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

#include <ReferenceForceUpdater.h>

Inheritance diagram for ReferenceForceUpdater:

Classes
struct	ee_trans
struct	ReferenceForceUpdaterParam
Public Member Functions
void	calcFootOriginCoords (hrp::Vector3 &foot_origin_pos, hrp::Matrix33 &foot_origin_rot)
bool	eps_eq (const double a, const double b, const double eps=1e-3)
bool	getReferenceForceUpdaterParam (const std::string &i_name_, OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam_out i_param)
bool	isFootOriginExtMoment (const std::string &str) const
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 ()
	ReferenceForceUpdater (RTC::Manager *manager)
	Constructor.
bool	setReferenceForceUpdaterParam (const std::string &i_name_, const OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam &i_param)
bool	startReferenceForceUpdater (const std::string &i_name_)
bool	stopReferenceForceUpdater (const std::string &i_name_)
void	updateRefFootOriginExtMoment (const std::string &arm)
void	updateRefForces (const std::string &arm)
virtual	~ReferenceForceUpdater ()
	Destructor.
Protected Attributes
TimedPoint3D	m_basePos
InPort< TimedPoint3D >	m_basePosIn
TimedOrientation3D	m_baseRpy
InPort< TimedOrientation3D >	m_baseRpyIn
TimedPoint3D	m_diffFootOriginExtMoment
InPort< TimedPoint3D >	m_diffFootOriginExtMomentIn
std::vector< TimedDoubleSeq >	m_force
std::vector< InPort < TimedDoubleSeq > * >	m_forceIn
TimedDoubleSeq	m_qRef
InPort< TimedDoubleSeq >	m_qRefIn
std::vector< TimedDoubleSeq >	m_ref_force_in
std::vector< TimedDoubleSeq >	m_ref_force_out
std::vector< InPort < TimedDoubleSeq > * >	m_ref_forceIn
std::vector< OutPort < TimedDoubleSeq > * >	m_ref_forceOut
ReferenceForceUpdaterService_impl	m_ReferenceForceUpdaterService
RTC::CorbaPort	m_ReferenceForceUpdaterServicePort
TimedPoint3D	m_refFootOriginExtMoment
TimedBoolean	m_refFootOriginExtMomentIsHoldValue
OutPort< TimedBoolean >	m_refFootOriginExtMomentIsHoldValueOut
OutPort< TimedPoint3D >	m_refFootOriginExtMomentOut
TimedOrientation3D	m_rpy
InPort< TimedOrientation3D >	m_rpyIn
Private Attributes
std::map< std::string, size_t >	ee_index_map
std::map< std::string, ee_trans >	ee_map
hrp::Matrix33	foot_origin_rot
int	loop
unsigned int	m_debugLevel
double	m_dt
coil::Mutex	m_mutex
std::map< std::string, ReferenceForceUpdaterParam >	m_RFUParam
hrp::BodyPtr	m_robot
std::map< std::string, hrp::VirtualForceSensorParam >	m_vfs
std::vector< hrp::Vector3 >	ref_force
std::map< std::string, interpolator * >	ref_force_interpolator
std::map< std::string, interpolator * >	transition_interpolator
std::vector< double >	transition_interpolator_ratio
bool	use_sh_base_pos_rpy

Detailed Description

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

Definition at line 44 of file ReferenceForceUpdater.h.

Constructor & Destructor Documentation

ReferenceForceUpdater::ReferenceForceUpdater ( RTC::Manager * manager )

Constructor.

Parameters:

manager pointer to the Manager

Definition at line 54 of file ReferenceForceUpdater.cpp.

ReferenceForceUpdater::~ReferenceForceUpdater ( ) [virtual]

Destructor.

Definition at line 73 of file ReferenceForceUpdater.cpp.

Member Function Documentation

void ReferenceForceUpdater::calcFootOriginCoords	(	hrp::Vector3 &	foot_origin_pos,
		hrp::Matrix33 &	foot_origin_rot
	)

Definition at line 479 of file ReferenceForceUpdater.cpp.

bool ReferenceForceUpdater::eps_eq	(	const double	a,
		const double	b,
		const double	eps = `1e-3`
	)		`[inline]`

Definition at line 114 of file ReferenceForceUpdater.h.

bool ReferenceForceUpdater::getReferenceForceUpdaterParam	(	const std::string &	i_name_,
		OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam_out	i_param
	)

Definition at line 664 of file ReferenceForceUpdater.cpp.

bool ReferenceForceUpdater::isFootOriginExtMoment ( const std::string & str ) const [inline]

Definition at line 113 of file ReferenceForceUpdater.h.

RTC::ReturnCode_t ReferenceForceUpdater::onActivated ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 289 of file ReferenceForceUpdater.cpp.

RTC::ReturnCode_t ReferenceForceUpdater::onDeactivated ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 295 of file ReferenceForceUpdater.cpp.

RTC::ReturnCode_t ReferenceForceUpdater::onExecute ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 303 of file ReferenceForceUpdater.cpp.

RTC::ReturnCode_t ReferenceForceUpdater::onFinalize ( void ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 261 of file ReferenceForceUpdater.cpp.

RTC::ReturnCode_t ReferenceForceUpdater::onInitialize ( void ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 79 of file ReferenceForceUpdater.cpp.

bool ReferenceForceUpdater::setReferenceForceUpdaterParam	(	const std::string &	i_name_,
		const OpenHRP::ReferenceForceUpdaterService::ReferenceForceUpdaterParam &	i_param
	)