PathPlanner.cpp
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00001 // -*- C++ -*-
00007 #include "PathPlanner.h"
00008 
00009 // Module specification
00010 // <rtc-template block="module_spec">
00011 static const char* path_spec[] =
00012   {
00013     "implementation_id", "Path",
00014     "type_name",         "Path",
00015     "description",       "Path Planner Component",
00016     "version",           "0.1",
00017     "vendor",            "S-cubed, Inc.",
00018     "category",          "Generic",
00019     "activity_type",     "SPORADIC",
00020     "kind",              "DataFlowComponent",
00021     "max_instance",      "10",
00022     "language",          "C++",
00023     "lang_type",         "compile",
00024     // Configuration variables
00025     "conf.default.NameServer", "localhost",
00026     ""
00027   };
00028 // </rtc-template>
00029 
00030 Path::Path(RTC::Manager* manager)
00031     // <rtc-template block="initializer">
00032   : RTC::DataFlowComponentBase(manager),
00033     m_PathPort("Path")
00034 
00035     // </rtc-template>
00036 {
00037   // Registration: InPort/OutPort/Service
00038   // <rtc-template block="registration">
00039   // Set InPort buffers
00040 
00041   // Set OutPort buffer
00042 
00043   // Set service provider to Ports
00044   m_PathPort.registerProvider("Path", "PathPlanner", m_Path);
00045 
00046   // Set service consumers to Ports
00047 
00048   // Set CORBA Service Ports
00049   registerPort(m_PathPort);
00050 
00051   // </rtc-template>
00052 
00053 }
00054 
00055 Path::~Path()
00056 {
00057 }
00058 
00059 
00060 RTC::ReturnCode_t Path::onInitialize()
00061 {
00062   // <rtc-template block="bind_config">
00063   // Bind variables and configuration variable
00064   bindParameter("NameServer", m_NameServer, "localhost");
00065   m_Path.setNameServer(m_NameServer);
00066 
00067   // </rtc-template>
00068   return RTC::RTC_OK;
00069 }
00070 
00071 
00072 /*
00073 RTC::ReturnCode_t Path::onFinalize()
00074 {
00075   return RTC::RTC_OK;
00076 }
00077 */
00078 /*
00079 RTC::ReturnCode_t Path::onStartup(RTC::UniqueId ec_id)
00080 {
00081   return RTC::RTC_OK;
00082 }
00083 */
00084 /*
00085 RTC::ReturnCode_t Path::onShutdown(RTC::UniqueId ec_id)
00086 {
00087   return RTC::RTC_OK;
00088 }
00089 */
00090 /*
00091 RTC::ReturnCode_t Path::onActivated(RTC::UniqueId ec_id)
00092 {
00093   return RTC::RTC_OK;
00094 }
00095 */
00096 /*
00097 RTC::ReturnCode_t Path::onDeactivated(RTC::UniqueId ec_id)
00098 {
00099   return RTC::RTC_OK;
00100 }
00101 */
00102 /*
00103 RTC::ReturnCode_t Path::onExecute(RTC::UniqueId ec_id)
00104 {
00105   return RTC::RTC_OK;
00106 }
00107 */
00108 /*
00109 RTC::ReturnCode_t Path::onAborting(RTC::UniqueId ec_id)
00110 {
00111   return RTC::RTC_OK;
00112 }
00113 */
00114 /*
00115 RTC::ReturnCode_t Path::onError(RTC::UniqueId ec_id)
00116 {
00117   return RTC::RTC_OK;
00118 }
00119 */
00120 /*
00121 RTC::ReturnCode_t Path::onReset(RTC::UniqueId ec_id)
00122 {
00123   return RTC::RTC_OK;
00124 }
00125 */
00126 /*
00127 RTC::ReturnCode_t Path::onStateUpdate(RTC::UniqueId ec_id)
00128 {
00129   return RTC::RTC_OK;
00130 }
00131 */
00132 /*
00133 RTC::ReturnCode_t Path::onRateChanged(RTC::UniqueId ec_id)
00134 {
00135   return RTC::RTC_OK;
00136 }
00137 */
00138 
00139 
00140 extern "C"
00141 {
00142  
00143   void PathInit(RTC::Manager* manager)
00144   {
00145     RTC::Properties profile(path_spec);
00146     manager->registerFactory(profile,
00147                              RTC::Create<Path>,
00148                              RTC::Delete<Path>);
00149   }
00150   
00151 };
00152 
00153 
00154 


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