Classes | Public Member Functions | Public Attributes | Private Types | Private Member Functions | Private Attributes
Controller_impl Class Reference

#include <Controller_impl.h>

List of all members.

Classes

struct  JointValueSeqInfo
struct  RtcInfo

Public Member Functions

virtual omniObjRef * _do_get_interface ()
virtual void control ()
 Controller_impl (RTC::Manager *rtcManager, BridgeConf *bridgeConf)
virtual void destroy ()
void flushJointDataSeqToSimulator (DynamicsSimulator::LinkDataType linkDataType)
void flushLinkDataToSimulator (const std::string &linkName, DynamicsSimulator::LinkDataType linkDataType, const DblSequence &linkData)
ImageData * getCameraImageFromSimulator (int cameraId)
SensorState & getCurrentSensorState ()
DblSequence & getJointDataSeqRef (DynamicsSimulator::LinkDataType linkDataType)
DblSequence * getLinkDataFromSimulator (const std::string &linkName, DynamicsSimulator::LinkDataType linkDataType)
DblSequence * getSensorDataFromSimulator (const std::string &sensorName)
double getTimeStep ()
virtual void initialize ()
virtual void input ()
virtual void output ()
virtual void setDynamicsSimulator (DynamicsSimulator_ptr dynamicsSimulator)
virtual void setModelName (const char *localModelName)
void setTimeStep (CORBA::Double _timeStep)
virtual void setViewSimulator (ViewSimulator_ptr viewSimulator)
virtual void shutdown ()
virtual void start ()
virtual void stop ()
 ~Controller_impl ()

Public Attributes

double controlTime

Private Types

typedef std::map
< DynamicsSimulator::LinkDataType,
JointValueSeqInfo
JointValueSeqInfoMap
typedef std::map< std::string,
Port_Service_Var_Type
PortMap
typedef std::map< std::string,
RtcInfoPtr
RtcInfoMap
typedef boost::shared_ptr
< RtcInfo
RtcInfoPtr
typedef std::vector< RtcInfoPtrRtcInfoVector

Private Member Functions

void activeComponents ()
Controller_impl::RtcInfoPtr addRtcVectorWithConnection (RTC::RTObject_var rtcRef)
int connectPorts (Port_Service_Ptr_Type outPort, Port_Service_Ptr_Type inPort)
void deactiveComponents ()
void detectRtcs ()
void disconnectRtcConnections (PortMap &refPortMap)
void makePortMap (RtcInfoPtr &rtcInfo)
void restart ()
void setupRtcConnections ()

Private Attributes

bool bRestart
BridgeConfbridgeConf
CameraSequence_var cameras
Camera::CameraParameter_var cparam
DynamicsSimulator_var dynamicsSimulator
std::string modelName
RTC::CorbaNamingnaming
JointValueSeqInfoMap outputJointValueSeqInfos
RtcInfoMap rtcInfoMap
RtcInfoVector rtcInfoVector
RTC::ManagerrtcManager
SensorState_var sensorState
bool sensorStateUpdated
double timeStep
ViewSimulator_var viewSimulator
VirtualRobotRTCvirtualRobotRTC

Detailed Description

Definition at line 39 of file Controller_impl.h.


Member Typedef Documentation

typedef std::map<DynamicsSimulator::LinkDataType, JointValueSeqInfo> Controller_impl::JointValueSeqInfoMap [private]

Definition at line 116 of file Controller_impl.h.

typedef std::map<std::string, Port_Service_Var_Type> Controller_impl::PortMap [private]

Definition at line 86 of file Controller_impl.h.

typedef std::map<std::string, RtcInfoPtr> Controller_impl::RtcInfoMap [private]

Definition at line 98 of file Controller_impl.h.

typedef boost::shared_ptr<RtcInfo> Controller_impl::RtcInfoPtr [private]

Definition at line 96 of file Controller_impl.h.

typedef std::vector<RtcInfoPtr> Controller_impl::RtcInfoVector [private]

Definition at line 100 of file Controller_impl.h.


Constructor & Destructor Documentation

Controller_impl::Controller_impl ( RTC::Manager rtcManager,
BridgeConf bridgeConf 
)

Definition at line 35 of file Controller_impl.cpp.

Definition at line 51 of file Controller_impl.cpp.


