#include <BodyRTC.h>

Inheritance diagram for BodyRTC:

[legend]

Public Types
enum	emg_reason { EMG_NONE, EMG_SERVO_ERROR, EMG_FZ }

Public Types inherited from hrp::Body
enum	ExtraJointType

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

Public Member Functions
int	addJointGroup (const char *gname, const std::vector< int >jids)

	BodyRTC (RTC::Manager *manager=&RTC::Manager::instance())

bool	checkEmergency (emg_reason &o_reason, int &o_id)

void	createInPort (const std::string &config)

void	createOutPort (const std::string &config)

std::vector< int >	getJointGroup (const char *gname)

void	getStatus (OpenHRP::RobotHardwareService::RobotState *rs)

void	getStatus2 (OpenHRP::RobotHardwareService::RobotState2 *rs)

int	lengthDigitalInput ()

int	lengthDigitalOutput ()

bool	names2ids (const std::vector< std::string > &i_names, std::vector< int > &o_ids)

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

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

bool	postOneStep ()

bool	power (int jid, bool turnon)

bool	power (const char *jname, bool turnon)

bool	preOneStep ()

int	readCalibState (const int i)

void	readDataPorts ()

bool	readDigitalInput (char *o_din)

bool	readDigitalOutput (char *o_dout)

int	readPowerState (const int i)

int	readServoState (const int i)

bool	resetPosition ()

bool	servo (const char *jname, bool turnon)

bool	servo (int jid, bool turnon)

bool	setServoErrorLimit (const char *i_jname, double i_limit)

RTC::ReturnCode_t	setup ()

void	writeDataPorts (double time)

bool	writeDigitalOutput (const char *i_dout)

bool	writeDigitalOutputWithMask (const char i_dout, const char i_mask)

virtual	~BodyRTC (void)

Public Member Functions inherited from hrp::Body
void	addSensor (Sensor *sensor, int sensorType, int id)

	Body ()

	Body (const Body &org)

void	calcAngularMomentumJacobian (Link *base, dmatrix &H)

Vector3	calcCM ()

void	calcCMJacobian (Link *base, dmatrix &J)

void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)

void	calcInverseDynamics (Link *link, Vector3 &out_f, Vector3 &out_tau)

void	calcMassMatrix (dmatrix &out_M)

double	calcTotalMass ()

void	calcTotalMomentum (Vector3 &out_P, Vector3 &out_L)

void	calcTotalMomentumFromJacobian (Vector3 &out_P, Vector3 &out_L)

void	clearExternalForces ()

void	clearSensorValues ()

Light *	createLight (Link *link, int lightType, const std::string &name)

Sensor *	createSensor (Link *link, int sensorType, int id, const std::string &name)

void	getDefaultRootPosition (Vector3 &out_p, Matrix33 &out_R)

JointPathPtr	getJointPath (Link baseLink, Link targetLink)

void	initializeConfiguration ()

bool	installCustomizer ()

bool	installCustomizer (BodyCustomizerInterface *customizerInterface)

bool	isStaticModel ()

Link *	joint (int id) const

const std::vector< Link *> &	joints () const

Light *	light (const std::string &name)

Link *	link (int index) const

Link *	link (const std::string &name) const

const LinkTraverse &	links () const

const LinkTraverse &	linkTraverse () const

const std::string &	modelName ()

const std::string &	name ()

unsigned int	numJoints () const

unsigned int	numLinks () const

unsigned int	numSensors (int sensorType) const

unsigned int	numSensorTypes () const

void	putInformation (std::ostream &out)

Link *	rootLink () const

Sensor *	sensor (int sensorType, int sensorId) const

TSensor *	sensor (const std::string &name) const

TSensor *	sensor (int id) const

void	setColumnOfMassMatrix (dmatrix &M, int column)

void	setDefaultRootPosition (const Vector3 &p, const Matrix33 &R)

void	setModelName (const std::string &name)

void	setName (const std::string &name)

void	setRootLink (Link *link)

void	setVirtualJointForces ()

double	totalMass () const

void	updateLinkColdetModelPositions ()

void	updateLinkTree ()

virtual	~Body ()

Public Member Functions inherited from hrp::Referenced
	Referenced ()

virtual	~Referenced ()

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)

Static Public Member Functions
static void	moduleInit (RTC::Manager *)

Static Public Member Functions inherited from hrp::Body
static BodyInterface *	bodyInterface ()

