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

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

#include <EmergencyStopper.h>

Inheritance diagram for EmergencyStopper:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 EmergencyStopper (RTC::Manager *manager)
 Constructor.
bool getEmergencyStopperParam (OpenHRP::EmergencyStopperService::EmergencyStopperParam &i_param)
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 releaseMotion ()
bool setEmergencyStopperParam (const OpenHRP::EmergencyStopperService::EmergencyStopperParam &i_param)
bool stopMotion ()
virtual ~EmergencyStopper ()
 Destructor.

Protected Attributes

TimedLongSeq m_beepCommand
OutPort< TimedLongSeq > m_beepCommandOut
TimedLong m_emergencyMode
OutPort< TimedLong > m_emergencyModeOut
TimedLong m_emergencySignal
InPort< TimedLong > m_emergencySignalIn
RTC::CorbaPort m_EmergencyStopperServicePort
TimedDoubleSeq m_q
OutPort< TimedDoubleSeq > m_qOut
TimedDoubleSeq m_qRef
InPort< TimedDoubleSeq > m_qRefIn
EmergencyStopperService_impl m_service0
OpenHRP::TimedLongSeqSeq m_servoState
InPort< OpenHRP::TimedLongSeqSeq > m_servoStateIn
std::vector< TimedDoubleSeq > m_wrenches
std::vector< InPort
< TimedDoubleSeq > * > 
m_wrenchesIn
std::vector< OutPort
< TimedDoubleSeq > * > 
m_wrenchesOut
std::vector< TimedDoubleSeq > m_wrenchesRef

Private Member Functions

void get_wrenches_array_from_data (const std::vector< TimedDoubleSeq > &wrenches_data, double *wrenches_array)
void set_wrenches_data_from_array (std::vector< TimedDoubleSeq > &wrenches_data, const double *wrenches_array)

Private Attributes

BeepClient bc
int default_recover_time
int default_retrieve_time
int dummy
int emergency_stopper_beep_count
int emergency_stopper_beep_freq
bool is_initialized
bool is_stop_mode
int loop
unsigned int m_debugLevel
double m_dt
std::queue< std::vector< double > > m_input_posture_queue
std::queue< std::vector< double > > m_input_wrenches_queue
interpolatorm_interpolator
coil::Mutex m_mutex
hrp::BodyPtr m_robot
double * m_stop_posture
double * m_stop_wrenches
double * m_tmp_wrenches
interpolatorm_wrenches_interpolator
bool prev_is_stop_mode
int recover_time
double recover_time_dt
int retrieve_time

Detailed Description

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

Definition at line 44 of file EmergencyStopper.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
managerpointer to the Manager

Definition at line 54 of file EmergencyStopper.cpp.

Destructor.

Definition at line 74 of file EmergencyStopper.cpp.


Member Function Documentation

void EmergencyStopper::get_wrenches_array_from_data ( const std::vector< TimedDoubleSeq > &  wrenches_data,
double *  wrenches_array 
) [inline, private]

Definition at line 161 of file EmergencyStopper.h.

bool EmergencyStopper::getEmergencyStopperParam ( OpenHRP::EmergencyStopperService::EmergencyStopperParam &  i_param)

Definition at line 505 of file EmergencyStopper.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 246 of file EmergencyStopper.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 252 of file EmergencyStopper.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 265 of file EmergencyStopper.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 222 of file EmergencyStopper.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 80 of file EmergencyStopper.cpp.

Definition at line 495 of file EmergencyStopper.cpp.

void EmergencyStopper::set_wrenches_data_from_array ( std::vector< TimedDoubleSeq > &  wrenches_data,
const double *  wrenches_array 
) [inline, private]

Definition at line 169 of file EmergencyStopper.h.

bool EmergencyStopper::setEmergencyStopperParam ( const OpenHRP::EmergencyStopperService::EmergencyStopperParam &  i_param)

Definition at line 514 of file EmergencyStopper.cpp.

