JoystickController.h
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1 // -*- C++ -*-
2 /*
3  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
4  * All rights reserved. This program is made available under the terms of the
5  * Eclipse Public License v1.0 which accompanies this distribution, and is
6  * available at http://www.eclipse.org/legal/epl-v10.html
7  * Contributors:
8  * National Institute of Advanced Industrial Science and Technology (AIST)
9  * General Robotix Inc.
10  */
19 #ifndef JOYSTICKCONTROLLER_H
20 #define JOYSTICKCONTROLLER_H
21 
22 #include <rtm/idl/BasicDataType.hh>
23 #include <rtm/Manager.h>
24 #include <rtm/DataFlowComponentBase.h>
25 #include <rtm/CorbaPort.h>
26 #include <rtm/DataInPort.h>
27 #include <rtm/DataOutPort.h>
28 #include <rtm/idl/BasicDataTypeSkel.h>
29 
30 // Service implementation headers
31 // <rtc-template block="service_impl_h">
32 
33 // </rtc-template>
34 
35 // Service Consumer stub headers
36 // <rtc-template block="consumer_stub_h">
37 
38 // </rtc-template>
39 
40 using namespace RTC;
41 
44 {
45  public:
48 
49  // <rtc-template block="public_attribute">
50 
51  // </rtc-template>
52 
53  // <rtc-template block="public_operation">
54 
55  // </rtc-template>
56 
57  // The initialize action (on CREATED->ALIVE transition)
58  // formaer rtc_init_entry()
59  virtual RTC::ReturnCode_t onInitialize();
60 
61  // The finalize action (on ALIVE->END transition)
62  // formaer rtc_exiting_entry()
63  // virtual RTC::ReturnCode_t onFinalize();
64 
65  // The startup action when ExecutionContext startup
66  // former rtc_starting_entry()
67  // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
68 
69  // The shutdown action when ExecutionContext stop
70  // former rtc_stopping_entry()
71  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
72 
73  // The activated action (Active state entry action)
74  // former rtc_active_entry()
75  // virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
76 
77  // The deactivated action (Active state exit action)
78  // former rtc_active_exit()
79  // virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
80 
81  // The execution action that is invoked periodically
82  // former rtc_active_do()
83  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
84 
85  // The aborting action when main logic error occurred.
86  // former rtc_aborting_entry()
87  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
88 
89  // The error action in ERROR state
90  // former rtc_error_do()
91  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
92 
93  // The reset action that is invoked resetting
94  // This is same but different the former rtc_init_entry()
95  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
96 
97  // The state update action that is invoked after onExecute() action
98  // no corresponding operation exists in OpenRTm-aist-0.2.0
99  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
100 
101  // The action that is invoked when execution context's rate is changed
102  // no corresponding operation exists in OpenRTm-aist-0.2.0
103  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
104 
105 
106  protected:
107  // <rtc-template block="protected_attribute">
108 
109  // </rtc-template>
110 
111  // <rtc-template block="protected_operation">
112 
113  // </rtc-template>
114 
115  // DataInPort declaration
116  // <rtc-template block="inport_declare">
117  TimedDoubleSeq m_angle;
119  TimedDoubleSeq m_velocity;
121  TimedFloatSeq m_command;
123 
124  // </rtc-template>
125 
126 
127  // DataOutPort declaration
128  // <rtc-template block="outport_declare">
129  TimedDoubleSeq m_torque;
131 
132  // </rtc-template>
133 
134  // CORBA Port declaration
135  // <rtc-template block="corbaport_declare">
136 
137  // </rtc-template>
138 
139  // Service declaration
140  // <rtc-template block="service_declare">
141 
142  // </rtc-template>
143 
144  // Consumer declaration
145  // <rtc-template block="consumer_declare">
146 
147  // </rtc-template>
148 
149  private:
150  int dummy;
151  // <rtc-template block="private_attribute">
152 
153  // </rtc-template>
154 
155  // <rtc-template block="private_operation">
156 
157  // </rtc-template>
158 
159 };
160 
161 
162 extern "C"
163 {
165 };
166 
167 #endif // JOYSTICKCONTROLLER_H
ec_id
TimedDoubleSeq m_angle
TimedDoubleSeq m_torque
TimedDoubleSeq m_velocity
manager
InPort< TimedFloatSeq > m_commandIn
ExecutionContextHandle_t UniqueId
InPort< TimedDoubleSeq > m_angleIn
OutPort< TimedDoubleSeq > m_torqueOut
DLL_EXPORT void JoystickControllerInit(RTC::Manager *manager)
InPort< TimedDoubleSeq > m_velocityIn
#define DLL_EXPORT


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat Apr 13 2019 02:14:23