Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | Private Attributes | Static Private Attributes
BodyRTC Class Reference

#include <BodyRTC.h>

Inheritance diagram for BodyRTC:
Inheritance graph
[legend]

List of all members.

Public Types

enum  emg_reason { EMG_NONE, EMG_SERVO_ERROR, EMG_FZ }

Public Member Functions

int addJointGroup (const char *gname, const std::vector< int >jids)
 BodyRTC (RTC::Manager *manager=&RTC::Manager::instance())
bool checkEmergency (emg_reason &o_reason, int &o_id)
void createInPort (const std::string &config)
void createOutPort (const std::string &config)
std::vector< intgetJointGroup (const char *gname)
void getStatus (OpenHRP::RobotHardwareService::RobotState *rs)
void getStatus2 (OpenHRP::RobotHardwareService::RobotState2 *rs)
int lengthDigitalInput ()
int lengthDigitalOutput ()
bool names2ids (const std::vector< std::string > &i_names, std::vector< int > &o_ids)
RTC::ReturnCode_t onActivated (RTC::UniqueId ec_id)
RTC::ReturnCode_t onDeactivated (RTC::UniqueId ec_id)
bool postOneStep ()
bool power (int jid, bool turnon)
bool power (const char *jname, bool turnon)
bool preOneStep ()
int readCalibState (const int i)
void readDataPorts ()
bool readDigitalInput (char *o_din)
bool readDigitalOutput (char *o_dout)
int readPowerState (const int i)
int readServoState (const int i)
bool resetPosition ()
bool servo (const char *jname, bool turnon)
bool servo (int jid, bool turnon)
bool setServoErrorLimit (const char *i_jname, double i_limit)
RTC::ReturnCode_t setup ()
void writeDataPorts (double time)
bool writeDigitalOutput (const char *i_dout)
bool writeDigitalOutputWithMask (const char *i_dout, const char *i_mask)
virtual ~BodyRTC (void)

Static Public Member Functions

static void moduleInit (RTC::Manager *)

Public Attributes

int m_emergencyId
BodyRTC::emg_reason m_emergencyReason
std::vector< double > m_servoErrorLimit

Private Attributes

std::vector< hrp::Vector3accels
std::vector< double > angles
std::vector
< OpenHRP::RobotHardwareService::SwitchStatus > 
calib_status
std::vector< double > commands
int dummy
std::vector< hrp::dvector6forces
std::vector< hrp::Vector3gyros
std::vector< InPortHandlerBase * > m_inports
std::map< std::string,
std::vector< int > > 
m_jointGroups
hrp::Vector3 m_lastServoOn_p
hrp::Matrix33 m_lastServoOn_R
std::vector< OutPortHandlerBase * > m_outports
bool m_resetPosition
RTC::CorbaPort m_RobotHardwareServicePort
RobotHardwareServicePort m_service0
std::vector
< OpenHRP::RobotHardwareService::SwitchStatus > 
power_status
std::vector
< OpenHRP::RobotHardwareService::SwitchStatus > 
servo_status

Static Private Attributes

static const char * bodyrtc_spec []

Detailed Description

Definition at line 53 of file BodyRTC.h.


Member Enumeration Documentation

Enumerator:
EMG_NONE 
EMG_SERVO_ERROR 
EMG_FZ 

Definition at line 115 of file BodyRTC.h.


Constructor & Destructor Documentation

Definition at line 29 of file BodyRTC.cpp.

BodyRTC::~BodyRTC ( void  ) [virtual]

Definition at line 39 of file BodyRTC.cpp.


Member Function Documentation

int BodyRTC::addJointGroup ( const char *  gname,
const std::vector< int jids 
) [inline]

Definition at line 83 of file BodyRTC.h.

bool BodyRTC::checkEmergency ( emg_reason o_reason,
int o_id 
)

Definition at line 493 of file BodyRTC.cpp.

void BodyRTC::createInPort ( const std::string &  config)

Definition at line 139 of file BodyRTC.cpp.

void BodyRTC::createOutPort ( const std::string &  config)

Definition at line 218 of file BodyRTC.cpp.

std::vector<int> BodyRTC::getJointGroup ( const char *  gname) [inline]

Definition at line 82 of file BodyRTC.h.

void BodyRTC::getStatus ( OpenHRP::RobotHardwareService::RobotState *  rs)

Definition at line 413 of file BodyRTC.cpp.

void BodyRTC::getStatus2 ( OpenHRP::RobotHardwareService::RobotState2 *  rs)

Definition at line 458 of file BodyRTC.cpp.

void BodyRTC::moduleInit ( RTC::Manager manager) [static]

Reimplemented in PyBody, and GLbodyRTC.

