Classes | Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes | Static Private Attributes
RemoveForceSensorLinkOffset Class Reference

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

#include <RemoveForceSensorLinkOffset.h>

Inheritance diagram for RemoveForceSensorLinkOffset:
Inheritance graph
[legend]

List of all members.

Classes

struct  ForceMomentOffsetParam

Public Member Functions

bool dumpForceMomentOffsetParams (const std::string &filename)
bool getForceMomentOffsetParam (const std::string &i_name_, OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam &i_param_)
bool loadForceMomentOffsetParams (const std::string &filename)
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 ()
 RemoveForceSensorLinkOffset (RTC::Manager *manager)
 Constructor.
bool removeForceSensorOffset (const ::OpenHRP::RemoveForceSensorLinkOffsetService::StrSequence &names, const double tm)
bool setForceMomentOffsetParam (const std::string &i_name_, const OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam &i_param_)
virtual ~RemoveForceSensorLinkOffset ()
 Destructor.

Protected Attributes

std::vector< TimedDoubleSeq > m_force
std::vector< InPort
< TimedDoubleSeq > * > 
m_forceIn
std::vector< OutPort
< TimedDoubleSeq > * > 
m_forceOut
TimedDoubleSeq m_qCurrent
InPort< TimedDoubleSeq > m_qCurrentIn
RTC::CorbaPort m_RemoveForceSensorLinkOffsetServicePort
TimedOrientation3D m_rpy
InPort< TimedOrientation3D > m_rpyIn
RemoveForceSensorLinkOffsetService_impl m_service0

Private Member Functions

void printForceMomentOffsetParam (const std::string &i_name_)
void updateRootLinkPosRot (const hrp::Vector3 &rpy)

Private Attributes

unsigned int m_debugLevel
double m_dt
std::map< std::string,
ForceMomentOffsetParam
m_forcemoment_offset_param
coil::Mutex m_mutex
hrp::BodyPtr m_robot
int max_sensor_offset_calib_counter

Static Private Attributes

static const double grav = 9.80665

Detailed Description

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

Definition at line 46 of file RemoveForceSensorLinkOffset.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
managerpointer to the Manager

Definition at line 38 of file RemoveForceSensorLinkOffset.cpp.

Destructor.

Definition at line 51 of file RemoveForceSensorLinkOffset.cpp.


Member Function Documentation

Definition at line 314 of file RemoveForceSensorLinkOffset.cpp.

bool RemoveForceSensorLinkOffset::getForceMomentOffsetParam ( const std::string &  i_name_,
OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam &  i_param_ 
)

Definition at line 269 of file RemoveForceSensorLinkOffset.cpp.

Definition at line 284 of file RemoveForceSensorLinkOffset.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 142 of file RemoveForceSensorLinkOffset.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 148 of file RemoveForceSensorLinkOffset.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 155 of file RemoveForceSensorLinkOffset.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 57 of file RemoveForceSensorLinkOffset.cpp.

Definition at line 245 of file RemoveForceSensorLinkOffset.cpp.

bool RemoveForceSensorLinkOffset::removeForceSensorOffset ( const ::OpenHRP::RemoveForceSensorLinkOffsetService::StrSequence &  names,
const double  tm 
)

Definition at line 333 of file RemoveForceSensorLinkOffset.cpp.

bool RemoveForceSensorLinkOffset::setForceMomentOffsetParam ( const std::string &  i_name_,
const OpenHRP::RemoveForceSensorLinkOffsetService::forcemomentOffsetParam &  i_param_ 
)

Definition at line 253 of file RemoveForceSensorLinkOffset.cpp.

Definition at line 235 of file RemoveForceSensorLinkOffset.cpp.


Member Data Documentation

const double RemoveForceSensorLinkOffset::grav = 9.80665 [static, private]

Definition at line 187 of file RemoveForceSensorLinkOffset.h.

Definition at line 190 of file RemoveForceSensorLinkOffset.h.

Definition at line 188 of file RemoveForceSensorLinkOffset.h.

std::vector<TimedDoubleSeq> RemoveForceSensorLinkOffset::m_force [protected]

Definition at line 132 of file RemoveForceSensorLinkOffset.h.

std::vector<InPort<TimedDoubleSeq> *> RemoveForceSensorLinkOffset::m_forceIn [protected]

Definition at line 133 of file RemoveForceSensorLinkOffset.h.

Definition at line 183 of file RemoveForceSensorLinkOffset.h.

std::vector<OutPort<TimedDoubleSeq> *> RemoveForceSensorLinkOffset::m_forceOut [protected]

Definition at line 134 of file RemoveForceSensorLinkOffset.h.

Definition at line 192 of file RemoveForceSensorLinkOffset.h.

TimedDoubleSeq RemoveForceSensorLinkOffset::m_qCurrent [protected]

Definition at line 119 of file RemoveForceSensorLinkOffset.h.

Definition at line 124 of file RemoveForceSensorLinkOffset.h.

Definition at line 150 of file RemoveForceSensorLinkOffset.h.

Definition at line 189 of file RemoveForceSensorLinkOffset.h.

TimedOrientation3D RemoveForceSensorLinkOffset::m_rpy [protected]

Definition at line 120 of file RemoveForceSensorLinkOffset.h.

InPort<TimedOrientation3D> RemoveForceSensorLinkOffset::m_rpyIn [protected]

Definition at line 125 of file RemoveForceSensorLinkOffset.h.

Definition at line 156 of file RemoveForceSensorLinkOffset.h.

Definition at line 191 of file RemoveForceSensorLinkOffset.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