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

#include <Simulator.h>

Inheritance diagram for Simulator:

[legend]

Public Member Functions
void	addCollisionCheckPair (BodyRTC b1, BodyRTC b2)

void	appendLog ()

void	checkCollision (OpenHRP::CollisionSequence &collisions)

void	checkCollision ()

void	clear ()

void	init (Project &prj, BodyFactory &factory)

void	init (Project &prj, GLscene *i_scene, RTC::CorbaNaming &naming)

void	kinematicsOnly (bool flag)

virtual RTC::ReturnCode_t	onActivated (RTC::UniqueId ec_id)

virtual RTC::ReturnCode_t	onDeactivated (RTC::UniqueId ec_id)

bool	oneStep ()

bool	oneStep ()

virtual RTC::ReturnCode_t	onExecute (RTC::UniqueId ec_id)

virtual RTC::ReturnCode_t	onInitialize ()

void	realTime (bool flag)

void	setLogTimeStep (double time)

void	setTotalTime (double time)

	Simulator (LogManager< SceneState > *i_log)

	Simulator (RTC::Manager *manager)
	Constructor. More...

double	totalTime ()

virtual	~Simulator ()
	Destructor. More...

Public Member Functions inherited from hrp::World< hrp::ConstraintForceSolver >
virtual void	calcNextState (OpenHRP::CollisionSequence &corbaCollisionSequence)

virtual void	initialize ()

	World ()

Public Member Functions inherited from hrp::WorldBase
int	addBody (BodyPtr body)

BodyPtr	body (int index)

BodyPtr	body (const std::string &name)

int	bodyIndex (const std::string &name)

virtual void	calcNextState ()

void	clearBodies ()

void	clearCollisionPairs ()

double	currentTime (void) const

void	enableSensors (bool on)

ForwardDynamicsPtr	forwardDynamics (int index)

const Vector3 &	getGravityAcceleration ()

std::pair< int, bool >	getIndexOfLinkPairs (Link link1, Link link2)

unsigned int	numBodies ()

void	setCurrentTime (double tm)

void	setEulerMethod ()

void	setGravityAcceleration (const Vector3 &g)

void	setRungeKuttaMethod ()

void	setTimeStep (double dt)

double	timeStep (void) const

	WorldBase ()

virtual	~WorldBase ()

Public Member Functions inherited from ThreadedObject
bool	isPausing ()

bool	isRunning ()

void	notifyFinish ()

void	pause ()

void	resume ()

void	start ()

void	stop ()

	ThreadedObject ()

void	wait ()

	~ThreadedObject ()

Public Member Functions inherited from RTC::DataFlowComponentBase
	DataFlowComponentBase (Manager *manager)

void	init ()

virtual	~DataFlowComponentBase (void)

Public Member Functions inherited from RTC::RTObject_impl
ReturnCode_t	activate (RTC::UniqueId ec_id)

void	addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)

ConfigurationParamListener *	addConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , const char *))

void	addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)

ConfigurationSetListener *	addConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))

void	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)

ConfigurationSetNameListener *	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::memfunc)(const char ))

void	addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)

ECActionListener *	addExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))

bool	addInPort (const char *name, InPortBase &inport)

bool	addOutPort (const char *name, OutPortBase &outport)

bool	addPort (PortBase &port)

bool	addPort (PortService_ptr port)

bool	addPort (CorbaPort &port)

PortActionListener *	addPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))

void	addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)

void	addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)

PortConnectListener *	addPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &))

void	addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)

PortConnectRetListener *	addPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &, ReturnCode_t))

void	addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)

PostComponentActionListener *	addPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))

void	addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)

PreComponentActionListener *	addPreComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))

bool	addSdoServiceConsumer (const SDOPackage::ServiceProfile &prof)

bool	addSdoServiceProvider (const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)

UniqueId	attach_context (ExecutionContext_ptr exec_context)

UniqueId	bindContext (ExecutionContext_ptr exec_context)

bool	bindParameter (const char param_name, VarType &var, const char def_val, bool(trans)(VarType &, const char )=coil::stringTo)

