CollisionDetector Class Reference

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

#include <CollisionDetector.h>

Inheritance diagram for CollisionDetector:

List of all members.

Classes
class	CollisionLinkPair
Public Member Functions
bool	checkIsSafeTransition (void)
	CollisionDetector (RTC::Manager *manager)
	Constructor.
bool	disable (void)
bool	enable (void)
bool	getCollisionStatus (OpenHRP::CollisionDetectorService::CollisionState &state)
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	onFinalize ()
virtual RTC::ReturnCode_t	onInitialize ()
bool	setCollisionLoop (int input_loop)
bool	setTolerance (const char *i_link_pair_name, double i_tolerance)
virtual	~CollisionDetector ()
	Destructor.
Protected Member Functions
void	setupVClipModel (hrp::BodyPtr i_body)
void	setupVClipModel (hrp::Link *i_link)
Protected Attributes
TimedLongSeq	m_beepCommand
OutPort< TimedLongSeq >	m_beepCommandOut
RTC::CorbaPort	m_CollisionDetectorServicePort
TimedDoubleSeq	m_q
TimedDoubleSeq	m_qCurrent
InPort< TimedDoubleSeq >	m_qCurrentIn
OutPort< TimedDoubleSeq >	m_qOut
TimedDoubleSeq	m_qRef
InPort< TimedDoubleSeq >	m_qRefIn
CollisionDetectorService_impl	m_service0
OpenHRP::TimedLongSeqSeq	m_servoState
InPort< OpenHRP::TimedLongSeqSeq >	m_servoStateIn
Private Attributes
BeepClient	bc
int	collision_beep_count
int	collision_beep_freq
int	default_recover_time
int	dummy
double	i_dt
bool	is_beep_port_connected
int	m_collision_loop
std::vector< int >	m_curr_collision_mask
unsigned int	m_debugLevel
double	m_dt
bool	m_enable
bool	m_have_safe_posture
std::vector< int >	m_init_collision_mask
interpolator *	m_interpolator
double *	m_lastsafe_jointdata
bool *	m_link_collision
int	m_loop_for_check
std::map< std::string, CollisionLinkPair * >	m_pair
double *	m_recover_jointdata
int	m_recover_time
hrp::BodyPtr	m_robot
bool	m_safe_posture
OpenHRP::CollisionDetectorService::CollisionState	m_state
bool	m_use_limb_collision
bool	m_use_viewer
std::vector< Vclip::Polyhedron * >	m_VclipLinks

---

Detailed Description

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

Definition at line 51 of file CollisionDetector.h.

---

Constructor & Destructor Documentation

CollisionDetector::CollisionDetector

(

RTC::Manager *

manager

)

Constructor.

Parameters:

manager

pointer to the Manager

Definition at line 60 of file CollisionDetector.cpp.

CollisionDetector::~CollisionDetector

(

)

[virtual]

Destructor.

Definition at line 94 of file CollisionDetector.cpp.

---

Member Function Documentation

bool CollisionDetector::checkIsSafeTransition

(

void

)

Definition at line 726 of file CollisionDetector.cpp.

bool CollisionDetector::disable

(

void

)

Definition at line 774 of file CollisionDetector.cpp.

bool CollisionDetector::enable

(

void

)

Definition at line 736 of file CollisionDetector.cpp.

bool CollisionDetector::getCollisionStatus

(

OpenHRP::CollisionDetectorService::CollisionState &

state

)

Definition at line 710 of file CollisionDetector.cpp.

RTC::ReturnCode_t CollisionDetector::onActivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 318 of file CollisionDetector.cpp.

RTC::ReturnCode_t CollisionDetector::onDeactivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 325 of file CollisionDetector.cpp.

RTC::ReturnCode_t CollisionDetector::onExecute

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 332 of file CollisionDetector.cpp.

RTC::ReturnCode_t CollisionDetector::onFinalize

(

void

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 295 of file CollisionDetector.cpp.

RTC::ReturnCode_t CollisionDetector::onInitialize

(

void

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 101 of file CollisionDetector.cpp.

bool CollisionDetector::setCollisionLoop

(

int

input_loop

)

Definition at line 702 of file CollisionDetector.cpp.

bool CollisionDetector::setTolerance	(	const char *	i_link_pair_name,
		double	i_tolerance
	)

Definition at line 689 of file CollisionDetector.cpp.

void CollisionDetector::setupVClipModel

(

hrp::BodyPtr

i_body

)

[protected]

Definition at line 716 of file CollisionDetector.cpp.

void CollisionDetector::setupVClipModel

(

hrp::Link *

i_link

)

[protected]

Definition at line 785 of file CollisionDetector.cpp.

