SampleLF.h
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00001 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
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 NEWSAMPLELF_H
00020 #define NEWSAMPLELF_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 #include <rtm/CORBA_SeqUtil.h> 
00030 #include <vector>
00031 
00032 // Service implementation headers
00033 // <rtc-template block="service_impl_h">
00034 
00035 // </rtc-template>
00036 
00037 // Service Consumer stub headers
00038 // <rtc-template block="consumer_stub_h">
00039 
00040 // </rtc-template>
00041 
00042 using namespace RTC;
00043 
00044 class SampleLF
00045   : public RTC::DataFlowComponentBase
00046 {
00047  public:
00048   SampleLF(RTC::Manager* manager);
00049   ~SampleLF();
00050 
00051   // The initialize action (on CREATED->ALIVE transition)
00052   // formaer rtc_init_entry() 
00053   virtual RTC::ReturnCode_t onInitialize();
00054 
00055   // The finalize action (on ALIVE->END transition)
00056   // formaer rtc_exiting_entry()
00057   // virtual RTC::ReturnCode_t onFinalize();
00058 
00059   // The startup action when ExecutionContext startup
00060   // former rtc_starting_entry()
00061   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00062 
00063   // The shutdown action when ExecutionContext stop
00064   // former rtc_stopping_entry()
00065   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00066 
00067   // The activated action (Active state entry action)
00068   // former rtc_active_entry()
00069   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00070 
00071   // The deactivated action (Active state exit action)
00072   // former rtc_active_exit()
00073    virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00074 
00075   // The execution action that is invoked periodically
00076   // former rtc_active_do()
00077   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00078 
00079   // The aborting action when main logic error occurred.
00080   // former rtc_aborting_entry()
00081   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00082 
00083   // The error action in ERROR state
00084   // former rtc_error_do()
00085   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00086 
00087   // The reset action that is invoked resetting
00088   // This is same but different the former rtc_init_entry()
00089   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00090   
00091   // The state update action that is invoked after onExecute() action
00092   // no corresponding operation exists in OpenRTm-aist-0.2.0
00093   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00094 
00095   // The action that is invoked when execution context's rate is changed
00096   // no corresponding operation exists in OpenRTm-aist-0.2.0
00097   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00098 
00099 
00100  protected:
00101   // Configuration variable declaration
00102   // <rtc-template block="config_declare">
00103   
00104   // </rtc-template>
00105 
00106   // DataInPort declaration
00107   // <rtc-template block="inport_declare">
00108   TimedDoubleSeq m_angle;
00109   InPort<TimedDoubleSeq> m_angleIn;
00110 
00111   TimedDoubleSeq m_torqueL;
00112   InPort<TimedDoubleSeq> m_torqueInL;
00113 
00114   TimedDoubleSeq m_torqueR;
00115   InPort<TimedDoubleSeq> m_torqueInR;
00116 
00117   // </rtc-template>
00118 
00119   // DataOutPort declaration
00120   // <rtc-template block="outport_declare">
00121   TimedDoubleSeq m_torque;
00122   OutPort<TimedDoubleSeq> m_torqueOut;
00123 
00124 
00125   // </rtc-template>
00126 
00127   // CORBA Port declaration
00128   // <rtc-template block="corbaport_declare">
00129   
00130   // </rtc-template>
00131 
00132   // Service declaration
00133   // <rtc-template block="service_declare">
00134   
00135   // </rtc-template>
00136 
00137   // Consumer declaration
00138   // <rtc-template block="consumer_declare">
00139   
00140   // </rtc-template>
00141 
00142  private:
00143   int dummy;
00144   std::ifstream angle1, vel1, angle2, vel2, gain;
00145   bool check;
00146   int file;
00147 
00148   double *Pgain;
00149   double *Dgain;
00150   std::vector<double> qold,qref_old;
00151   void openFiles();
00152   void closeFiles();
00153 };
00154 
00155 
00156 extern "C"
00157 {
00158 DLL_EXPORT void SampleLFInit(RTC::Manager* manager);
00159 };
00160 
00161 #endif // NEWSAMPLELF_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 03:43:56