OGMap3DViewer.h
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1 // -*- C++ -*-
10 #ifndef OGMAP3DVIEWER_H
11 #define OGMAP3DVIEWER_H
12 
13 #include <rtm/idl/BasicDataType.hh>
14 #include <rtm/idl/InterfaceDataTypes.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/InterfaceDataTypes.hh>
22 //Open CV headder
23 #include <cv.h>
24 #include <highgui.h>
25 #include "hrpsys/idl/OGMap3DService.hh"
26 
27 class GLbody;
28 class CMapSceneNode;
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 
47 {
48  public:
57  virtual ~OGMap3DViewer();
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 
108  protected:
109  // Configuration variable declaration
110  // <rtc-template block="config_declare">
111 
112  // </rtc-template>
113 
114  OGMapCells m_cells;
115  TimedDoubleSeq m_q;
116  TimedPoint3D m_p;
117  TimedOrientation3D m_rpy;
118 
119  // DataInPort declaration
120  // <rtc-template block="inport_declare">
124 
125  // </rtc-template>
126 
127  // DataOutPort declaration
128  // <rtc-template block="outport_declare">
129 
130  // </rtc-template>
131 
132  // CORBA Port declaration
133  // <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  bool m_isopen;
152  double m_xSize, m_ySize, m_zSize;
153  double m_xOrigin, m_yOrigin, m_zOrigin;
156  unsigned int m_imageCount;
157  bool m_generateMovie, m_isGeneratingMovie;
159  OpenHRP::OGMap3D *m_ogmap;
160  CvVideoWriter *m_videoWriter;
161  IplImage *m_cvImage;
162 };
163 
164 
165 extern "C"
166 {
168 };
169 
170 #endif // OGMAP3DVIEWER_H
ec_id
void OGMap3DViewerInit(RTC::Manager *manager)
GLbody * m_body
InPort< TimedDoubleSeq > m_qIn
manager
InPort< TimedPoint3D > m_pIn
unsigned int m_imageCount
OpenHRP::OGMap3D * m_ogmap
TimedOrientation3D m_rpy
bool m_isGeneratingMovie
RTC::CorbaConsumer< OpenHRP::OGMap3DService > m_OGMap3DService
Definition: GLbody.h:11
bool m_generateImageSequence
IplImage * m_cvImage
TimedDoubleSeq m_q
ExecutionContextHandle_t UniqueId
InPort< TimedOrientation3D > m_rpyIn
OGMapCells m_cells
RTC::CorbaPort m_OGMap3DServicePort
CMapSceneNode * m_mapNode
TimedPoint3D m_p
CvVideoWriter * m_videoWriter
sample RT component which has one data input port and one data output port
Definition: OGMap3DViewer.h:45


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:20