---

Member Data Documentation

BeepClient CollisionDetector::bc [private]

Definition at line 204 of file CollisionDetector.h.

int CollisionDetector::collision_beep_count [private]

Definition at line 201 of file CollisionDetector.h.

int CollisionDetector::collision_beep_freq [private]

Definition at line 201 of file CollisionDetector.h.

int CollisionDetector::default_recover_time [private]

Definition at line 198 of file CollisionDetector.h.

int CollisionDetector::dummy [private]

Definition at line 208 of file CollisionDetector.h.

double CollisionDetector::i_dt [private]

Definition at line 197 of file CollisionDetector.h.

bool CollisionDetector::is_beep_port_connected [private]

Definition at line 207 of file CollisionDetector.h.

TimedLongSeq CollisionDetector::m_beepCommand [protected]

Definition at line 142 of file CollisionDetector.h.

OutPort<TimedLongSeq> CollisionDetector::m_beepCommandOut [protected]

Definition at line 143 of file CollisionDetector.h.

int CollisionDetector::m_collision_loop [private]

Definition at line 189 of file CollisionDetector.h.

RTC::CorbaPort CollisionDetector::m_CollisionDetectorServicePort [protected]

Definition at line 149 of file CollisionDetector.h.

std::vector<int> CollisionDetector::m_curr_collision_mask [private]

Definition at line 184 of file CollisionDetector.h.

unsigned int CollisionDetector::m_debugLevel [private]

Definition at line 199 of file CollisionDetector.h.

double CollisionDetector::m_dt [private]

Definition at line 192 of file CollisionDetector.h.

bool CollisionDetector::m_enable [private]

Definition at line 200 of file CollisionDetector.h.

bool CollisionDetector::m_have_safe_posture [private]

Definition at line 202 of file CollisionDetector.h.

std::vector<int> CollisionDetector::m_init_collision_mask [private]

Definition at line 184 of file CollisionDetector.h.

interpolator* CollisionDetector::m_interpolator [private]

Definition at line 196 of file CollisionDetector.h.

double * CollisionDetector::m_lastsafe_jointdata [private]

Definition at line 194 of file CollisionDetector.h.

bool* CollisionDetector::m_link_collision [private]

Definition at line 195 of file CollisionDetector.h.

int CollisionDetector::m_loop_for_check [private]

Definition at line 189 of file CollisionDetector.h.

std::map<std::string, CollisionLinkPair *> CollisionDetector::m_pair [private]

Definition at line 188 of file CollisionDetector.h.

TimedDoubleSeq CollisionDetector::m_q [protected]

Definition at line 140 of file CollisionDetector.h.

TimedDoubleSeq CollisionDetector::m_qCurrent [protected]

Definition at line 131 of file CollisionDetector.h.

InPort<TimedDoubleSeq> CollisionDetector::m_qCurrentIn [protected]

Definition at line 132 of file CollisionDetector.h.

OutPort<TimedDoubleSeq> CollisionDetector::m_qOut [protected]

Definition at line 141 of file CollisionDetector.h.

TimedDoubleSeq CollisionDetector::m_qRef [protected]

Definition at line 129 of file CollisionDetector.h.

InPort<TimedDoubleSeq> CollisionDetector::m_qRefIn [protected]

Definition at line 130 of file CollisionDetector.h.

double* CollisionDetector::m_recover_jointdata [private]

Definition at line 194 of file CollisionDetector.h.

int CollisionDetector::m_recover_time [private]

Definition at line 191 of file CollisionDetector.h.

hrp::BodyPtr CollisionDetector::m_robot [private]

Definition at line 187 of file CollisionDetector.h.

bool CollisionDetector::m_safe_posture [private]

Definition at line 190 of file CollisionDetector.h.

CollisionDetectorService_impl CollisionDetector::m_service0 [protected]

Definition at line 155 of file CollisionDetector.h.

OpenHRP::TimedLongSeqSeq CollisionDetector::m_servoState [protected]

Definition at line 133 of file CollisionDetector.h.

InPort<OpenHRP::TimedLongSeqSeq> CollisionDetector::m_servoStateIn [protected]

Definition at line 134 of file CollisionDetector.h.

OpenHRP::CollisionDetectorService::CollisionState CollisionDetector::m_state [private]

Definition at line 203 of file CollisionDetector.h.

bool CollisionDetector::m_use_limb_collision [private]

Definition at line 185 of file CollisionDetector.h.

bool CollisionDetector::m_use_viewer [private]

Definition at line 186 of file CollisionDetector.h.

std::vector<Vclip::Polyhedron *> CollisionDetector::m_VclipLinks [private]

Definition at line 183 of file CollisionDetector.h.

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

• CollisionDetector.h
• CollisionDetector.cpp