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

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

#include <ServoController.h>

Inheritance diagram for ServoController:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool addJointGroup (const char *gname, const ::OpenHRP::ServoControllerService::iSequence ids)
bool getDuration (short id, double &duration)
bool getJointAngle (short id, double &angle)
bool getJointAngles (OpenHRP::ServoControllerService::dSequence_out &angles)
bool getMaxTorque (short id, short &percentage)
bool getSpeed (short id, double &speed)
bool getTemperature (short id, double &temperature)
bool getTorque (short id, double &torque)
bool getVoltage (short id, double &voltage)
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 removeJointGroup (const char *gname)
 ServoController (RTC::Manager *manager)
 Constructor.
bool servoOff ()
bool servoOn ()
bool setJointAngle (short id, double angle, double tm)
bool setJointAngles (const OpenHRP::ServoControllerService::dSequence angles, double tm)
bool setJointAnglesOfGroup (const char *gname, const ::OpenHRP::ServoControllerService::dSequence angles, double tm)
bool setMaxTorque (short id, short percentage)
bool setReset (short id)
virtual ~ServoController ()
 Destructor.

Protected Attributes

ServoControllerService_impl m_service0
RTC::CorbaPort m_ServoControllerServicePort

Private Attributes

std::map< std::string,
std::vector< int > > 
joint_groups
ServoSerialserial
std::vector< double > servo_dir
std::vector< intservo_id
std::vector< double > servo_offset

Detailed Description

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

Definition at line 41 of file ServoController.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
managerpointer to the Manager

Definition at line 39 of file ServoController.cpp.

Destructor.

Definition at line 48 of file ServoController.cpp.


Member Function Documentation

bool ServoController::addJointGroup ( const char *  gname,
const ::OpenHRP::ServoControllerService::iSequence  ids 
)

Definition at line 291 of file ServoController.cpp.

bool ServoController::getDuration ( short  id,
double &  duration 
)

Definition at line 361 of file ServoController.cpp.

bool ServoController::getJointAngle ( short  id,
double &  angle 
)

Definition at line 260 of file ServoController.cpp.

bool ServoController::getJointAngles ( OpenHRP::ServoControllerService::dSequence_out &  angles)

Definition at line 276 of file ServoController.cpp.

bool ServoController::getMaxTorque ( short  id,
short &  percentage 
)

Definition at line 381 of file ServoController.cpp.

bool ServoController::getSpeed ( short  id,
double &  speed 
)

Definition at line 371 of file ServoController.cpp.

bool ServoController::getTemperature ( short  id,
double &  temperature 
)

Definition at line 401 of file ServoController.cpp.

bool ServoController::getTorque ( short  id,
double &  torque 
)

Definition at line 391 of file ServoController.cpp.

bool ServoController::getVoltage ( short  id,
double &  voltage 
)

Definition at line 411 of file ServoController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 174 of file ServoController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 182 of file ServoController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 190 of file ServoController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 154 of file ServoController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 54 of file ServoController.cpp.

bool ServoController::removeJointGroup ( const char *  gname)

Definition at line 304 of file ServoController.cpp.

Definition at line 435 of file ServoController.cpp.

Definition at line 421 of file ServoController.cpp.

bool ServoController::setJointAngle ( short  id,
double  angle,
double  tm 
)

Definition at line 230 of file ServoController.cpp.

bool ServoController::setJointAngles ( const OpenHRP::ServoControllerService::dSequence  angles,
double  tm 
)

Definition at line 240 of file ServoController.cpp.

bool ServoController::setJointAnglesOfGroup ( const char *  gname,
const ::OpenHRP::ServoControllerService::dSequence  angles,
double  tm 
)

Definition at line 311 of file ServoController.cpp.

bool ServoController::setMaxTorque ( short  id,
short  percentage 
)

Definition at line 341 of file ServoController.cpp.

bool ServoController::setReset ( short  id)

Definition at line 351 of file ServoController.cpp.


Member Data Documentation

std::map<std::string, std::vector<int> > ServoController::joint_groups [private]

Definition at line 155 of file ServoController.h.

Definition at line 150 of file ServoController.h.

Definition at line 144 of file ServoController.h.

Definition at line 159 of file ServoController.h.

std::vector<double> ServoController::servo_dir [private]

Definition at line 158 of file ServoController.h.

std::vector<int> ServoController::servo_id [private]

Definition at line 156 of file ServoController.h.

std::vector<double> ServoController::servo_offset [private]

Definition at line 157 of file ServoController.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:58