Definition at line 485 of file EmergencyStopper.cpp.


Member Data Documentation

Definition at line 195 of file EmergencyStopper.h.

Definition at line 185 of file EmergencyStopper.h.

Definition at line 185 of file EmergencyStopper.h.

Definition at line 196 of file EmergencyStopper.h.

Definition at line 193 of file EmergencyStopper.h.

Definition at line 193 of file EmergencyStopper.h.

Definition at line 182 of file EmergencyStopper.h.

Definition at line 181 of file EmergencyStopper.h.

Definition at line 180 of file EmergencyStopper.h.

TimedLongSeq EmergencyStopper::m_beepCommand [protected]

Definition at line 123 of file EmergencyStopper.h.

OutPort<TimedLongSeq> EmergencyStopper::m_beepCommandOut [protected]

Definition at line 139 of file EmergencyStopper.h.

unsigned int EmergencyStopper::m_debugLevel [private]

Definition at line 179 of file EmergencyStopper.h.

double EmergencyStopper::m_dt [private]

Definition at line 178 of file EmergencyStopper.h.

TimedLong EmergencyStopper::m_emergencyMode [protected]

Definition at line 119 of file EmergencyStopper.h.

Definition at line 137 of file EmergencyStopper.h.

TimedLong EmergencyStopper::m_emergencySignal [protected]

Definition at line 118 of file EmergencyStopper.h.

Definition at line 128 of file EmergencyStopper.h.

Definition at line 150 of file EmergencyStopper.h.

std::queue<std::vector<double> > EmergencyStopper::m_input_posture_queue [private]

Definition at line 191 of file EmergencyStopper.h.

std::queue<std::vector<double> > EmergencyStopper::m_input_wrenches_queue [private]

Definition at line 192 of file EmergencyStopper.h.

Definition at line 189 of file EmergencyStopper.h.

Definition at line 194 of file EmergencyStopper.h.

TimedDoubleSeq EmergencyStopper::m_q [protected]

Definition at line 117 of file EmergencyStopper.h.

OutPort<TimedDoubleSeq> EmergencyStopper::m_qOut [protected]

Definition at line 136 of file EmergencyStopper.h.

TimedDoubleSeq EmergencyStopper::m_qRef [protected]

Definition at line 116 of file EmergencyStopper.h.

InPort<TimedDoubleSeq> EmergencyStopper::m_qRefIn [protected]

Definition at line 127 of file EmergencyStopper.h.

Definition at line 177 of file EmergencyStopper.h.

Definition at line 156 of file EmergencyStopper.h.

OpenHRP::TimedLongSeqSeq EmergencyStopper::m_servoState [protected]

Definition at line 120 of file EmergencyStopper.h.

InPort<OpenHRP::TimedLongSeqSeq> EmergencyStopper::m_servoStateIn [protected]

Definition at line 129 of file EmergencyStopper.h.

Definition at line 186 of file EmergencyStopper.h.

Definition at line 187 of file EmergencyStopper.h.

Definition at line 188 of file EmergencyStopper.h.

std::vector<TimedDoubleSeq> EmergencyStopper::m_wrenches [protected]

Definition at line 122 of file EmergencyStopper.h.

Definition at line 190 of file EmergencyStopper.h.

std::vector<InPort<TimedDoubleSeq> *> EmergencyStopper::m_wrenchesIn [protected]

Definition at line 130 of file EmergencyStopper.h.

std::vector<OutPort<TimedDoubleSeq> *> EmergencyStopper::m_wrenchesOut [protected]

Definition at line 138 of file EmergencyStopper.h.

std::vector<TimedDoubleSeq> EmergencyStopper::m_wrenchesRef [protected]

Definition at line 121 of file EmergencyStopper.h.

Definition at line 181 of file EmergencyStopper.h.

Definition at line 183 of file EmergencyStopper.h.

Definition at line 184 of file EmergencyStopper.h.

Definition at line 183 of file EmergencyStopper.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:20