Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes
RobotHardware Class Reference

RT component that do nothing and don't have ports. This component is used to create an execution context. More...

#include <RobotHardware.h>

Inheritance diagram for RobotHardware:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void getTimeNow (Time &tm)
virtual RTC::ReturnCode_t onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onInitialize ()
 RobotHardware (RTC::Manager *manager)
 Constructor.
virtual ~RobotHardware ()
 Destructor.

Protected Member Functions

robotrobot_ptr (void)

Protected Attributes

std::vector< TimedAcceleration3D > m_acc
 vector of actual acceleration (vector length = number of acceleration sensors)
std::vector< OutPort
< TimedAcceleration3D > * > 
m_accOut
TimedDoubleSeq m_ctau
 array of commanded torques of joint with jointId
OutPort< TimedDoubleSeq > m_ctauOut
TimedDoubleSeq m_dq
 array of actual velocities of joint with jointId
OutPort< TimedDoubleSeq > m_dqOut
TimedDoubleSeq m_dqRef
 array of reference velocities of joint with jointId
InPort< TimedDoubleSeq > m_dqRefIn
TimedLong m_emergencySignal
OutPort< TimedLong > m_emergencySignalOut
std::vector< TimedDoubleSeq > m_force
 vector of actual 6D wrench (vector length = number of F/T sensors) 6D wrench vector = 3D force + 3D moment = fx, fy, fz, nx, ny, nz
std::vector< OutPort
< TimedDoubleSeq > * > 
m_forceOut
int m_isDemoMode
TimedDoubleSeq m_q
 array of actual angles of joint with jointId
OutPort< TimedDoubleSeq > m_qOut
TimedDoubleSeq m_qRef
 array of reference angles of joint with jointId
InPort< TimedDoubleSeq > m_qRefIn
std::vector
< TimedAngularVelocity3D > 
m_rate
 vector of actual angular velocity (vector length = number of rate sensors)
std::vector< OutPort
< TimedAngularVelocity3D > * > 
m_rateOut
RTC::CorbaPort m_RobotHardwareServicePort
OpenHRP::RobotHardwareService::TimedRobotState2 m_rstate2
OutPort
< OpenHRP::RobotHardwareService::TimedRobotState2 > 
m_rstate2Out
RobotHardwareService_impl m_service0
OpenHRP::TimedLongSeqSeq m_servoState
OutPort< OpenHRP::TimedLongSeqSeq > m_servoStateOut
TimedDoubleSeq m_tau
 array of actual torques of joint with jointId
OutPort< TimedDoubleSeq > m_tauOut
TimedDoubleSeq m_tauRef
 array of reference torques of joint with jointId
InPort< TimedDoubleSeq > m_tauRefIn

Private Member Functions

void getStatus2 (OpenHRP::RobotHardwareService::RobotState2 &rstate2)

Private Attributes

int dummy
boost::shared_ptr< robotm_robot

Detailed Description

RT component that do nothing and don't have ports. This component is used to create an execution context.

Definition at line 44 of file RobotHardware.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
managerpointer to the Manager

Definition at line 45 of file RobotHardware.cpp.

Destructor.

Definition at line 65 of file RobotHardware.cpp.


Member Function Documentation

void RobotHardware::getStatus2 ( OpenHRP::RobotHardwareService::RobotState2 &  rstate2) [private]

Definition at line 403 of file RobotHardware.cpp.

virtual void RobotHardware::getTimeNow ( Time &  tm) [inline, virtual]

Definition at line 106 of file RobotHardware.h.

Reimplemented from RTC::RTObject_impl.

Definition at line 224 of file RobotHardware.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 70 of file RobotHardware.cpp.

robot* RobotHardware::robot_ptr ( void  ) [inline, protected]

Definition at line 205 of file RobotHardware.h.


Member Data Documentation

Definition at line 209 of file RobotHardware.h.

std::vector<TimedAcceleration3D> RobotHardware::m_acc [protected]

vector of actual acceleration (vector length = number of acceleration sensors)

Definition at line 159 of file RobotHardware.h.

std::vector<OutPort<TimedAcceleration3D> *> RobotHardware::m_accOut [protected]

Definition at line 179 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_ctau [protected]

array of commanded torques of joint with jointId

Definition at line 155 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_ctauOut [protected]

Definition at line 178 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_dq [protected]

array of actual velocities of joint with jointId

Definition at line 147 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_dqOut [protected]

Definition at line 176 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_dqRef [protected]

array of reference velocities of joint with jointId

Definition at line 130 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_dqRefIn [protected]

Definition at line 131 of file RobotHardware.h.

TimedLong RobotHardware::m_emergencySignal [protected]

Definition at line 170 of file RobotHardware.h.

Definition at line 183 of file RobotHardware.h.

std::vector<TimedDoubleSeq> RobotHardware::m_force [protected]

vector of actual 6D wrench (vector length = number of F/T sensors) 6D wrench vector = 3D force + 3D moment = fx, fy, fz, nx, ny, nz

Definition at line 168 of file RobotHardware.h.

std::vector<OutPort<TimedDoubleSeq> *> RobotHardware::m_forceOut [protected]

Definition at line 181 of file RobotHardware.h.

Definition at line 110 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_q [protected]

array of actual angles of joint with jointId

Definition at line 143 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_qOut [protected]

Definition at line 175 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_qRef [protected]

array of reference angles of joint with jointId

Definition at line 125 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_qRefIn [protected]

Definition at line 126 of file RobotHardware.h.

std::vector<TimedAngularVelocity3D> RobotHardware::m_rate [protected]

vector of actual angular velocity (vector length = number of rate sensors)

Definition at line 163 of file RobotHardware.h.

std::vector<OutPort<TimedAngularVelocity3D> *> RobotHardware::m_rateOut [protected]

Definition at line 180 of file RobotHardware.h.

boost::shared_ptr<robot> RobotHardware::m_robot [private]

Definition at line 210 of file RobotHardware.h.

Definition at line 190 of file RobotHardware.h.

OpenHRP::RobotHardwareService::TimedRobotState2 RobotHardware::m_rstate2 [protected]

Definition at line 171 of file RobotHardware.h.

OutPort<OpenHRP::RobotHardwareService::TimedRobotState2> RobotHardware::m_rstate2Out [protected]

Definition at line 184 of file RobotHardware.h.

Definition at line 196 of file RobotHardware.h.

OpenHRP::TimedLongSeqSeq RobotHardware::m_servoState [protected]

Definition at line 169 of file RobotHardware.h.

OutPort<OpenHRP::TimedLongSeqSeq> RobotHardware::m_servoStateOut [protected]

Definition at line 182 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_tau [protected]

array of actual torques of joint with jointId

Definition at line 151 of file RobotHardware.h.

OutPort<TimedDoubleSeq> RobotHardware::m_tauOut [protected]

Definition at line 177 of file RobotHardware.h.

TimedDoubleSeq RobotHardware::m_tauRef [protected]

array of reference torques of joint with jointId

Definition at line 135 of file RobotHardware.h.

InPort<TimedDoubleSeq> RobotHardware::m_tauRefIn [protected]

Definition at line 136 of file RobotHardware.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:57