Simulator.h
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00001 // -*- C++ -*-
00010 #ifndef SIMULATOR_H
00011 #define SIMULATOR_H
00012 
00013 #include <rtm/idl/BasicDataType.hh>
00014 #include "hrpsys/idl/HRPDataTypes.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 
00022 #include <hrpModel/ConstraintForceSolver.h>
00023 #include <hrpModel/World.h>
00024 #include <hrpUtil/OnlineViewerUtil.h>
00025 
00026 #include "RTCBody.h"
00027 
00028 // Service implementation headers
00029 // <rtc-template block="service_impl_h">
00030 
00031 // </rtc-template>
00032 
00033 // Service Consumer stub headers
00034 // <rtc-template block="consumer_stub_h">
00035 
00036 // </rtc-template>
00037 
00038 using namespace RTC;
00039 
00043 class Simulator
00044   : public RTC::DataFlowComponentBase
00045 {
00046  public:
00051   Simulator(RTC::Manager* manager);
00055   virtual ~Simulator();
00056 
00057   // The initialize action (on CREATED->ALIVE transition)
00058   // formaer rtc_init_entry()
00059   virtual RTC::ReturnCode_t onInitialize();
00060 
00061   // The finalize action (on ALIVE->END transition)
00062   // formaer rtc_exiting_entry()
00063   // virtual RTC::ReturnCode_t onFinalize();
00064 
00065   // The startup action when ExecutionContext startup
00066   // former rtc_starting_entry()
00067   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00068 
00069   // The shutdown action when ExecutionContext stop
00070   // former rtc_stopping_entry()
00071   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00072 
00073   // The activated action (Active state entry action)
00074   // former rtc_active_entry()
00075   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00076 
00077   // The deactivated action (Active state exit action)
00078   // former rtc_active_exit()
00079   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00080 
00081   // The execution action that is invoked periodically
00082   // former rtc_active_do()
00083   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00084 
00085   // The aborting action when main logic error occurred.
00086   // former rtc_aborting_entry()
00087   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00088 
00089   // The error action in ERROR state
00090   // former rtc_error_do()
00091   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00092 
00093   // The reset action that is invoked resetting
00094   // This is same but different the former rtc_init_entry()
00095   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00096 
00097   // The state update action that is invoked after onExecute() action
00098   // no corresponding operation exists in OpenRTm-aist-0.2.0
00099   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00100 
00101   // The action that is invoked when execution context's rate is changed
00102   // no corresponding operation exists in OpenRTm-aist-0.2.0
00103   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00104 
00105 
00106  protected:
00107   // Configuration variable declaration
00108   // <rtc-template block="config_declare">
00109   
00110   // </rtc-template>
00111 
00112   // DataInPort declaration
00113   // <rtc-template block="inport_declare">
00114 
00115   // </rtc-template>
00116 
00117   // DataOutPort declaration
00118   // <rtc-template block="outport_declare">
00119   OpenHRP::SceneState m_sceneState;
00120   OutPort<OpenHRP::SceneState> m_sceneStateOut;
00121   
00122   // </rtc-template>
00123 
00124   // CORBA Port declaration
00125   // <rtc-template block="corbaport_declare">
00126   
00127   // </rtc-template>
00128 
00129   // Service declaration
00130   // <rtc-template block="service_declare">
00131   
00132   // </rtc-template>
00133 
00134   // Consumer declaration
00135   // <rtc-template block="consumer_declare">
00136   
00137   // </rtc-template>
00138 
00139  private:
00140   hrp::World<hrp::ConstraintForceSolver> m_world;
00141   std::vector<RTCBodyPtr> m_bodies;
00142   std::string m_project;
00143   bool m_kinematicsOnly;
00144   bool m_useOLV;
00145   OpenHRP::OnlineViewer_var m_olv;
00146   OpenHRP::WorldState m_state;
00147   int dummy;
00148 };
00149 
00150 
00151 extern "C"
00152 {
00153   void SimulatorInit(RTC::Manager* manager);
00154 };
00155 
00156 #endif // SIMULATOR_H


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:56