PathPlanner.h
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00001 // -*- C++ -*-
00007 #ifndef PATH_H
00008 #define PATH_H
00009 
00010 #include <rtm/idl/BasicDataTypeSkel.h>
00011 #include <rtm/Manager.h>
00012 #include <rtm/DataFlowComponentBase.h>
00013 #include <rtm/CorbaPort.h>
00014 #include <rtm/DataInPort.h>
00015 #include <rtm/DataOutPort.h>
00016 
00017 // Service implementation headers
00018 // <rtc-template block="service_impl_h">
00019 #include "PathPlannerSVC_impl.h"
00020 
00021 // </rtc-template>
00022 
00023 // Service Consumer stub headers
00024 // <rtc-template block="consumer_stub_h">
00025 
00026 // </rtc-template>
00027 
00028 using namespace RTC;
00029 
00030 class Path  : public RTC::DataFlowComponentBase
00031 {
00032  public:
00033   Path(RTC::Manager* manager);
00034   ~Path();
00035 
00036   // The initialize action (on CREATED->ALIVE transition)
00037   // formaer rtc_init_entry() 
00038  virtual RTC::ReturnCode_t onInitialize();
00039 
00040   // The finalize action (on ALIVE->END transition)
00041   // formaer rtc_exiting_entry()
00042   // virtual RTC::ReturnCode_t onFinalize();
00043 
00044   // The startup action when ExecutionContext startup
00045   // former rtc_starting_entry()
00046   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00047 
00048   // The shutdown action when ExecutionContext stop
00049   // former rtc_stopping_entry()
00050   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00051 
00052   // The activated action (Active state entry action)
00053   // former rtc_active_entry()
00054   // virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00055 
00056   // The deactivated action (Active state exit action)
00057   // former rtc_active_exit()
00058   // virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00059 
00060   // The execution action that is invoked periodically
00061   // former rtc_active_do()
00062   // virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00063 
00064   // The aborting action when main logic error occurred.
00065   // former rtc_aborting_entry()
00066   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00067 
00068   // The error action in ERROR state
00069   // former rtc_error_do()
00070   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00071 
00072   // The reset action that is invoked resetting
00073   // This is same but different the former rtc_init_entry()
00074   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00075   
00076   // The state update action that is invoked after onExecute() action
00077   // no corresponding operation exists in OpenRTm-aist-0.2.0
00078   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00079 
00080   // The action that is invoked when execution context's rate is changed
00081   // no corresponding operation exists in OpenRTm-aist-0.2.0
00082   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00083 
00084 
00085  protected:
00086   // Configuration variable declaration
00087   // <rtc-template block="config_declare">
00088   std::string m_NameServer;
00089   
00090   // </rtc-template>
00091 
00092   // DataInPort declaration
00093   // <rtc-template block="inport_declare">
00094 
00095   // </rtc-template>
00096 
00097   // DataOutPort declaration
00098   // <rtc-template block="outport_declare">
00099 
00100   // </rtc-template>
00101 
00102   // CORBA Port declaration
00103   // <rtc-template block="corbaport_declare">
00104   RTC::CorbaPort m_PathPort;
00105 
00106   // </rtc-template>
00107 
00108   // Service declaration
00109   // <rtc-template block="service_declare">
00110   OpenHRP_PathPlannerSVC_impl m_Path;
00111 
00112   // </rtc-template>
00113 
00114   // Consumer declaration
00115   // <rtc-template block="consumer_declare">
00116 
00117   // </rtc-template>
00118 
00119  private:
00120 
00121 };
00122 
00123 
00124 extern "C"
00125 {
00126   void PathInit(RTC::Manager* manager);
00127 };
00128 
00129 #endif // PATH_H
00130 


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:18