollisionDetector.h.

Definition at line 198 of file CollisionDetector.h.

Definition at line 208 of file CollisionDetector.h.

double CollisionDetector::i_dt [private]

Definition at line 197 of file CollisionDetector.h.

Definition at line 207 of file CollisionDetector.h.

TimedLongSeq CollisionDetector::m_beepCommand [protected]

Definition at line 142 of file CollisionDetector.h.

OutPort<TimedLongSeq> CollisionDetector::m_beepCommandOut [protected]

Definition at line 143 of file CollisionDetector.h.

Definition at line 189 of file CollisionDetector.h.

Definition at line 149 of file CollisionDetector.h.

Definition at line 184 of file CollisionDetector.h.

Definition at line 199 of file CollisionDetector.h.

double CollisionDetector::m_dt [private]

Definition at line 192 of file CollisionDetector.h.

Definition at line 200 of file CollisionDetector.h.

Definition at line 202 of file CollisionDetector.h.

Definition at line 184 of file CollisionDetector.h.

Definition at line 196 of file CollisionDetector.h.

Definition at line 194 of file CollisionDetector.h.

Definition at line 195 of file CollisionDetector.h.

Definition at line 189 of file CollisionDetector.h.

std::map<std::string, CollisionLinkPair *> CollisionDetector::m_pair [private]

Definition at line 188 of file CollisionDetector.h.

TimedDoubleSeq CollisionDetector::m_q [protected]

Definition at line 140 of file CollisionDetector.h.

TimedDoubleSeq CollisionDetector::m_qCurrent [protected]

Definition at line 131 of file CollisionDetector.h.

InPort<TimedDoubleSeq> CollisionDetector::m_qCurrentIn [protected]

Definition at line 132 of file CollisionDetector.h.

OutPort<TimedDoubleSeq> CollisionDetector::m_qOut [protected]

Definition at line 141 of file CollisionDetector.h.

TimedDoubleSeq CollisionDetector::m_qRef [protected]

Definition at line 129 of file CollisionDetector.h.

InPort<TimedDoubleSeq> CollisionDetector::m_qRefIn [protected]

Definition at line 130 of file CollisionDetector.h.

Definition at line 194 of file CollisionDetector.h.

Definition at line 191 of file CollisionDetector.h.

Definition at line 187 of file CollisionDetector.h.

Definition at line 190 of file CollisionDetector.h.

Definition at line 155 of file CollisionDetector.h.

OpenHRP::TimedLongSeqSeq CollisionDetector::m_servoState [protected]

Definition at line 133 of file CollisionDetector.h.

InPort<OpenHRP::TimedLongSeqSeq> CollisionDetector::m_servoStateIn [protected]

Definition at line 134 of file CollisionDetector.h.

OpenHRP::CollisionDetectorService::CollisionState CollisionDetector::m_state [private]

Definition at line 203 of file CollisionDetector.h.

Definition at line 185 of file CollisionDetector.h.

Definition at line 186 of file CollisionDetector.h.

Definition at line 183 of file CollisionDetector.h.


The documentation for this class was generated from the following files:


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:20