RT component that do nothing and don't have ports. This component is used to create an execution context. More...

#include <RobotHardware.h>

Inheritance diagram for RobotHardware:

Public Member Functions
virtual void	getTimeNow (Time &tm)
virtual RTC::ReturnCode_t	onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onInitialize ()
	RobotHardware (RTC::Manager *manager)
	Constructor.
virtual	~RobotHardware ()
	Destructor.
Protected Member Functions
robot *	robot_ptr (void)
Protected Attributes
std::vector< TimedAcceleration3D >	m_acc
	vector of actual acceleration (vector length = number of acceleration sensors)
std::vector< OutPort < TimedAcceleration3D > * >	m_accOut
TimedDoubleSeq	m_ctau
	array of commanded torques of joint with jointId
OutPort< TimedDoubleSeq >	m_ctauOut
TimedDoubleSeq	m_ddqRef
	array of reference accelerations of joint with jointId
InPort< TimedDoubleSeq >	m_ddqRefIn
TimedDoubleSeq	m_dq
	array of actual velocities of joint with jointId
OutPort< TimedDoubleSeq >	m_dqOut
TimedDoubleSeq	m_dqRef
	array of reference velocities of joint with jointId
InPort< TimedDoubleSeq >	m_dqRefIn
TimedLong	m_emergencySignal
OutPort< TimedLong >	m_emergencySignalOut
std::vector< TimedDoubleSeq >	m_force
	vector of actual 6D wrench (vector length = number of F/T sensors) 6D wrench vector = 3D force + 3D moment = fx, fy, fz, nx, ny, nz
std::vector< OutPort < TimedDoubleSeq > * >	m_forceOut
int	m_isDemoMode
TimedDoubleSeq	m_pdtau
	array of PD controller torques of joint with jointId
OutPort< TimedDoubleSeq >	m_pdtauOut
TimedDoubleSeq	m_q
	array of actual angles of joint with jointId
OutPort< TimedDoubleSeq >	m_qOut
TimedDoubleSeq	m_qRef
	array of reference angles of joint with jointId
InPort< TimedDoubleSeq >	m_qRefIn
std::vector < TimedAngularVelocity3D >	m_rate
	vector of actual angular velocity (vector length = number of rate sensors)
std::vector< OutPort < TimedAngularVelocity3D > * >	m_rateOut
RTC::CorbaPort	m_RobotHardwareServicePort
OpenHRP::RobotHardwareService::TimedRobotState2	m_rstate2
OutPort < OpenHRP::RobotHardwareService::TimedRobotState2 >	m_rstate2Out
RobotHardwareService_impl	m_service0
OpenHRP::TimedLongSeqSeq	m_servoState
OutPort< OpenHRP::TimedLongSeqSeq >	m_servoStateOut
TimedDoubleSeq	m_tau
	array of actual torques of joint with jointId
OutPort< TimedDoubleSeq >	m_tauOut
TimedDoubleSeq	m_tauRef
	array of reference torques of joint with jointId
InPort< TimedDoubleSeq >	m_tauRefIn
Private Member Functions
void	getStatus2 (OpenHRP::RobotHardwareService::RobotState2 &rstate2)
Private Attributes
int	dummy
boost::shared_ptr< robot >	m_robot

Detailed Description

RT component that do nothing and don't have ports. This component is used to create an execution context.

Definition at line 45 of file RobotHardware.h.

Constructor & Destructor Documentation

RobotHardware::RobotHardware ( RTC::Manager * manager )

Constructor.

Parameters:

manager pointer to the Manager

Definition at line 46 of file RobotHardware.cpp.

RobotHardware::~RobotHardware ( ) [virtual]

Destructor.

Definition at line 68 of file RobotHardware.cpp.

Member Function Documentation

void RobotHardware::getStatus2 ( OpenHRP::RobotHardwareService::RobotState2 & rstate2 ) [private]

Definition at line 420 of file RobotHardware.cpp.

virtual void RobotHardware::getTimeNow ( Time & tm ) [inline, virtual]

Definition at line 107 of file RobotHardware.h.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 232 of file RobotHardware.cpp.