Member Function Documentation

virtual omniObjRef* Controller_impl::_do_get_interface ( ) [inline, virtual]

Definition at line 74 of file Controller_impl.h.

Definition at line 551 of file Controller_impl.cpp.

Definition at line 165 of file Controller_impl.cpp.

Definition at line 282 of file Controller_impl.cpp.

Definition at line 467 of file Controller_impl.cpp.

Definition at line 582 of file Controller_impl.cpp.

Definition at line 498 of file Controller_impl.cpp.

Definition at line 62 of file Controller_impl.cpp.

void Controller_impl::flushJointDataSeqToSimulator ( DynamicsSimulator::LinkDataType  linkDataType)

Definition at line 431 of file Controller_impl.cpp.

void Controller_impl::flushLinkDataToSimulator ( const std::string &  linkName,
DynamicsSimulator::LinkDataType  linkDataType,
const DblSequence &  linkData 
)

Definition at line 443 of file Controller_impl.cpp.

Definition at line 398 of file Controller_impl.cpp.

Definition at line 370 of file Controller_impl.cpp.

DblSequence & Controller_impl::getJointDataSeqRef ( DynamicsSimulator::LinkDataType  linkDataType)

Definition at line 425 of file Controller_impl.cpp.

DblSequence * Controller_impl::getLinkDataFromSimulator ( const std::string &  linkName,
DynamicsSimulator::LinkDataType  linkDataType 
)

Definition at line 382 of file Controller_impl.cpp.

DblSequence * Controller_impl::getSensorDataFromSimulator ( const std::string &  sensorName)

Definition at line 390 of file Controller_impl.cpp.

double Controller_impl::getTimeStep ( ) [inline]

Definition at line 62 of file Controller_impl.h.

Definition at line 510 of file Controller_impl.cpp.

Definition at line 413 of file Controller_impl.cpp.

void Controller_impl::makePortMap ( RtcInfoPtr rtcInfo) [private]

Definition at line 153 of file Controller_impl.cpp.

Definition at line 451 of file Controller_impl.cpp.

Definition at line 547 of file Controller_impl.cpp.

void Controller_impl::setDynamicsSimulator ( DynamicsSimulator_ptr  dynamicsSimulator) [virtual]

Definition at line 331 of file Controller_impl.cpp.

virtual void Controller_impl::setModelName ( const char *  localModelName) [inline, virtual]

Definition at line 75 of file Controller_impl.h.

void Controller_impl::setTimeStep ( CORBA::Double  _timeStep) [inline]

Definition at line 59 of file Controller_impl.h.

Definition at line 221 of file Controller_impl.cpp.

void Controller_impl::setViewSimulator ( ViewSimulator_ptr  viewSimulator) [virtual]

Definition at line 337 of file Controller_impl.cpp.

Definition at line 538 of file Controller_impl.cpp.

void Controller_impl::start ( void  ) [virtual]

Definition at line 343 of file Controller_impl.cpp.

void Controller_impl::stop ( void  ) [virtual]

Definition at line 492 of file Controller_impl.cpp.


Member Data Documentation

bool Controller_impl::bRestart [private]

Definition at line 132 of file Controller_impl.h.

Definition at line 80 of file Controller_impl.h.

CameraSequence_var Controller_impl::cameras [private]

Definition at line 119 of file Controller_impl.h.

Definition at line 77 of file Controller_impl.h.

Camera::CameraParameter_var Controller_impl::cparam [private]

Definition at line 120 of file Controller_impl.h.

DynamicsSimulator_var Controller_impl::dynamicsSimulator [private]

Definition at line 105 of file Controller_impl.h.

std::string Controller_impl::modelName [private]

Definition at line 83 of file Controller_impl.h.

Definition at line 103 of file Controller_impl.h.

Definition at line 117 of file Controller_impl.h.

Definition at line 99 of file Controller_impl.h.

Definition at line 101 of file Controller_impl.h.

Definition at line 81 of file Controller_impl.h.

SensorState_var Controller_impl::sensorState [private]

Definition at line 108 of file Controller_impl.h.

Definition at line 109 of file Controller_impl.h.

double Controller_impl::timeStep [private]

Definition at line 131 of file Controller_impl.h.

ViewSimulator_var Controller_impl::viewSimulator [private]

Definition at line 106 of file Controller_impl.h.

Definition at line 84 of file Controller_impl.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:21