SamplePD.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 SAMPLEPD_H
00020 #define SAMPLEPD_H
00021 #define DOF (29)
00022 
00023 #include <rtm/idl/BasicDataType.hh>
00024 #include <rtm/Manager.h>
00025 #include <rtm/DataFlowComponentBase.h>
00026 #include <rtm/CorbaPort.h>
00027 #include <rtm/DataInPort.h>
00028 #include <rtm/DataOutPort.h>
00029 #include <rtm/idl/BasicDataTypeSkel.h>
00030 
00031 #include <vector>
00032 
00033 // Service implementation headers
00034 // <rtc-template block="service_impl_h">
00035 
00036 // </rtc-template>
00037 
00038 // Service Consumer stub headers
00039 // <rtc-template block="consumer_stub_h">
00040 
00041 // </rtc-template>
00042 
00043 using namespace RTC;
00044 
00045 class SamplePD
00046   : public RTC::DataFlowComponentBase
00047 {
00048  public:
00049   SamplePD(RTC::Manager* manager);
00050   ~SamplePD();
00051 
00052   // The initialize action (on CREATED->ALIVE transition)
00053   // formaer rtc_init_entry() 
00054  virtual RTC::ReturnCode_t onInitialize();
00055 
00056   // The finalize action (on ALIVE->END transition)
00057   // formaer rtc_exiting_entry()
00058   //virtual RTC::ReturnCode_t onFinalize();
00059 
00060   // The startup action when ExecutionContext startup
00061   // former rtc_starting_entry()
00062   //virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00063 
00064   // The shutdown action when ExecutionContext stop
00065   // former rtc_stopping_entry()
00066   //virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00067 
00068   // The activated action (Active state entry action)
00069   // former rtc_active_entry()
00070   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00071 
00072   // The deactivated action (Active state exit action)
00073   // former rtc_active_exit()
00074   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00075 
00076   // The execution action that is invoked periodically
00077   // former rtc_active_do()
00078   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00079 
00080   // The aborting action when main logic error occurred.
00081   // former rtc_aborting_entry()
00082   //virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00083 
00084   // The error action in ERROR state
00085   // former rtc_error_do()
00086   //virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00087 
00088   // The reset action that is invoked resetting
00089   // This is same but different the former rtc_init_entry()
00090   //virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00091   
00092   // The state update action that is invoked after onExecute() action
00093   // no corresponding operation exists in OpenRTm-aist-0.2.0
00094   //virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00095 
00096   // The action that is invoked when execution context's rate is changed
00097   // no corresponding operation exists in OpenRTm-aist-0.2.0
00098   //virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00099 
00100 
00101  protected:
00102   // Configuration variable declaration
00103   // <rtc-template block="config_declare">
00104   
00105   // </rtc-template>
00106 
00107   // DataInPort declaration
00108   // <rtc-template block="inport_declare">
00109   TimedDoubleSeq m_angle;
00110   InPort<TimedDoubleSeq> m_angleIn;
00111   
00112   // </rtc-template>
00113 
00114   // DataOutPort declaration
00115   // <rtc-template block="outport_declare">
00116   TimedDoubleSeq m_torque;
00117   OutPort<TimedDoubleSeq> m_torqueOut;
00118   
00119   // </rtc-template>
00120 
00121   // CORBA Port declaration
00122   // <rtc-template block="corbaport_declare">
00123   
00124   // </rtc-template>
00125 
00126   // Service declaration
00127   // <rtc-template block="service_declare">
00128   
00129   // </rtc-template>
00130 
00131   // Consumer declaration
00132   // <rtc-template block="consumer_declare">
00133   
00134   // </rtc-template>
00135 
00136  private:
00137   int dummy;
00138   std::ifstream angle, vel, gain;
00139   double *Pgain;
00140   double *Dgain;
00141   std::vector<double> qold;
00142   double q_ref[DOF], dq_ref[DOF];
00143   void openFiles();
00144   void closeFiles();
00145 };
00146 
00147 
00148 extern "C"
00149 {
00150 DLL_EXPORT void SamplePDInit(RTC::Manager* manager);
00151 };
00152 
00153 #endif // SAMPLEPD_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