ReturnCode_t	deactivate (RTC::UniqueId ec_id)

void	deletePort (PortService_ptr port)

void	deletePort (CorbaPort &port)

void	deletePort (PortBase &port)

void	deletePortByName (const char *port_name)

ReturnCode_t	detach_context (UniqueId exec_handle)

virtual ReturnCode_t	exit ()

virtual ReturnCode_t	finalize ()

void	finalizeContexts ()

void	finalizePorts ()

virtual ComponentProfile *	get_component_profile ()

virtual SDOPackage::Configuration_ptr	get_configuration ()

virtual ExecutionContext_ptr	get_context (UniqueId exec_handle)

virtual ExecutionContextHandle_t	get_context_handle (ExecutionContext_ptr cxt)

virtual SDOPackage::DeviceProfile *	get_device_profile ()

virtual SDOPackage::Monitoring_ptr	get_monitoring ()

virtual SDOPackage::OrganizationList *	get_organizations ()

virtual ExecutionContextList *	get_owned_contexts ()

virtual SDOPackage::OrganizationList *	get_owned_organizations ()

virtual ExecutionContextList *	get_participating_contexts ()

virtual PortServiceList *	get_ports ()

virtual char *	get_sdo_id ()

virtual SDOPackage::SDOService_ptr	get_sdo_service (const char *id)

virtual char *	get_sdo_type ()

virtual SDOPackage::ServiceProfile *	get_service_profile (const char *id)

virtual SDOPackage::ServiceProfileList *	get_service_profiles ()

virtual CORBA::Any *	get_status (const char *name)

virtual SDOPackage::NVList *	get_status_list ()

const char *	getCategory ()

const char *	getDescription ()

ExecutionContext_ptr	getExecutionContext (RTC::UniqueId ec_id)

double	getExecutionRate (RTC::UniqueId ec_id)

const char *	getInstanceName ()

std::vector< std::string >	getNamingNames ()

RTObject_ptr	getObjRef () const

coil::Properties &	getProperties ()

const char *	getTypeName ()

const char *	getVendor ()

const char *	getVersion ()

virtual ReturnCode_t	initialize ()

virtual CORBA::Boolean	is_alive (ExecutionContext_ptr exec_context)

bool	isOwnExecutionContext (RTC::UniqueId ec_id)

virtual ReturnCode_t	on_aborting (UniqueId exec_handle)

virtual ReturnCode_t	on_activated (UniqueId exec_handle)

virtual ReturnCode_t	on_deactivated (UniqueId exec_handle)

virtual ReturnCode_t	on_error (UniqueId exec_handle)

virtual ReturnCode_t	on_execute (UniqueId exec_handle)

virtual ReturnCode_t	on_finalize ()

virtual ReturnCode_t	on_initialize ()

virtual ReturnCode_t	on_rate_changed (UniqueId exec_handle)

virtual ReturnCode_t	on_reset (UniqueId exec_handle)

virtual ReturnCode_t	on_shutdown (UniqueId exec_handle)

virtual ReturnCode_t	on_startup (UniqueId exec_handle)

virtual ReturnCode_t	on_state_update (UniqueId exec_handle)

bool	readAll ()

void	registerInPort (const char *name, InPortBase &inport)

void	registerOutPort (const char *name, OutPortBase &outport)

void	registerPort (PortBase &port)

void	registerPort (PortService_ptr port)

void	registerPort (CorbaPort &port)

void	removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)

void	removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)

void	removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)

void	removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)

bool	removeInPort (InPortBase &port)

bool	removeOutPort (OutPortBase &port)

bool	removePort (PortService_ptr port)

bool	removePort (CorbaPort &port)

bool	removePort (PortBase &port)

void	removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)

void	removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)

void	removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)

void	removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)

void	removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)

bool	removeSdoServiceConsumer (const char *id)

bool	removeSdoServiceProvider (const char *id)

ReturnCode_t	reset (RTC::UniqueId ec_id)

	RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)

	RTObject_impl (Manager *manager)

