Joystick2Velocity2D.h
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00001 // -*- C++ -*-
00010 #ifndef JOYSTICK2VELOCITY_H
00011 #define JOYSTICK2VELOCITY_H
00012 
00013 #include <rtm/idl/BasicDataType.hh>
00014 #include <rtm/idl/ExtendedDataTypes.hh>
00015 #include <rtm/Manager.h>
00016 #include <rtm/DataFlowComponentBase.h>
00017 #include <rtm/CorbaPort.h>
00018 #include <rtm/DataInPort.h>
00019 #include <rtm/DataOutPort.h>
00020 #include <rtm/idl/BasicDataTypeSkel.h>
00021 #include <rtm/idl/ExtendedDataTypesSkel.h>
00022 
00023 // Service implementation headers
00024 // <rtc-template block="service_impl_h">
00025 
00026 // </rtc-template>
00027 
00028 // Service Consumer stub headers
00029 // <rtc-template block="consumer_stub_h">
00030 
00031 // </rtc-template>
00032 
00033 using namespace RTC;
00034 
00038 class Joystick2Velocity2D
00039   : public RTC::DataFlowComponentBase
00040 {
00041  public:
00046   Joystick2Velocity2D(RTC::Manager* manager);
00050   ~Joystick2Velocity2D();
00051 
00052   // The initialize action (on CREATED->ALIVE transition)
00053   // formaer rtc_init_entry()
00054   virtual RTC::ReturnCode_t onInitialize();
00055 
00056   // The finalize action (on ALIVE->END transition)
00057   // formaer rtc_exiting_entry()
00058   // virtual RTC::ReturnCode_t onFinalize();
00059 
00060   // The startup action when ExecutionContext startup
00061   // former rtc_starting_entry()
00062   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00063 
00064   // The shutdown action when ExecutionContext stop
00065   // former rtc_stopping_entry()
00066   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00067 
00068   // The activated action (Active state entry action)
00069   // former rtc_active_entry()
00070   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00071 
00072   // The deactivated action (Active state exit action)
00073   // former rtc_active_exit()
00074   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00075 
00076   // The execution action that is invoked periodically
00077   // former rtc_active_do()
00078   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00079 
00080   // The aborting action when main logic error occurred.
00081   // former rtc_aborting_entry()
00082   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00083 
00084   // The error action in ERROR state
00085   // former rtc_error_do()
00086   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00087 
00088   // The reset action that is invoked resetting
00089   // This is same but different the former rtc_init_entry()
00090   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00091 
00092   // The state update action that is invoked after onExecute() action
00093   // no corresponding operation exists in OpenRTm-aist-0.2.0
00094   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00095 
00096   // The action that is invoked when execution context's rate is changed
00097   // no corresponding operation exists in OpenRTm-aist-0.2.0
00098   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00099 
00100 
00101  protected:
00102   // Configuration variable declaration
00103   // <rtc-template block="config_declare">
00104   
00105   // </rtc-template>
00106 
00107   TimedFloatSeq m_axes;
00108 
00109   // DataInPort declaration
00110   // <rtc-template block="inport_declare">
00111   InPort<TimedFloatSeq> m_axesIn;
00112   
00113   // </rtc-template>
00114 
00115   TimedVelocity2D m_vel;
00116 
00117   // DataOutPort declaration
00118   // <rtc-template block="outport_declare">
00119   OutPort<TimedVelocity2D> m_velOut;
00120   
00121   // </rtc-template>
00122 
00123   // CORBA Port declaration
00124   // <rtc-template block="corbaport_declare">
00125   
00126   // </rtc-template>
00127 
00128   // Service declaration
00129   // <rtc-template block="service_declare">
00130   
00131   // </rtc-template>
00132 
00133   // Consumer declaration
00134   // <rtc-template block="consumer_declare">
00135   
00136   // </rtc-template>
00137 
00138  private:
00139   int dummy, m_debugLevel;
00140   std::vector<unsigned int> m_axesIds;
00141   std::vector<double> m_scales;
00142   std::vector<double> m_neutrals;
00143 };
00144 
00145 
00146 extern "C"
00147 {
00148   void Joystick2Velocity2DInit(RTC::Manager* manager);
00149 };
00150 
00151 #endif // JOYSTICK2VELOCITY_H


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:55