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

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

#include <ForwardKinematics.h>

Inheritance diagram for ForwardKinematics:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 ForwardKinematics (RTC::Manager *manager)
 Constructor.
::CORBA::Boolean getCurrentPose (const char *linkname, RTC::TimedDoubleSeq_out pose, const char *frame_name)
::CORBA::Boolean getReferencePose (const char *linkname, RTC::TimedDoubleSeq_out pose, const char *frame_name)
::CORBA::Boolean getRelativeCurrentPosition (const char *linknameFrom, const char *linknameTo, const OpenHRP::ForwardKinematicsService::position target, OpenHRP::ForwardKinematicsService::position result)
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 onInitialize ()
::CORBA::Boolean selectBaseLink (const char *linkname)
virtual ~ForwardKinematics ()
 Destructor.

Protected Attributes

TimedPoint3D m_basePosRef
InPort< TimedPoint3D > m_basePosRefIn
TimedOrientation3D m_baseRpyRef
InPort< TimedOrientation3D > m_baseRpyRefIn
RTC::CorbaPort m_ForwardKinematicsServicePort
TimedDoubleSeq m_q
InPort< TimedDoubleSeq > m_qIn
TimedDoubleSeq m_qRef
InPort< TimedDoubleSeq > m_qRefIn
TimedOrientation3D m_sensorRpy
InPort< TimedOrientation3D > m_sensorRpyIn
ForwardKinematicsService_impl m_service0

Private Attributes

int dummy
hrp::BodyPtr m_actBody
hrp::Linkm_actLink
coil::Mutex m_bodyMutex
hrp::BodyPtr m_refBody
hrp::Linkm_refLink
hrp::Linkm_sensorAttachedLink
std::string m_sensorAttachedLinkName
Time m_tm

Detailed Description

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

Definition at line 45 of file ForwardKinematics.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
managerpointer to the Manager

Definition at line 39 of file ForwardKinematics.cpp.

Destructor.

Definition at line 53 of file ForwardKinematics.cpp.


Member Function Documentation

CORBA::Boolean ForwardKinematics::getCurrentPose ( const char *  linkname,
RTC::TimedDoubleSeq_out  pose,
const char *  frame_name 
)

Definition at line 297 of file ForwardKinematics.cpp.

CORBA::Boolean ForwardKinematics::getReferencePose ( const char *  linkname,
RTC::TimedDoubleSeq_out  pose,
const char *  frame_name 
)

Definition at line 267 of file ForwardKinematics.cpp.

Definition at line 329 of file ForwardKinematics.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 143 of file ForwardKinematics.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 159 of file ForwardKinematics.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 165 of file ForwardKinematics.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 59 of file ForwardKinematics.cpp.

CORBA::Boolean ForwardKinematics::selectBaseLink ( const char *  linkname)

Definition at line 343 of file ForwardKinematics.cpp.


Member Data Documentation

Definition at line 157 of file ForwardKinematics.h.

Definition at line 158 of file ForwardKinematics.h.

Definition at line 159 of file ForwardKinematics.h.

TimedPoint3D ForwardKinematics::m_basePosRef [protected]

Definition at line 121 of file ForwardKinematics.h.

InPort<TimedPoint3D> ForwardKinematics::m_basePosRefIn [protected]

Definition at line 129 of file ForwardKinematics.h.

TimedOrientation3D ForwardKinematics::m_baseRpyRef [protected]

Definition at line 122 of file ForwardKinematics.h.

InPort<TimedOrientation3D> ForwardKinematics::m_baseRpyRefIn [protected]

Definition at line 130 of file ForwardKinematics.h.

Definition at line 160 of file ForwardKinematics.h.

Definition at line 141 of file ForwardKinematics.h.

TimedDoubleSeq ForwardKinematics::m_q [protected]

Definition at line 118 of file ForwardKinematics.h.

InPort<TimedDoubleSeq> ForwardKinematics::m_qIn [protected]

Definition at line 126 of file ForwardKinematics.h.

TimedDoubleSeq ForwardKinematics::m_qRef [protected]

Definition at line 120 of file ForwardKinematics.h.

InPort<TimedDoubleSeq> ForwardKinematics::m_qRefIn [protected]

Definition at line 128 of file ForwardKinematics.h.

Definition at line 158 of file ForwardKinematics.h.

Definition at line 159 of file ForwardKinematics.h.

Definition at line 159 of file ForwardKinematics.h.

Definition at line 162 of file ForwardKinematics.h.

TimedOrientation3D ForwardKinematics::m_sensorRpy [protected]

Definition at line 119 of file ForwardKinematics.h.

InPort<TimedOrientation3D> ForwardKinematics::m_sensorRpyIn [protected]

Definition at line 127 of file ForwardKinematics.h.

Definition at line 147 of file ForwardKinematics.h.

Time ForwardKinematics::m_tm [private]

Definition at line 161 of file ForwardKinematics.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