Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes
TorqueController Class Reference

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

#include <TorqueController.h>

Inheritance diagram for TorqueController:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool disableMultipleTorqueControllers (const OpenHRP::TorqueControllerService::StrSequence &jnames)
bool disableTorqueController (std::string jname)
bool enableMultipleTorqueControllers (const OpenHRP::TorqueControllerService::StrSequence &jnames)
bool enableTorqueController (std::string jname)
bool getTorqueControllerParam (const std::string jname, OpenHRP::TorqueControllerService::torqueControllerParam &i_param)
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 ()
bool setMultipleReferenceTorques (const OpenHRP::TorqueControllerService::StrSequence &jnames, const OpenHRP::TorqueControllerService::dSequence &tauRefs)
bool setReferenceTorque (std::string jname, double tauRef)
bool setTorqueControllerParam (const std::string jname, const OpenHRP::TorqueControllerService::torqueControllerParam &i_param)
bool startMultipleTorqueControls (const OpenHRP::TorqueControllerService::StrSequence &jnames)
bool startTorqueControl (std::string jname)
bool stopMultipleTorqueControls (const OpenHRP::TorqueControllerService::StrSequence &jnames)
bool stopTorqueControl (std::string jname)
 TorqueController (RTC::Manager *manager)
 Constructor.
virtual ~TorqueController ()
 Destructor.

Protected Attributes

TimedDoubleSeq m_qCurrentIn
InPort< TimedDoubleSeq > m_qCurrentInIn
TimedDoubleSeq m_qRefIn
InPort< TimedDoubleSeq > m_qRefInIn
TimedDoubleSeq m_qRefOut
OutPort< TimedDoubleSeq > m_qRefOutOut
TorqueControllerService_impl m_service0
TimedDoubleSeq m_tauCurrentIn
InPort< TimedDoubleSeq > m_tauCurrentInIn
TimedDoubleSeq m_tauMaxIn
InPort< TimedDoubleSeq > m_tauMaxInIn
RTC::CorbaPort m_TorqueControllerServicePort

Private Member Functions

void executeTorqueControl (hrp::dvector &dq)
bool isDebug (int cycle=20)
void updateParam (double &val, double &val_new)

Private Attributes

unsigned int m_debugLevel
double m_dt
long long m_loop
std::vector
< MotorTorqueController
m_motorTorqueControllers
coil::Mutex m_mutex
hrp::BodyPtr m_robot

Detailed Description

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

Definition at line 44 of file TorqueController.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
managerpointer to the Manager

Definition at line 41 of file TorqueController.cpp.

Destructor.

Definition at line 55 of file TorqueController.cpp.


Member Function Documentation

bool TorqueController::disableMultipleTorqueControllers ( const OpenHRP::TorqueControllerService::StrSequence &  jnames)

Definition at line 460 of file TorqueController.cpp.

bool TorqueController::disableTorqueController ( std::string  jname)

Definition at line 446 of file TorqueController.cpp.

bool TorqueController::enableMultipleTorqueControllers ( const OpenHRP::TorqueControllerService::StrSequence &  jnames)

Definition at line 433 of file TorqueController.cpp.

bool TorqueController::enableTorqueController ( std::string  jname)

Definition at line 419 of file TorqueController.cpp.

Definition at line 367 of file TorqueController.cpp.

bool TorqueController::getTorqueControllerParam ( const std::string  jname,
OpenHRP::TorqueControllerService::torqueControllerParam &  i_param 
)

Definition at line 626 of file TorqueController.cpp.

bool TorqueController::isDebug ( int  cycle = 20) [private]

Definition at line 690 of file TorqueController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 251 of file TorqueController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 257 of file TorqueController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 263 of file TorqueController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 59 of file TorqueController.cpp.

bool TorqueController::setMultipleReferenceTorques ( const OpenHRP::TorqueControllerService::StrSequence &  jnames,
const OpenHRP::TorqueControllerService::dSequence &  tauRefs 
)

Definition at line 555 of file TorqueController.cpp.

bool TorqueController::setReferenceTorque ( std::string  jname,
double  tauRef 
)

Definition at line 536 of file TorqueController.cpp.

bool TorqueController::setTorqueControllerParam ( const std::string  jname,
const OpenHRP::TorqueControllerService::torqueControllerParam &  i_param 
)

Definition at line 574 of file TorqueController.cpp.

bool TorqueController::startMultipleTorqueControls ( const OpenHRP::TorqueControllerService::StrSequence &  jnames)

Definition at line 496 of file TorqueController.cpp.

bool TorqueController::startTorqueControl ( std::string  jname)

Definition at line 473 of file TorqueController.cpp.

bool TorqueController::stopMultipleTorqueControls ( const OpenHRP::TorqueControllerService::StrSequence &  jnames)

Definition at line 523 of file TorqueController.cpp.

bool TorqueController::stopTorqueControl ( std::string  jname)

Definition at line 509 of file TorqueController.cpp.

void TorqueController::updateParam ( double &  val,
double &  val_new 
) [private]

Definition at line 681 of file TorqueController.cpp.


Member Data Documentation

unsigned int TorqueController::m_debugLevel [private]

Definition at line 164 of file TorqueController.h.

double TorqueController::m_dt [private]

Definition at line 163 of file TorqueController.h.

long long TorqueController::m_loop [private]

Definition at line 165 of file TorqueController.h.

Definition at line 167 of file TorqueController.h.

Definition at line 168 of file TorqueController.h.

TimedDoubleSeq TorqueController::m_qCurrentIn [protected]

Definition at line 125 of file TorqueController.h.

InPort<TimedDoubleSeq> TorqueController::m_qCurrentInIn [protected]

Definition at line 134 of file TorqueController.h.

TimedDoubleSeq TorqueController::m_qRefIn [protected]

Definition at line 126 of file TorqueController.h.

InPort<TimedDoubleSeq> TorqueController::m_qRefInIn [protected]

Definition at line 135 of file TorqueController.h.

TimedDoubleSeq TorqueController::m_qRefOut [protected]

Definition at line 128 of file TorqueController.h.

OutPort<TimedDoubleSeq> TorqueController::m_qRefOutOut [protected]

Definition at line 141 of file TorqueController.h.

Definition at line 166 of file TorqueController.h.

Definition at line 158 of file TorqueController.h.

TimedDoubleSeq TorqueController::m_tauCurrentIn [protected]

Definition at line 123 of file TorqueController.h.

InPort<TimedDoubleSeq> TorqueController::m_tauCurrentInIn [protected]

Definition at line 132 of file TorqueController.h.

TimedDoubleSeq TorqueController::m_tauMaxIn [protected]

Definition at line 124 of file TorqueController.h.

InPort<TimedDoubleSeq> TorqueController::m_tauMaxInIn [protected]

Definition at line 133 of file TorqueController.h.

Definition at line 152 of file TorqueController.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:21