ReturnCode_t	setExecutionRate (RTC::UniqueId ec_id, double rate)

void	setInstanceName (const char *instance_name)

void	setObjRef (const RTObject_ptr rtobj)

void	setProperties (const coil::Properties &prop)

void	setReadAll (bool read=true, bool completion=false)

void	setWriteAll (bool write=true, bool completion=false)

void	updateParameters (const char *config_set)

bool	writeAll ()

virtual	~RTObject_impl (void)

Public Attributes
std::vector< BodyRTCPtr >	bodies

GLscene *	scene

OpenHRP::WorldState	state

double	totalTime

hrp::World< hrp::ConstraintForceSolver >	world

Public Attributes inherited from hrp::World< hrp::ConstraintForceSolver >
hrp::ConstraintForceSolver	constraintForceSolver

Protected Attributes
OpenHRP::SceneState	m_sceneState

OutPort< OpenHRP::SceneState >	m_sceneStateOut

Protected Attributes inherited from hrp::WorldBase
std::vector< BodyInfo >	bodyInfoArray

double	currentTime_

bool	sensorsAreEnabled

double	timeStep_

Protected Attributes inherited from RTC::RTObject_impl
ComponentActionListeners	m_actionListeners

ConfigAdmin	m_configsets

bool	m_created

std::vector< ExecutionContextBase * >	m_eclist

ExecutionContextServiceList	m_ecMine

ExecutionContextServiceList	m_ecOther

bool	m_exiting

std::vector< InPortBase * >	m_inports

RTObject_var	m_objref

std::vector< OutPortBase * >	m_outports

Manager *	m_pManager

CORBA::ORB_var	m_pORB

PortAdmin	m_portAdmin

PortConnectListeners	m_portconnListeners

PortableServer::POA_var	m_pPOA

ComponentProfile	m_profile

coil::Properties	m_properties

SDOPackage::Configuration_var	m_pSdoConfig

SDOPackage::Configuration_impl *	m_pSdoConfigImpl

bool	m_readAll

bool	m_readAllCompletion

SDOPackage::OrganizationList	m_sdoOrganizations

SDOPackage::OrganizationList	m_sdoOwnedOrganizations

SdoServiceAdmin	m_sdoservice

SDOPackage::NVList	m_sdoStatus

bool	m_writeAll

bool	m_writeAllCompletion

Logger	rtclog

Private Attributes
bool	adjustTime

struct timeval	beginTime

OpenHRP::CollisionSequence	collisions

int	dummy

LogManager< SceneState > *	log

std::vector< RTCBodyPtr >	m_bodies

bool	m_kinematicsOnly

double	m_logTimeStep

double	m_nextLogTime

OpenHRP::OnlineViewer_var	m_olv

std::string	m_project

OpenHRP::WorldState	m_state

double	m_totalTime

bool	m_useOLV

hrp::World< hrp::ConstraintForceSolver >	m_world

std::vector< hrp::ColdetLinkPairPtr >	pairs

std::vector< ClockReceiver >	receivers

std::deque< struct timeval >	startTimes

SceneState	state

TimeMeasure	tm_collision

TimeMeasure	tm_control

TimeMeasure	tm_dynamics

Additional Inherited Members
Public Types inherited from RTC::RTObject_impl
typedef ExecutionContextActionListener	ECActionListener

typedef ExecutionContextActionListenerType	ECActionListenerType

typedef PostComponentActionListener	PostCompActionListener

typedef PostComponentActionListenerType	PostCompActionListenerType

typedef PreComponentActionListener	PreCompActionListener

typedef PreComponentActionListenerType	PreCompActionListenerType

Protected Member Functions inherited from RTC::RTObject_impl
virtual ReturnCode_t	onAborting (RTC::UniqueId exec_handle)

void	onAddPort (const PortProfile &pprof)

void	onAttachExecutionContext (UniqueId ec_id)

void	onDetachExecutionContext (UniqueId ec_id)

virtual ReturnCode_t	onError (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onFinalize ()

virtual ReturnCode_t	onRateChanged (RTC::UniqueId exec_handle)

