JoystickController.h
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00001 // -*- C++ -*-
00002 /*
00003  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00004  * All rights reserved. This program is made available under the terms of the
00005  * Eclipse Public License v1.0 which accompanies this distribution, and is
00006  * available at http://www.eclipse.org/legal/epl-v10.html
00007  * Contributors:
00008  * National Institute of Advanced Industrial Science and Technology (AIST)
00009  * General Robotix Inc. 
00010  */
00019 #ifndef JOYSTICKCONTROLLER_H
00020 #define JOYSTICKCONTROLLER_H
00021 
00022 #include <rtm/idl/BasicDataType.hh>
00023 #include <rtm/Manager.h>
00024 #include <rtm/DataFlowComponentBase.h>
00025 #include <rtm/CorbaPort.h>
00026 #include <rtm/DataInPort.h>
00027 #include <rtm/DataOutPort.h>
00028 #include <rtm/idl/BasicDataTypeSkel.h>
00029 
00030 // Service implementation headers
00031 // <rtc-template block="service_impl_h">
00032 
00033 // </rtc-template>
00034 
00035 // Service Consumer stub headers
00036 // <rtc-template block="consumer_stub_h">
00037 
00038 // </rtc-template>
00039 
00040 using namespace RTC;
00041 
00042 class JoystickController
00043   : public RTC::DataFlowComponentBase
00044 {
00045  public:
00046   JoystickController(RTC::Manager* manager);
00047   ~JoystickController();
00048 
00049   // <rtc-template block="public_attribute">
00050   
00051   // </rtc-template>
00052 
00053   // <rtc-template block="public_operation">
00054   
00055   // </rtc-template>
00056 
00057   // The initialize action (on CREATED->ALIVE transition)
00058   // formaer rtc_init_entry() 
00059   virtual RTC::ReturnCode_t onInitialize();
00060 
00061   // The finalize action (on ALIVE->END transition)
00062   // formaer rtc_exiting_entry()
00063   // virtual RTC::ReturnCode_t onFinalize();
00064 
00065   // The startup action when ExecutionContext startup
00066   // former rtc_starting_entry()
00067   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00068 
00069   // The shutdown action when ExecutionContext stop
00070   // former rtc_stopping_entry()
00071   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00072 
00073   // The activated action (Active state entry action)
00074   // former rtc_active_entry()
00075   // virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00076 
00077   // The deactivated action (Active state exit action)
00078   // former rtc_active_exit()
00079   // virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00080 
00081   // The execution action that is invoked periodically
00082   // former rtc_active_do()
00083   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00084 
00085   // The aborting action when main logic error occurred.
00086   // former rtc_aborting_entry()
00087   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00088 
00089   // The error action in ERROR state
00090   // former rtc_error_do()
00091   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00092 
00093   // The reset action that is invoked resetting
00094   // This is same but different the former rtc_init_entry()
00095   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00096   
00097   // The state update action that is invoked after onExecute() action
00098   // no corresponding operation exists in OpenRTm-aist-0.2.0
00099   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00100 
00101   // The action that is invoked when execution context's rate is changed
00102   // no corresponding operation exists in OpenRTm-aist-0.2.0
00103   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00104 
00105 
00106  protected:
00107   // <rtc-template block="protected_attribute">
00108   
00109   // </rtc-template>
00110 
00111   // <rtc-template block="protected_operation">
00112   
00113   // </rtc-template>
00114 
00115   // DataInPort declaration
00116   // <rtc-template block="inport_declare">
00117   TimedDoubleSeq m_angle;
00118   InPort<TimedDoubleSeq> m_angleIn;
00119   TimedDoubleSeq m_velocity;
00120   InPort<TimedDoubleSeq> m_velocityIn;
00121   TimedFloatSeq m_command;
00122   InPort<TimedFloatSeq> m_commandIn;
00123   
00124   // </rtc-template>
00125 
00126 
00127   // DataOutPort declaration
00128   // <rtc-template block="outport_declare">
00129   TimedDoubleSeq m_torque;
00130   OutPort<TimedDoubleSeq> m_torqueOut;
00131   
00132   // </rtc-template>
00133 
00134   // CORBA Port declaration
00135   // <rtc-template block="corbaport_declare">
00136   
00137   // </rtc-template>
00138 
00139   // Service declaration
00140   // <rtc-template block="service_declare">
00141   
00142   // </rtc-template>
00143 
00144   // Consumer declaration
00145   // <rtc-template block="consumer_declare">
00146   
00147   // </rtc-template>
00148 
00149  private:
00150   int dummy;
00151   // <rtc-template block="private_attribute">
00152   
00153   // </rtc-template>
00154 
00155   // <rtc-template block="private_operation">
00156   
00157   // </rtc-template>
00158 
00159 };
00160 
00161 
00162 extern "C"
00163 {
00164   DLL_EXPORT void JoystickControllerInit(RTC::Manager* manager);
00165 };
00166 
00167 #endif // JOYSTICKCONTROLLER_H


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:55