1 #include <kdl/frames.hpp> 31 Vector vector_tmp=prop_vector;
32 prop_vector=vector_in;
39 prop_rotation=rotation_in;
45 Frame frame_tmp=prop_frame;
52 Wrench wrench_tmp=prop_wrench;
53 prop_wrench=wrench_in;
59 Twist twist_tmp=prop_twist;
67 this->addPort(
"VectorOut", port_vector_out);
68 this->addPort(
"RotationOut", port_rotation_out);
69 this->addPort(
"FrameOut", port_frame_out);
70 this->addPort(
"WrenchOut", port_wrench_out);
71 this->addPort(
"TwistOut", port_twist_out);
73 this->addEventPort(
"VectorIn", port_vector_in);
74 this->addEventPort(
"RotationIn", port_rotation_in);
75 this->addEventPort(
"FrameIn", port_frame_in);
76 this->addEventPort(
"WrenchIn", port_wrench_in);
77 this->addEventPort(
"TwistIn", port_twist_in);
85 this->addProperty(
"vectorProperty", prop_vector);
86 this->addProperty(
"rotationProperty", prop_rotation);
87 this->addProperty(
"frameProperty", prop_frame);
88 this->addProperty(
"wrenchProperty", prop_wrench);
89 this->addProperty(
"twistProperty", prop_twist);
96 port_vector_out.
write(prop_vector);
97 prop_vector = tmp_vector;
102 port_rotation_out.
write(prop_rotation);
103 prop_rotation = tmp_rotation;
108 port_frame_out.
write(prop_frame);
109 prop_frame = tmp_frame;
114 port_wrench_out.
write(prop_wrench);
115 prop_wrench = tmp_wrench;
120 port_twist_out.
write(prop_twist);
121 prop_twist = tmp_twist;
InputPort< Rotation > port_rotation_in
Wrench wrenchOperation(const Wrench &wrench_in)
InputPort< Frame > port_frame_in
OutputPort< Rotation > port_rotation_out
InputPort< Vector > port_vector_in
KDLTypekitTestComponent(const string &name)
OutputPort< Wrench > port_wrench_out
OutputPort< Frame > port_frame_out
OutputPort< Vector > port_vector_out
OutputPort< Twist > port_twist_out
WriteStatus write(const T &sample)
InputPort< Twist > port_twist_in
InputPort< Wrench > port_wrench_in
Twist twistOperation(const Twist &twist_in)
Rotation rotationOperation(const Rotation &rotation_in)
ORO_CREATE_COMPONENT(OCL::logging::Log4cxxAppender)
Vector vectorOperation(const Vector &vector_in)
Frame frameOperation(const Frame &frame_in)