void	onRemovePort (const PortProfile &pprof)

virtual ReturnCode_t	onReset (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onShutdown (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onStartup (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onStateUpdate (RTC::UniqueId exec_handle)

void	postOnAborting (UniqueId ec_id, ReturnCode_t ret)

void	postOnActivated (UniqueId ec_id, ReturnCode_t ret)

void	postOnDeactivated (UniqueId ec_id, ReturnCode_t ret)

void	postOnError (UniqueId ec_id, ReturnCode_t ret)

void	postOnExecute (UniqueId ec_id, ReturnCode_t ret)

void	postOnFinalize (UniqueId ec_id, ReturnCode_t ret)

void	postOnInitialize (UniqueId ec_id, ReturnCode_t ret)

void	postOnRateChanged (UniqueId ec_id, ReturnCode_t ret)

void	postOnReset (UniqueId ec_id, ReturnCode_t ret)

void	postOnShutdown (UniqueId ec_id, ReturnCode_t ret)

void	postOnStartup (UniqueId ec_id, ReturnCode_t ret)

void	postOnStateUpdate (UniqueId ec_id, ReturnCode_t ret)

void	preOnAborting (UniqueId ec_id)

void	preOnActivated (UniqueId ec_id)

void	preOnDeactivated (UniqueId ec_id)

void	preOnError (UniqueId ec_id)

void	preOnExecute (UniqueId ec_id)

void	preOnFinalize (UniqueId ec_id)

void	preOnInitialize (UniqueId ec_id)

void	preOnRateChanged (UniqueId ec_id)

void	preOnReset (UniqueId ec_id)

void	preOnShutdown (UniqueId ec_id)

void	preOnStartup (UniqueId ec_id)

void	preOnStateUpdate (UniqueId ec_id)

void	shutdown ()

Detailed Description

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

Definition at line 43 of file rtc/Simulator/Simulator.h.

Constructor & Destructor Documentation

Simulator::Simulator ( RTC::Manager * manager )

Constructor.

Parameters

manager pointer to the Manager

Definition at line 41 of file rtc/Simulator/Simulator.cpp.

Simulator::~Simulator ( )

virtual

Destructor.

Definition at line 50 of file rtc/Simulator/Simulator.cpp.

Simulator::Simulator ( LogManager< SceneState > * i_log )

Definition at line 4 of file util/simulator/Simulator.cpp.

Member Function Documentation

void Simulator::addCollisionCheckPair	(	BodyRTC *	b1,
		BodyRTC *	b2
	)

Definition at line 203 of file util/simulator/Simulator.cpp.

void Simulator::appendLog ( )

Definition at line 34 of file util/simulator/Simulator.cpp.

void Simulator::checkCollision ( OpenHRP::CollisionSequence & collisions )

Definition at line 48 of file util/simulator/Simulator.cpp.

void Simulator::checkCollision ( )

Definition at line 43 of file util/simulator/Simulator.cpp.

void Simulator::clear ( void )

Definition at line 188 of file util/simulator/Simulator.cpp.

void Simulator::init	(	Project &	prj,
		BodyFactory &	factory
	)

Definition at line 9 of file util/simulator/Simulator.cpp.

void Simulator::init	(	Project &	prj,
		GLscene *	i_scene,
		RTC::CorbaNaming &	naming
	)

inline

Definition at line 38 of file SimulatorUtil.h.

void Simulator::kinematicsOnly ( bool flag )

Definition at line 245 of file util/simulator/Simulator.cpp.

RTC::ReturnCode_t Simulator::onActivated ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 110 of file rtc/Simulator/Simulator.cpp.

RTC::ReturnCode_t Simulator::onDeactivated ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 261 of file rtc/Simulator/Simulator.cpp.

bool Simulator::oneStep ( )

virtual

Reimplemented from ThreadedObject.

Definition at line 90 of file util/simulator/Simulator.cpp.

bool Simulator::oneStep ( )

inlinevirtual

Reimplemented from ThreadedObject.

Definition at line 48 of file SimulatorUtil.h.