Public Attributes
int	m_emergencyId

BodyRTC::emg_reason	m_emergencyReason

std::vector< double >	m_servoErrorLimit

Public Attributes inherited from hrp::Body
	EJ_XY

	EJ_XYZ

	EJ_Z

std::vector< ExtraJoint >	extraJoints

Private Attributes
std::vector< hrp::Vector3 >	accels

std::vector< double >	angles

std::vector< OpenHRP::RobotHardwareService::SwitchStatus >	calib_status

std::vector< double >	commands

int	dummy

std::vector< hrp::dvector6 >	forces

std::vector< hrp::Vector3 >	gyros

std::vector< InPortHandlerBase * >	m_inports

std::map< std::string, std::vector< int > >	m_jointGroups

hrp::Vector3	m_lastServoOn_p

hrp::Matrix33	m_lastServoOn_R

std::vector< OutPortHandlerBase * >	m_outports

bool	m_resetPosition

RTC::CorbaPort	m_RobotHardwareServicePort

RobotHardwareServicePort	m_service0

std::vector< OpenHRP::RobotHardwareService::SwitchStatus >	power_status

std::vector< OpenHRP::RobotHardwareService::SwitchStatus >	servo_status

Static Private Attributes
static const char *	bodyrtc_spec []

Additional Inherited Members
Protected Member Functions inherited from hrp::Referenced
int	refCounter ()

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	onExecute (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onFinalize ()

virtual ReturnCode_t	onInitialize ()

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 ()

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

Detailed Description

Definition at line 60 of file BodyRTC.h.

Member Enumeration Documentation

◆ emg_reason

enum BodyRTC::emg_reason

Enumerator
EMG_NONE
EMG_SERVO_ERROR
EMG_FZ

Definition at line 122 of file BodyRTC.h.

Constructor & Destructor Documentation

◆ BodyRTC()

BodyRTC::BodyRTC ( RTC::Manager * manager = &RTC::Manager::instance() )

Definition at line 29 of file BodyRTC.cpp.

◆ ~BodyRTC()

BodyRTC::~BodyRTC ( void )

virtual

Definition at line 39 of file BodyRTC.cpp.

Member Function Documentation

◆ addJointGroup()

int BodyRTC::addJointGroup	(	const char *	gname,
		const std::vector< int >	jids
	)

inline

Definition at line 90 of file BodyRTC.h.

◆ checkEmergency()

bool BodyRTC::checkEmergency	(	emg_reason &	o_reason,
		int &	o_id
	)

Definition at line 494 of file BodyRTC.cpp.

◆ createInPort()

void BodyRTC::createInPort ( const std::string & config )

Definition at line 140 of file BodyRTC.cpp.

◆ createOutPort()

void BodyRTC::createOutPort ( const std::string & config )

Definition at line 219 of file BodyRTC.cpp.

◆ getJointGroup()

std::vector<int> BodyRTC::getJointGroup ( const char * gname )

inline

Definition at line 89 of file BodyRTC.h.

◆ getStatus()

void BodyRTC::getStatus ( OpenHRP::RobotHardwareService::RobotState * rs )

Definition at line 414 of file BodyRTC.cpp.

◆ getStatus2()

void BodyRTC::getStatus2 ( OpenHRP::RobotHardwareService::RobotState2 * rs )

Definition at line 459 of file BodyRTC.cpp.

◆ lengthDigitalInput()

int BodyRTC::lengthDigitalInput ( )

◆ lengthDigitalOutput()

int BodyRTC::lengthDigitalOutput ( )

◆ moduleInit()

void BodyRTC::moduleInit ( RTC::Manager * manager )

static

Definition at line 732 of file BodyRTC.cpp.

◆ names2ids()

bool BodyRTC::names2ids	(	const std::vector< std::string > &	i_names,
		std::vector< int > &	o_ids
	)

Definition at line 397 of file BodyRTC.cpp.

◆ onActivated()

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

inlinevirtual

Reimplemented from RTC::RTObject_impl.

Definition at line 68 of file BodyRTC.h.

◆ onDeactivated()

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

inlinevirtual

Reimplemented from RTC::RTObject_impl.

Definition at line 72 of file BodyRTC.h.

◆ postOneStep()

bool BodyRTC::postOneStep ( )

Definition at line 569 of file BodyRTC.cpp.

◆ power() [1/2]

bool BodyRTC::power	(	int	jid,
		bool	turnon
	)

inline

Definition at line 93 of file BodyRTC.h.

◆ power() [2/2]

bool BodyRTC::power	(	const char *	jname,
		bool	turnon
	)

Definition at line 629 of file BodyRTC.cpp.

◆ preOneStep()

bool BodyRTC::preOneStep ( )

Definition at line 521 of file BodyRTC.cpp.

◆ readCalibState()

int BodyRTC::readCalibState ( const int i )

inline

Definition at line 104 of file BodyRTC.h.

◆ readDataPorts()

void BodyRTC::readDataPorts ( )

Definition at line 57 of file BodyRTC.cpp.

