SampleCrawler.h
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00001 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
00002 /*
00003  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00004  * All rights reserved. This program is made available under the terms of the
00005  * Eclipse Public License v1.0 which accompanies this distribution, and is
00006  * available at http://www.eclipse.org/legal/epl-v10.html
00007  * Contributors:
00008  * National Institute of Advanced Industrial Science and Technology (AIST)
00009  * General Robotix Inc. 
00010  */
00019 #ifndef SAMPLECRAWLER_H
00020 #define SAMPLECRAWLER_H
00021 #define DOF (2)
00022 
00023 #include <rtm/idl/BasicDataType.hh>
00024 #include <rtm/Manager.h>
00025 #include <rtm/DataFlowComponentBase.h>
00026 #include <rtm/CorbaPort.h>
00027 #include <rtm/DataInPort.h>
00028 #include <rtm/DataOutPort.h>
00029 #include <rtm/idl/BasicDataTypeSkel.h>
00030 
00031 // Service implementation headers
00032 // <rtc-template block="service_impl_h">
00033 
00034 // </rtc-template>
00035 
00036 // Service Consumer stub headers
00037 // <rtc-template block="consumer_stub_h">
00038 
00039 // </rtc-template>
00040 
00041 using namespace RTC;
00042 
00043 class SampleCrawler
00044   : public RTC::DataFlowComponentBase
00045 {
00046  public:
00047   SampleCrawler(RTC::Manager* manager);
00048   ~SampleCrawler();
00049 
00050   // The initialize action (on CREATED->ALIVE transition)
00051   // formaer rtc_init_entry() 
00052  virtual RTC::ReturnCode_t onInitialize();
00053 
00054   // The finalize action (on ALIVE->END transition)
00055   // formaer rtc_exiting_entry()
00056   //virtual RTC::ReturnCode_t onFinalize();
00057 
00058   // The startup action when ExecutionContext startup
00059   // former rtc_starting_entry()
00060   //virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00061 
00062   // The shutdown action when ExecutionContext stop
00063   // former rtc_stopping_entry()
00064   //virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00065 
00066   // The activated action (Active state entry action)
00067   // former rtc_active_entry()
00068   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00069 
00070   // The deactivated action (Active state exit action)
00071   // former rtc_active_exit()
00072   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00073 
00074   // The execution action that is invoked periodically
00075   // former rtc_active_do()
00076   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00077 
00078   // The aborting action when main logic error occurred.
00079   // former rtc_aborting_entry()
00080   //virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00081 
00082   // The error action in ERROR state
00083   // former rtc_error_do()
00084   //virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00085 
00086   // The reset action that is invoked resetting
00087   // This is same but different the former rtc_init_entry()
00088   //virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00089   
00090   // The state update action that is invoked after onExecute() action
00091   // no corresponding operation exists in OpenRTm-aist-0.2.0
00092   //virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00093 
00094   // The action that is invoked when execution context's rate is changed
00095   // no corresponding operation exists in OpenRTm-aist-0.2.0
00096   //virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00097 
00098 
00099  protected:
00100   // Configuration variable declaration
00101   // <rtc-template block="config_declare">
00102   
00103   // </rtc-template>
00104 
00105   // DataInPort declaration
00106   // <rtc-template block="inport_declare">
00107   
00108   // </rtc-template>
00109 
00110   // DataOutPort declaration
00111   // <rtc-template block="outport_declare">
00112   TimedDoubleSeq m_torque;
00113   OutPort<TimedDoubleSeq> m_torqueOut;
00114   
00115   // </rtc-template>
00116 
00117   // CORBA Port declaration
00118   // <rtc-template block="corbaport_declare">
00119   
00120   // </rtc-template>
00121 
00122   // Service declaration
00123   // <rtc-template block="service_declare">
00124   
00125   // </rtc-template>
00126 
00127   // Consumer declaration
00128   // <rtc-template block="consumer_declare">
00129   
00130   // </rtc-template>
00131 
00132  private:
00133   int cnt;
00134   int dummy;
00135 };
00136 
00137 
00138 extern "C"
00139 {
00140 DLL_EXPORT void SampleCrawlerInit(RTC::Manager* manager);
00141 };
00142 
00143 #endif // SAMPLECRAWLER_H


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:19