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

#include <TorqueController.h>

Inheritance diagram for TorqueController:

Public Member Functions
bool	disableMultipleTorqueControllers (const OpenHRP::TorqueControllerService::StrSequence &jnames)
bool	disableTorqueController (std::string jname)
bool	enableMultipleTorqueControllers (const OpenHRP::TorqueControllerService::StrSequence &jnames)
bool	enableTorqueController (std::string jname)
bool	getTorqueControllerParam (const std::string jname, OpenHRP::TorqueControllerService::torqueControllerParam &i_param)
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 ()
bool	setMultipleReferenceTorques (const OpenHRP::TorqueControllerService::StrSequence &jnames, const OpenHRP::TorqueControllerService::dSequence &tauRefs)
bool	setReferenceTorque (std::string jname, double tauRef)
bool	setTorqueControllerParam (const std::string jname, const OpenHRP::TorqueControllerService::torqueControllerParam &i_param)
bool	startMultipleTorqueControls (const OpenHRP::TorqueControllerService::StrSequence &jnames)
bool	startTorqueControl (std::string jname)
bool	stopMultipleTorqueControls (const OpenHRP::TorqueControllerService::StrSequence &jnames)
bool	stopTorqueControl (std::string jname)
	TorqueController (RTC::Manager *manager)
	Constructor.
virtual	~TorqueController ()
	Destructor.
Protected Attributes
TimedDoubleSeq	m_qCurrentIn
InPort< TimedDoubleSeq >	m_qCurrentInIn
TimedDoubleSeq	m_qRefIn
InPort< TimedDoubleSeq >	m_qRefInIn
TimedDoubleSeq	m_qRefOut
OutPort< TimedDoubleSeq >	m_qRefOutOut
TorqueControllerService_impl	m_service0
TimedDoubleSeq	m_tauCurrentIn
InPort< TimedDoubleSeq >	m_tauCurrentInIn
TimedDoubleSeq	m_tauMaxIn
InPort< TimedDoubleSeq >	m_tauMaxInIn
RTC::CorbaPort	m_TorqueControllerServicePort
Private Member Functions
void	executeTorqueControl (hrp::dvector &dq)
bool	isDebug (int cycle=20)
void	updateParam (double &val, double &val_new)
Private Attributes
unsigned int	m_debugLevel
double	m_dt
long long	m_loop
std::vector < MotorTorqueController >	m_motorTorqueControllers
coil::Mutex	m_mutex
hrp::BodyPtr	m_robot

Detailed Description

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

Definition at line 44 of file TorqueController.h.

Constructor & Destructor Documentation

TorqueController::TorqueController ( RTC::Manager * manager )

Constructor.

Parameters:

manager pointer to the Manager

Definition at line 41 of file TorqueController.cpp.

TorqueController::~TorqueController ( ) [virtual]

Destructor.

Definition at line 55 of file TorqueController.cpp.

Member Function Documentation

bool TorqueController::disableMultipleTorqueControllers ( const OpenHRP::TorqueControllerService::StrSequence & jnames )

Definition at line 460 of file TorqueController.cpp.

bool TorqueController::disableTorqueController ( std::string jname )

Definition at line 446 of file TorqueController.cpp.

bool TorqueController::enableMultipleTorqueControllers ( const OpenHRP::TorqueControllerService::StrSequence & jnames )

Definition at line 433 of file TorqueController.cpp.

bool TorqueController::enableTorqueController ( std::string jname )

Definition at line 419 of file TorqueController.cpp.

void TorqueController::executeTorqueControl ( hrp::dvector & dq ) [private]

Definition at line 367 of file TorqueController.cpp.

bool TorqueController::getTorqueControllerParam	(	const std::string	jname,
		OpenHRP::TorqueControllerService::torqueControllerParam &	i_param
	)

Definition at line 626 of file TorqueController.cpp.

bool TorqueController::isDebug ( int cycle = 20 ) [private]

Definition at line 690 of file TorqueController.cpp.

RTC::ReturnCode_t TorqueController::onActivated ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 251 of file TorqueController.cpp.

RTC::ReturnCode_t TorqueController::onDeactivated ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 257 of file TorqueController.cpp.

RTC::ReturnCode_t TorqueController::onExecute ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 263 of file TorqueController.cpp.

RTC::ReturnCode_t TorqueController::onInitialize ( void ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 59 of file TorqueController.cpp.

bool TorqueController::setMultipleReferenceTorques	(	const OpenHRP::TorqueControllerService::StrSequence &	jnames,
		const OpenHRP::TorqueControllerService::dSequence &	tauRefs
	)