ForwardKinematics.h
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1 // -*- C++ -*-
10 #ifndef NULL_COMPONENT_H
11 #define NULL_COMPONENT_H
12 
13 #include <rtm/idl/BasicDataType.hh>
14 #include <rtm/idl/ExtendedDataTypes.hh>
15 #include <rtm/Manager.h>
16 #include <rtm/DataFlowComponentBase.h>
17 #include <rtm/CorbaPort.h>
18 #include <rtm/DataInPort.h>
19 #include <rtm/DataOutPort.h>
20 #include <rtm/idl/BasicDataTypeSkel.h>
21 #include <rtm/idl/ExtendedDataTypesSkel.h>
22 
23 #include <hrpModel/Body.h>
24 
25 // Service implementation headers
26 // <rtc-template block="service_impl_h">
28 
29 // </rtc-template>
30 
31 // Service Consumer stub headers
32 // <rtc-template block="consumer_stub_h">
33 
34 // </rtc-template>
35 
36 namespace hrp{
37  class Link;
38 }
39 
40 using namespace RTC;
41 
47 {
48  public:
57  virtual ~ForwardKinematics();
58 
59  // The initialize action (on CREATED->ALIVE transition)
60  // formaer rtc_init_entry()
61  virtual RTC::ReturnCode_t onInitialize();
62 
63  // The finalize action (on ALIVE->END transition)
64  // formaer rtc_exiting_entry()
65  // virtual RTC::ReturnCode_t onFinalize();
66 
67  // The startup action when ExecutionContext startup
68  // former rtc_starting_entry()
69  // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
70 
71  // The shutdown action when ExecutionContext stop
72  // former rtc_stopping_entry()
73  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
74 
75  // The activated action (Active state entry action)
76  // former rtc_active_entry()
77  virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
78 
79  // The deactivated action (Active state exit action)
80  // former rtc_active_exit()
81  virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
82 
83  // The execution action that is invoked periodically
84  // former rtc_active_do()
85  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
86 
87  // The aborting action when main logic error occurred.
88  // former rtc_aborting_entry()
89  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
90 
91  // The error action in ERROR state
92  // former rtc_error_do()
93  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
94 
95  // The reset action that is invoked resetting
96  // This is same but different the former rtc_init_entry()
97  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
98 
99  // The state update action that is invoked after onExecute() action
100  // no corresponding operation exists in OpenRTm-aist-0.2.0
101  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
102 
103  // The action that is invoked when execution context's rate is changed
104  // no corresponding operation exists in OpenRTm-aist-0.2.0
105  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
106 
107  ::CORBA::Boolean getReferencePose(const char* linkname, RTC::TimedDoubleSeq_out pose, const char* frame_name);
108  ::CORBA::Boolean getCurrentPose(const char* linkname, RTC::TimedDoubleSeq_out pose, const char* frame_name);
109  ::CORBA::Boolean getRelativeCurrentPosition(const char* linknameFrom, const char *linknameTo, const OpenHRP::ForwardKinematicsService::position target, OpenHRP::ForwardKinematicsService::position result);
110  ::CORBA::Boolean selectBaseLink(const char* linkname);
111 
112  protected:
113  // Configuration variable declaration
114  // <rtc-template block="config_declare">
115 
116  // </rtc-template>
117 
118  TimedDoubleSeq m_q;
119  TimedOrientation3D m_sensorRpy;
120  TimedDoubleSeq m_qRef;
121  TimedPoint3D m_basePosRef;
122  TimedOrientation3D m_baseRpyRef;
123 
124  // DataInPort declaration
125  // <rtc-template block="inport_declare">
131 
132  // </rtc-template>
133 
134  // DataOutPort declaration
135  // <rtc-template block="outport_declare">
136 
137  // </rtc-template>
138 
139  // CORBA Port declaration
140  // <rtc-template block="corbaport_declare">
142 
143  // </rtc-template>
144 
145  // Service declaration
146  // <rtc-template block="service_declare">
148 
149  // </rtc-template>
150 
151  // Consumer declaration
152  // <rtc-template block="consumer_declare">
153 
154  // </rtc-template>
155 
156  private:
157  int dummy;
159  hrp::Link *m_refLink, *m_actLink, *m_sensorAttachedLink;
163 };
164 
165 
166 extern "C"
167 {
169 };
170 
171 #endif // NULL_COMPONENT_H
ec_id
std::string m_sensorAttachedLinkName
TimedOrientation3D m_baseRpyRef
InPort< TimedDoubleSeq > m_qIn
InPort< TimedPoint3D > m_basePosRefIn
InPort< TimedOrientation3D > m_sensorRpyIn
manager
ForwardKinematicsService_impl m_service0
RTC::CorbaPort m_ForwardKinematicsServicePort
hrp::BodyPtr m_refBody
TimedDoubleSeq m_q
ExecutionContextHandle_t UniqueId
void ForwardKinematicsInit(RTC::Manager *manager)
InPort< TimedDoubleSeq > m_qRefIn
hrp::Link * m_sensorAttachedLink
InPort< TimedOrientation3D > m_baseRpyRefIn
TimedPoint3D m_basePosRef
TimedOrientation3D m_sensorRpy
sample RT component which has one data input port and one data output port
TimedDoubleSeq m_qRef


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Thu May 6 2021 02:41:49