ThermoEstimator Class Reference

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

#include <ThermoEstimator.h>

Inheritance diagram for ThermoEstimator:

List of all members.

Public Member Functions
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 ()
	ThermoEstimator (RTC::Manager *manager)
	Constructor.
virtual	~ThermoEstimator ()
	Destructor.
Protected Attributes
TimedDoubleSeq	m_qCurrentIn
InPort< TimedDoubleSeq >	m_qCurrentInIn
TimedDoubleSeq	m_qRefIn
InPort< TimedDoubleSeq >	m_qRefInIn
OpenHRP::TimedLongSeqSeq	m_servoStateIn
InPort< OpenHRP::TimedLongSeqSeq >	m_servoStateInIn
OpenHRP::TimedLongSeqSeq	m_servoStateOut
OutPort< OpenHRP::TimedLongSeqSeq >	m_servoStateOutOut
TimedDoubleSeq	m_tauIn
InPort< TimedDoubleSeq >	m_tauInIn
TimedDoubleSeq	m_tempOut
OutPort< TimedDoubleSeq >	m_tempOutOut
Private Member Functions
void	calculateJointTemperature (double tau, MotorHeatParam &param)
void	estimateJointTorqueFromJointError (hrp::dvector &error, hrp::dvector &tau)
bool	isDebug (int cycle=200)
Private Attributes
double	m_ambientTemp
unsigned int	m_debugLevel
double	m_dt
hrp::dvector	m_error2tau
long long	m_loop
std::vector< MotorHeatParam >	m_motorHeatParams
hrp::BodyPtr	m_robot

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Detailed Description

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

Definition at line 44 of file ThermoEstimator.h.

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Constructor & Destructor Documentation

ThermoEstimator::ThermoEstimator

(

RTC::Manager *

manager

)

Constructor.

Parameters:

manager

pointer to the Manager

Definition at line 42 of file ThermoEstimator.cpp.

ThermoEstimator::~ThermoEstimator

(

)

[virtual]

Destructor.

Definition at line 56 of file ThermoEstimator.cpp.

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Member Function Documentation

void ThermoEstimator::calculateJointTemperature	(	double	tau,
		MotorHeatParam &	param
	)		[private]

Definition at line 367 of file ThermoEstimator.cpp.

void ThermoEstimator::estimateJointTorqueFromJointError	(	hrp::dvector &	error,
		hrp::dvector &	tau
	)		[private]

Definition at line 339 of file ThermoEstimator.cpp.

bool ThermoEstimator::isDebug

(

int

cycle = 200

)

[private]

Definition at line 378 of file ThermoEstimator.cpp.

RTC::ReturnCode_t ThermoEstimator::onActivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 188 of file ThermoEstimator.cpp.

RTC::ReturnCode_t ThermoEstimator::onDeactivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 194 of file ThermoEstimator.cpp.

RTC::ReturnCode_t ThermoEstimator::onExecute

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 200 of file ThermoEstimator.cpp.

RTC::ReturnCode_t ThermoEstimator::onInitialize

(

void

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 60 of file ThermoEstimator.cpp.

---

Member Data Documentation

double ThermoEstimator::m_ambientTemp [private]

Definition at line 159 of file ThermoEstimator.h.

unsigned int ThermoEstimator::m_debugLevel [private]

Definition at line 157 of file ThermoEstimator.h.

double ThermoEstimator::m_dt [private]

Definition at line 155 of file ThermoEstimator.h.

hrp::dvector ThermoEstimator::m_error2tau [private]

Definition at line 161 of file ThermoEstimator.h.

long long ThermoEstimator::m_loop [private]

Definition at line 156 of file ThermoEstimator.h.

std::vector<MotorHeatParam> ThermoEstimator::m_motorHeatParams [private]

Definition at line 160 of file ThermoEstimator.h.

TimedDoubleSeq ThermoEstimator::m_qCurrentIn [protected]

Definition at line 114 of file ThermoEstimator.h.

InPort<TimedDoubleSeq> ThermoEstimator::m_qCurrentInIn [protected]

Definition at line 124 of file ThermoEstimator.h.

TimedDoubleSeq ThermoEstimator::m_qRefIn [protected]

Definition at line 113 of file ThermoEstimator.h.

InPort<TimedDoubleSeq> ThermoEstimator::m_qRefInIn [protected]

Definition at line 123 of file ThermoEstimator.h.

hrp::BodyPtr ThermoEstimator::m_robot [private]

Definition at line 158 of file ThermoEstimator.h.

OpenHRP::TimedLongSeqSeq ThermoEstimator::m_servoStateIn [protected]

Definition at line 115 of file ThermoEstimator.h.

InPort<OpenHRP::TimedLongSeqSeq> ThermoEstimator::m_servoStateInIn [protected]

Definition at line 125 of file ThermoEstimator.h.

OpenHRP::TimedLongSeqSeq ThermoEstimator::m_servoStateOut [protected]

Definition at line 118 of file ThermoEstimator.h.

OutPort<OpenHRP::TimedLongSeqSeq> ThermoEstimator::m_servoStateOutOut [protected]

Definition at line 132 of file ThermoEstimator.h.

TimedDoubleSeq ThermoEstimator::m_tauIn [protected]

Definition at line 112 of file ThermoEstimator.h.

InPort<TimedDoubleSeq> ThermoEstimator::m_tauInIn [protected]

Definition at line 122 of file ThermoEstimator.h.

TimedDoubleSeq ThermoEstimator::m_tempOut [protected]

Definition at line 117 of file ThermoEstimator.h.

OutPort<TimedDoubleSeq> ThermoEstimator::m_tempOutOut [protected]

Definition at line 131 of file ThermoEstimator.h.

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

• ThermoEstimator.h
• ThermoEstimator.cpp