Definition at line 714 of file BodyRTC.cpp.

bool BodyRTC::names2ids ( const std::vector< std::string > &  i_names,
std::vector< int > &  o_ids 
)

Definition at line 396 of file BodyRTC.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 61 of file BodyRTC.h.

Reimplemented from RTC::RTObject_impl.

Definition at line 65 of file BodyRTC.h.

Definition at line 567 of file BodyRTC.cpp.

bool BodyRTC::power ( int  jid,
bool  turnon 
) [inline]

Definition at line 86 of file BodyRTC.h.

bool BodyRTC::power ( const char *  jname,
bool  turnon 
)

Definition at line 627 of file BodyRTC.cpp.

Definition at line 520 of file BodyRTC.cpp.

Definition at line 97 of file BodyRTC.h.

Definition at line 57 of file BodyRTC.cpp.

bool BodyRTC::readDigitalInput ( char *  o_din)
bool BodyRTC::readDigitalOutput ( char *  o_dout)

Definition at line 98 of file BodyRTC.h.

Definition at line 99 of file BodyRTC.h.

bool BodyRTC::resetPosition ( ) [inline]

Definition at line 132 of file BodyRTC.h.

bool BodyRTC::servo ( const char *  jname,
bool  turnon 
)

Definition at line 603 of file BodyRTC.cpp.

bool BodyRTC::servo ( int  jid,
bool  turnon 
) [inline]

Definition at line 88 of file BodyRTC.h.

bool BodyRTC::setServoErrorLimit ( const char *  i_jname,
double  i_limit 
)

Definition at line 461 of file BodyRTC.cpp.

Definition at line 65 of file BodyRTC.cpp.

void BodyRTC::writeDataPorts ( double  time)

Definition at line 50 of file BodyRTC.cpp.

bool BodyRTC::writeDigitalOutput ( const char *  i_dout)
bool BodyRTC::writeDigitalOutputWithMask ( const char *  i_dout,
const char *  i_mask 
)

Member Data Documentation

std::vector<hrp::Vector3> BodyRTC::accels [private]

Definition at line 152 of file BodyRTC.h.

std::vector<double> BodyRTC::angles [private]

Definition at line 150 of file BodyRTC.h.

const char * BodyRTC::bodyrtc_spec [static, private]
Initial value:
{
    "implementation_id", "BodyRTC",
    "type_name",         "BodyRTC",
    "description",       "BodyRTC component",
    "version",           "0.1",
    "vendor",            "AIST",
    "category",          "Generic",
    "activity_type",     "DataFlowComponent",
    "max_instance",      "10",
    "language",          "C++",
    "lang_type",         "compile",
    

    ""
}

Definition at line 138 of file BodyRTC.h.

std::vector<OpenHRP::RobotHardwareService::SwitchStatus> BodyRTC::calib_status [private]

Definition at line 155 of file BodyRTC.h.

std::vector<double> BodyRTC::commands [private]

Definition at line 151 of file BodyRTC.h.

int BodyRTC::dummy [private]

Definition at line 165 of file BodyRTC.h.

std::vector<hrp::dvector6> BodyRTC::forces [private]

Definition at line 154 of file BodyRTC.h.

std::vector<hrp::Vector3> BodyRTC::gyros [private]

Definition at line 153 of file BodyRTC.h.

Definition at line 135 of file BodyRTC.h.

Definition at line 134 of file BodyRTC.h.

std::vector<InPortHandlerBase *> BodyRTC::m_inports [private]

Reimplemented from RTC::RTObject_impl.

Definition at line 140 of file BodyRTC.h.

std::map<std::string, std::vector<int> > BodyRTC::m_jointGroups [private]

Definition at line 158 of file BodyRTC.h.

Definition at line 162 of file BodyRTC.h.

Definition at line 163 of file BodyRTC.h.

std::vector<OutPortHandlerBase *> BodyRTC::m_outports [private]

Reimplemented from RTC::RTObject_impl.

Definition at line 143 of file BodyRTC.h.

bool BodyRTC::m_resetPosition [private]

Definition at line 161 of file BodyRTC.h.

Definition at line 146 of file BodyRTC.h.

Definition at line 147 of file BodyRTC.h.

std::vector<double> BodyRTC::m_servoErrorLimit

Definition at line 121 of file BodyRTC.h.

std::vector<OpenHRP::RobotHardwareService::SwitchStatus> BodyRTC::power_status [private]

Definition at line 157 of file BodyRTC.h.

std::vector<OpenHRP::RobotHardwareService::SwitchStatus> BodyRTC::servo_status [private]

Definition at line 156 of file BodyRTC.h.


The documentation for this class was generated from the following files:


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:57