RTC::ReturnCode_t Simulator::onExecute ( RTC::UniqueId ec_id )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 267 of file rtc/Simulator/Simulator.cpp.

RTC::ReturnCode_t Simulator::onInitialize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 56 of file rtc/Simulator/Simulator.cpp.

void Simulator::realTime ( bool flag )

inline

Definition at line 23 of file util/simulator/Simulator.h.

void Simulator::setLogTimeStep ( double time )

inline

Definition at line 26 of file util/simulator/Simulator.h.

void Simulator::setTotalTime ( double time )

inline

Definition at line 24 of file util/simulator/Simulator.h.

double Simulator::totalTime ( )

inline

Definition at line 25 of file util/simulator/Simulator.h.

Member Data Documentation

bool Simulator::adjustTime

private

Definition at line 39 of file util/simulator/Simulator.h.

struct timeval Simulator::beginTime

private

Definition at line 41 of file util/simulator/Simulator.h.

std::vector<BodyRTCPtr> Simulator::bodies

Definition at line 85 of file SimulatorUtil.h.

OpenHRP::CollisionSequence Simulator::collisions

private

Definition at line 35 of file util/simulator/Simulator.h.

int Simulator::dummy

private

Definition at line 147 of file rtc/Simulator/Simulator.h.

LogManager<SceneState>* Simulator::log

private

Definition at line 32 of file util/simulator/Simulator.h.

std::vector<RTCBodyPtr> Simulator::m_bodies

private

Definition at line 141 of file rtc/Simulator/Simulator.h.

bool Simulator::m_kinematicsOnly

private

Definition at line 143 of file rtc/Simulator/Simulator.h.

double Simulator::m_logTimeStep

private

Definition at line 37 of file util/simulator/Simulator.h.

double Simulator::m_nextLogTime

private

Definition at line 37 of file util/simulator/Simulator.h.

OpenHRP::OnlineViewer_var Simulator::m_olv

private

Definition at line 145 of file rtc/Simulator/Simulator.h.

std::string Simulator::m_project

private

Definition at line 142 of file rtc/Simulator/Simulator.h.

OpenHRP::SceneState Simulator::m_sceneState

protected

Definition at line 119 of file rtc/Simulator/Simulator.h.

OutPort<OpenHRP::SceneState> Simulator::m_sceneStateOut

protected

Definition at line 120 of file rtc/Simulator/Simulator.h.

OpenHRP::WorldState Simulator::m_state

private

Definition at line 146 of file rtc/Simulator/Simulator.h.

double Simulator::m_totalTime

private

Definition at line 37 of file util/simulator/Simulator.h.

bool Simulator::m_useOLV

private

Definition at line 144 of file rtc/Simulator/Simulator.h.

hrp::World<hrp::ConstraintForceSolver> Simulator::m_world

private

Definition at line 140 of file rtc/Simulator/Simulator.h.

std::vector<hrp::ColdetLinkPairPtr> Simulator::pairs

private

Definition at line 34 of file util/simulator/Simulator.h.

std::vector< ClockReceiver > Simulator::receivers

private

Definition at line 33 of file util/simulator/Simulator.h.

GLscene* Simulator::scene

Definition at line 89 of file SimulatorUtil.h.

std::deque<struct timeval> Simulator::startTimes

private

Definition at line 40 of file util/simulator/Simulator.h.

SceneState Simulator::state

private

Definition at line 36 of file util/simulator/Simulator.h.

OpenHRP::WorldState Simulator::state

Definition at line 87 of file SimulatorUtil.h.

TimeMeasure Simulator::tm_collision

private

Definition at line 38 of file util/simulator/Simulator.h.

TimeMeasure Simulator::tm_control

private

Definition at line 38 of file util/simulator/Simulator.h.

TimeMeasure Simulator::tm_dynamics

private

Definition at line 38 of file util/simulator/Simulator.h.

double Simulator::totalTime

Definition at line 88 of file SimulatorUtil.h.

hrp::World<hrp::ConstraintForceSolver> Simulator::world

Definition at line 84 of file SimulatorUtil.h.

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

Public Member Functions

Public Attributes

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation