Classes | Public Member Functions | Protected Attributes | Private Attributes
GraspController Class Reference

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

#include <GraspController.h>

Inheritance diagram for GraspController:
Inheritance graph
[legend]

List of all members.

Classes

struct  GraspJoint
struct  GraspParam

Public Member Functions

 GraspController (RTC::Manager *manager)
 Constructor.
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 ()
bool startGrasp (const char *name, double target_error)
bool stopGrasp (const char *name)
virtual ~GraspController ()
 Destructor.

Protected Attributes

RTC::CorbaPort m_GraspControllerServicePort
TimedDoubleSeq m_q
TimedDoubleSeq m_qCurrent
InPort< TimedDoubleSeq > m_qCurrentIn
InPort< TimedDoubleSeq > m_qIn
OutPort< TimedDoubleSeq > m_qOut
TimedDoubleSeq m_qRef
InPort< TimedDoubleSeq > m_qRefIn
GraspControllerService_impl m_service0

Private Attributes

int dummy
unsigned int m_debugLevel
double m_dt
std::map< std::string, GraspParamm_grasp_param
hrp::BodyPtr m_robot

Detailed Description

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

Definition at line 39 of file GraspController.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
managerpointer to the Manager

Definition at line 43 of file GraspController.cpp.

Destructor.

Definition at line 58 of file GraspController.cpp.


Member Function Documentation

Reimplemented from RTC::RTObject_impl.

Definition at line 200 of file GraspController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 206 of file GraspController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 216 of file GraspController.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 64 of file GraspController.cpp.

bool GraspController::startGrasp ( const char *  name,
double  target_error 
)

Definition at line 323 of file GraspController.cpp.

bool GraspController::stopGrasp ( const char *  name)

Definition at line 334 of file GraspController.cpp.


Member Data Documentation

Definition at line 159 of file GraspController.h.

unsigned int GraspController::m_debugLevel [private]

Definition at line 158 of file GraspController.h.

double GraspController::m_dt [private]

Definition at line 157 of file GraspController.h.

std::map<std::string, GraspParam > GraspController::m_grasp_param [private]

Definition at line 155 of file GraspController.h.

Definition at line 130 of file GraspController.h.

TimedDoubleSeq GraspController::m_q [protected]

Definition at line 112 of file GraspController.h.

TimedDoubleSeq GraspController::m_qCurrent [protected]

Definition at line 111 of file GraspController.h.

InPort<TimedDoubleSeq> GraspController::m_qCurrentIn [protected]

Definition at line 117 of file GraspController.h.

InPort<TimedDoubleSeq> GraspController::m_qIn [protected]

Definition at line 118 of file GraspController.h.

OutPort<TimedDoubleSeq> GraspController::m_qOut [protected]

Definition at line 124 of file GraspController.h.

TimedDoubleSeq GraspController::m_qRef [protected]

Definition at line 110 of file GraspController.h.

InPort<TimedDoubleSeq> GraspController::m_qRefIn [protected]

Definition at line 116 of file GraspController.h.

Definition at line 156 of file GraspController.h.

Definition at line 136 of file GraspController.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