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

#include <RemoveForceSensorLinkOffset.h>

Inheritance diagram for RemoveForceSensorLinkOffset:

Classes
struct	ForceMomentOffsetParam
Public Member Functions
bool	dumpForceMomentOffsetParams (const std::string &filename)
bool	getForceMomentOffsetParam (const std::string &i_name_, OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam &i_param_)
bool	loadForceMomentOffsetParams (const std::string &filename)
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	onInitialize ()
	RemoveForceSensorLinkOffset (RTC::Manager *manager)
	Constructor.
bool	removeForceSensorOffset (const ::OpenHRP::RemoveForceSensorLinkOffsetService::StrSequence &names, const double tm)
bool	setForceMomentOffsetParam (const std::string &i_name_, const OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam &i_param_)
virtual	~RemoveForceSensorLinkOffset ()
	Destructor.
Protected Attributes
std::vector< TimedDoubleSeq >	m_force
std::vector< InPort < TimedDoubleSeq > * >	m_forceIn
std::vector< OutPort < TimedDoubleSeq > * >	m_forceOut
TimedDoubleSeq	m_qCurrent
InPort< TimedDoubleSeq >	m_qCurrentIn
RTC::CorbaPort	m_RemoveForceSensorLinkOffsetServicePort
TimedOrientation3D	m_rpy
InPort< TimedOrientation3D >	m_rpyIn
RemoveForceSensorLinkOffsetService_impl	m_service0
Private Member Functions
void	printForceMomentOffsetParam (const std::string &i_name_)
void	updateRootLinkPosRot (const hrp::Vector3 &rpy)
Private Attributes
unsigned int	m_debugLevel
double	m_dt
std::map< std::string, ForceMomentOffsetParam >	m_forcemoment_offset_param
coil::Mutex	m_mutex
hrp::BodyPtr	m_robot
int	max_sensor_offset_calib_counter
Static Private Attributes
static const double	grav = 9.80665

Detailed Description

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

Definition at line 46 of file RemoveForceSensorLinkOffset.h.

Constructor & Destructor Documentation

RemoveForceSensorLinkOffset::RemoveForceSensorLinkOffset ( RTC::Manager * manager )

Constructor.

Parameters:

manager pointer to the Manager

Definition at line 38 of file RemoveForceSensorLinkOffset.cpp.

RemoveForceSensorLinkOffset::~RemoveForceSensorLinkOffset ( ) [virtual]

Destructor.

Definition at line 51 of file RemoveForceSensorLinkOffset.cpp.

Member Function Documentation

bool RemoveForceSensorLinkOffset::dumpForceMomentOffsetParams ( const std::string & filename )

Definition at line 314 of file RemoveForceSensorLinkOffset.cpp.

bool RemoveForceSensorLinkOffset::getForceMomentOffsetParam	(	const std::string &	i_name_,
		OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam &	i_param_
	)

Definition at line 269 of file RemoveForceSensorLinkOffset.cpp.

bool RemoveForceSensorLinkOffset::loadForceMomentOffsetParams ( const std::string & filename )

Definition at line 284 of file RemoveForceSensorLinkOffset.cpp.

RTC::ReturnCode_t RemoveForceSensorLinkOffset::onActivated ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 142 of file RemoveForceSensorLinkOffset.cpp.

RTC::ReturnCode_t RemoveForceSensorLinkOffset::onDeactivated ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 148 of file RemoveForceSensorLinkOffset.cpp.

RTC::ReturnCode_t RemoveForceSensorLinkOffset::onExecute ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 155 of file RemoveForceSensorLinkOffset.cpp.

RTC::ReturnCode_t RemoveForceSensorLinkOffset::onInitialize ( void ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 57 of file RemoveForceSensorLinkOffset.cpp.

void RemoveForceSensorLinkOffset::printForceMomentOffsetParam ( const std::string & i_name_ ) [private]

Definition at line 245 of file RemoveForceSensorLinkOffset.cpp.

bool RemoveForceSensorLinkOffset::removeForceSensorOffset	(	const ::OpenHRP::RemoveForceSensorLinkOffsetService::StrSequence &	names,
		const double	tm
	)

Definition at line 333 of file RemoveForceSensorLinkOffset.cpp.

bool RemoveForceSensorLinkOffset::setForceMomentOffsetParam	(	const std::string &	i_name_,
		const OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam &	i_param_
	)