HGcontroller.h
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00001 // -*- C++ -*-
00010 #ifndef HG_CONTROLLER_H
00011 #define HG_CONTROLLER_H
00012 
00013 #include <rtm/idl/BasicDataType.hh>
00014 #include <rtm/Manager.h>
00015 #include <rtm/DataFlowComponentBase.h>
00016 #include <rtm/CorbaPort.h>
00017 #include <rtm/DataInPort.h>
00018 #include <rtm/DataOutPort.h>
00019 #include <rtm/idl/BasicDataTypeSkel.h>
00020 
00021 // Service implementation headers
00022 // <rtc-template block="service_impl_h">
00023 
00024 // </rtc-template>
00025 
00026 // Service Consumer stub headers
00027 // <rtc-template block="consumer_stub_h">
00028 
00029 // </rtc-template>
00030 
00031 using namespace RTC;
00032 
00036 class HGcontroller
00037   : public RTC::DataFlowComponentBase
00038 {
00039  public:
00044   HGcontroller(RTC::Manager* manager);
00048   virtual ~HGcontroller();
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   TimedDoubleSeq m_q;
00106 
00107   // DataInPort declaration
00108   // <rtc-template block="inport_declare">
00109   InPort<TimedDoubleSeq> m_qIn;
00110   
00111   // </rtc-template>
00112 
00113   TimedDoubleSeq m_dq, m_ddq;
00114 
00115   // DataOutPort declaration
00116   // <rtc-template block="outport_declare">
00117   OutPort<TimedDoubleSeq> m_qOut;
00118   OutPort<TimedDoubleSeq> m_dqOut;
00119   OutPort<TimedDoubleSeq> m_ddqOut;
00120   
00121   // </rtc-template>
00122 
00123   // CORBA Port declaration
00124   // <rtc-template block="corbaport_declare">
00125   
00126   // </rtc-template>
00127 
00128   // Service declaration
00129   // <rtc-template block="service_declare">
00130   
00131   // </rtc-template>
00132 
00133   // Consumer declaration
00134   // <rtc-template block="consumer_declare">
00135   
00136   // </rtc-template>
00137 
00138  private:
00139   double m_dt;
00140   TimedDoubleSeq m_qOld, m_dqOld;
00141   int dummy;
00142 };
00143 
00144 
00145 extern "C"
00146 {
00147   void HGcontrollerInit(RTC::Manager* manager);
00148 };
00149 
00150 #endif // HG_CONTROLLER_H


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:55