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

Reimplemented from RTC::RTObject_impl.

Definition at line 73 of file RobotHardware.cpp.

robot* RobotHardware::robot_ptr ( void ) [inline, protected]

Definition at line 216 of file RobotHardware.h.

Member Data Documentation

int RobotHardware::dummy [private]

Definition at line 220 of file RobotHardware.h.

std::vector<TimedAcceleration3D> RobotHardware::m_acc [protected]

vector of actual acceleration (vector length = number of acceleration sensors)

Definition at line 169 of file RobotHardware.h.

std::vector<OutPort<TimedAcceleration3D> *> RobotHardware::m_accOut [protected]

Definition at line 190 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_ctau [protected]

array of commanded torques of joint with jointId

Definition at line 161 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_ctauOut [protected]

Definition at line 188 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_ddqRef [protected]

array of reference accelerations of joint with jointId

Definition at line 136 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_ddqRefIn [protected]

Definition at line 137 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_dq [protected]

array of actual velocities of joint with jointId

Definition at line 153 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_dqOut [protected]

Definition at line 186 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_dqRef [protected]

array of reference velocities of joint with jointId

Definition at line 131 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_dqRefIn [protected]

Definition at line 132 of file RobotHardware.h.

TimedLong RobotHardware::m_emergencySignal [protected]

Definition at line 180 of file RobotHardware.h.

OutPort<TimedLong> RobotHardware::m_emergencySignalOut [protected]

Definition at line 194 of file RobotHardware.h.

std::vector<TimedDoubleSeq> RobotHardware::m_force [protected]

vector of actual 6D wrench (vector length = number of F/T sensors) 6D wrench vector = 3D force + 3D moment = fx, fy, fz, nx, ny, nz

Definition at line 178 of file RobotHardware.h.

std::vector<OutPort<TimedDoubleSeq> *> RobotHardware::m_forceOut [protected]

Definition at line 192 of file RobotHardware.h.

int RobotHardware::m_isDemoMode [protected]

Definition at line 111 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_pdtau [protected]

array of PD controller torques of joint with jointId

Definition at line 165 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_pdtauOut [protected]

Definition at line 189 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_q [protected]

array of actual angles of joint with jointId

Definition at line 149 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_qOut [protected]

Definition at line 185 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_qRef [protected]

array of reference angles of joint with jointId

Definition at line 126 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_qRefIn [protected]

Definition at line 127 of file RobotHardware.h.

std::vector<TimedAngularVelocity3D> RobotHardware::m_rate [protected]

vector of actual angular velocity (vector length = number of rate sensors)

Definition at line 173 of file RobotHardware.h.

std::vector<OutPort<TimedAngularVelocity3D> *> RobotHardware::m_rateOut [protected]

Definition at line 191 of file RobotHardware.h.

boost::shared_ptr<robot> RobotHardware::m_robot [private]

Definition at line 221 of file RobotHardware.h.

RTC::CorbaPort RobotHardware::m_RobotHardwareServicePort [protected]

Definition at line 201 of file RobotHardware.h.

OpenHRP::RobotHardwareService::TimedRobotState2 RobotHardware::m_rstate2 [protected]

Definition at line 181 of file RobotHardware.h.

OutPort<OpenHRP::RobotHardwareService::TimedRobotState2> RobotHardware::m_rstate2Out [protected]

Definition at line 195 of file RobotHardware.h.

RobotHardwareService_impl RobotHardware::m_service0 [protected]

Definition at line 207 of file RobotHardware.h.

OpenHRP::TimedLongSeqSeq RobotHardware::m_servoState [protected]

Definition at line 179 of file RobotHardware.h.

OutPort<OpenHRP::TimedLongSeqSeq> RobotHardware::m_servoStateOut [protected]

Definition at line 193 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_tau [protected]

array of actual torques of joint with jointId

Definition at line 157 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_tauOut [protected]

Definition at line 187 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_tauRef [protected]

array of reference torques of joint with jointId

Definition at line 141 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_tauRefIn [protected]

Definition at line 142 of file RobotHardware.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation