RTCBody.h
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1 #ifndef __RTCBODY_H__
2 #define __RTCBODY_H__
3 
4 #include <rtm/idl/BasicDataType.hh>
5 #include <rtm/idl/ExtendedDataTypes.hh>
6 #include "hrpsys/idl/HRPDataTypes.hh"
7 #include <hrpModel/Body.h>
8 #include <rtm/DataFlowComponentBase.h>
9 #include <rtm/DataInPort.h>
10 #include <rtm/DataOutPort.h>
11 #include <rtm/idl/BasicDataTypeSkel.h>
12 #include <rtm/idl/ExtendedDataTypesSkel.h>
13 
14 class RTCBody : public hrp::Body
15 {
16 public:
17  RTCBody();
18  ~RTCBody();
20  void input();
21  void output(OpenHRP::RobotState& state);
22 private:
23  RTC::TimedDoubleSeq m_tau;
24  RTC::TimedDoubleSeq m_qCmd, m_dqCmd, m_ddqCmd;
25 
30  //
31  RTC::TimedPoint3D m_pos;
32  RTC::TimedOrientation3D m_rpy;
33  RTC::TimedDoubleSeq m_q;
34  std::vector<RTC::TimedAcceleration3D> m_acc;
35  std::vector<RTC::TimedAngularVelocity3D> m_rate;
36  std::vector<RTC::TimedDoubleSeq> m_force;
37 
41  std::vector<RTC::OutPort<RTC::TimedAcceleration3D> *> m_accOut;
42  std::vector<RTC::OutPort<RTC::TimedAngularVelocity3D> *> m_rateOut;
43  std::vector<RTC::OutPort<RTC::TimedDoubleSeq> *> m_forceOut;
44 
45  bool m_highgain;
46 };
47 
49 
50 #endif
void output(OpenHRP::RobotState &state)
Definition: RTCBody.cpp:135
std::vector< RTC::TimedDoubleSeq > m_force
Definition: RTCBody.h:36
RTC::InPort< RTC::TimedDoubleSeq > m_tauIn
Definition: RTCBody.h:26
RTC::OutPort< RTC::TimedPoint3D > m_posOut
Definition: RTCBody.h:38
state
RTCBody()
Definition: RTCBody.cpp:7
boost::shared_ptr< RTCBody > RTCBodyPtr
Definition: RTCBody.h:48
bool m_highgain
Definition: RTCBody.h:45
RTC::InPort< RTC::TimedDoubleSeq > m_dqCmdIn
Definition: RTCBody.h:28
RTC::TimedDoubleSeq m_dqCmd
Definition: RTCBody.h:24
RTC::TimedPoint3D m_pos
Definition: RTCBody.h:31
void createPorts(RTC::DataFlowComponentBase *comp)
Definition: RTCBody.cpp:23
RTC::InPort< RTC::TimedDoubleSeq > m_qCmdIn
Definition: RTCBody.h:27
RTC::TimedDoubleSeq m_tau
Definition: RTCBody.h:23
RTC::InPort< RTC::TimedDoubleSeq > m_ddqCmdIn
Definition: RTCBody.h:29
RTC::TimedOrientation3D m_rpy
Definition: RTCBody.h:32
std::vector< RTC::OutPort< RTC::TimedAngularVelocity3D > * > m_rateOut
Definition: RTCBody.h:42
std::vector< RTC::TimedAcceleration3D > m_acc
Definition: RTCBody.h:34
std::vector< RTC::OutPort< RTC::TimedDoubleSeq > * > m_forceOut
Definition: RTCBody.h:43
RTC::OutPort< RTC::TimedOrientation3D > m_rpyOut
Definition: RTCBody.h:39
void input()
Definition: RTCBody.cpp:84
~RTCBody()
Definition: RTCBody.cpp:19
RTC::OutPort< RTC::TimedDoubleSeq > m_qOut
Definition: RTCBody.h:40
std::vector< RTC::OutPort< RTC::TimedAcceleration3D > * > m_accOut
Definition: RTCBody.h:41
std::vector< RTC::TimedAngularVelocity3D > m_rate
Definition: RTCBody.h:35
RTC::TimedDoubleSeq m_qCmd
Definition: RTCBody.h:24
RTC::TimedDoubleSeq m_ddqCmd
Definition: RTCBody.h:24
RTC::TimedDoubleSeq m_q
Definition: RTCBody.h:33


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Thu May 6 2021 02:41:51