◆ readDigitalInput()

bool BodyRTC::readDigitalInput ( char * o_din )

◆ readDigitalOutput()

bool BodyRTC::readDigitalOutput ( char * o_dout )

◆ readPowerState()

int BodyRTC::readPowerState ( const int i )

inline

Definition at line 105 of file BodyRTC.h.

◆ readServoState()

int BodyRTC::readServoState ( const int i )

inline

Definition at line 106 of file BodyRTC.h.

◆ resetPosition()

bool BodyRTC::resetPosition ( )

inline

Definition at line 139 of file BodyRTC.h.

◆ servo() [1/2]

bool BodyRTC::servo	(	const char *	jname,
		bool	turnon
	)

Definition at line 605 of file BodyRTC.cpp.

◆ servo() [2/2]

bool BodyRTC::servo	(	int	jid,
		bool	turnon
	)

inline

Definition at line 95 of file BodyRTC.h.

◆ setServoErrorLimit()

bool BodyRTC::setServoErrorLimit	(	const char *	i_jname,
		double	i_limit
	)

Definition at line 462 of file BodyRTC.cpp.

◆ setup()

RTC::ReturnCode_t BodyRTC::setup ( )

Definition at line 65 of file BodyRTC.cpp.

◆ writeDataPorts()

void BodyRTC::writeDataPorts ( double time )

Definition at line 50 of file BodyRTC.cpp.

◆ writeDigitalOutput()

bool BodyRTC::writeDigitalOutput ( const char * i_dout )

◆ writeDigitalOutputWithMask()

bool BodyRTC::writeDigitalOutputWithMask	(	const char *	i_dout,
		const char *	i_mask
	)

Member Data Documentation

◆ accels

std::vector<hrp::Vector3> BodyRTC::accels

private

Definition at line 159 of file BodyRTC.h.

◆ angles

std::vector<double> BodyRTC::angles

private

Definition at line 157 of file BodyRTC.h.

◆ bodyrtc_spec

const char * BodyRTC::bodyrtc_spec

staticprivate

Initial value:

=
{
    "implementation_id", "BodyRTC",
    "type_name",         "BodyRTC",
    "description",       "BodyRTC component",
    "version",           "0.1",
    "vendor",            "AIST",
    "category",          "Generic",
    "activity_type",     "DataFlowComponent",
    "max_instance",      "10",
    "language",          "C++",
    "lang_type",         "compile",
    
    ""
}

Definition at line 145 of file BodyRTC.h.

◆ calib_status

std::vector<OpenHRP::RobotHardwareService::SwitchStatus> BodyRTC::calib_status

private

Definition at line 162 of file BodyRTC.h.

◆ commands

std::vector<double> BodyRTC::commands

private

Definition at line 158 of file BodyRTC.h.

◆ dummy

int BodyRTC::dummy

private

Definition at line 172 of file BodyRTC.h.

◆ forces

std::vector<hrp::dvector6> BodyRTC::forces

private

Definition at line 161 of file BodyRTC.h.

◆ gyros

std::vector<hrp::Vector3> BodyRTC::gyros

private

Definition at line 160 of file BodyRTC.h.

◆ m_emergencyId

int BodyRTC::m_emergencyId

Definition at line 142 of file BodyRTC.h.

◆ m_emergencyReason

BodyRTC::emg_reason BodyRTC::m_emergencyReason

Definition at line 141 of file BodyRTC.h.

◆ m_inports

std::vector<InPortHandlerBase *> BodyRTC::m_inports

private

Definition at line 147 of file BodyRTC.h.

◆ m_jointGroups

std::map<std::string, std::vector<int> > BodyRTC::m_jointGroups

private

Definition at line 165 of file BodyRTC.h.

◆ m_lastServoOn_p

hrp::Vector3 BodyRTC::m_lastServoOn_p

private

Definition at line 169 of file BodyRTC.h.

◆ m_lastServoOn_R

hrp::Matrix33 BodyRTC::m_lastServoOn_R

private

Definition at line 170 of file BodyRTC.h.

◆ m_outports

std::vector<OutPortHandlerBase *> BodyRTC::m_outports

private

Definition at line 150 of file BodyRTC.h.

◆ m_resetPosition

bool BodyRTC::m_resetPosition

private

Definition at line 168 of file BodyRTC.h.

◆ m_RobotHardwareServicePort

RTC::CorbaPort BodyRTC::m_RobotHardwareServicePort

private

Definition at line 153 of file BodyRTC.h.

◆ m_service0

RobotHardwareServicePort BodyRTC::m_service0

private

Definition at line 154 of file BodyRTC.h.

◆ m_servoErrorLimit

std::vector<double> BodyRTC::m_servoErrorLimit

Definition at line 128 of file BodyRTC.h.

◆ power_status

std::vector<OpenHRP::RobotHardwareService::SwitchStatus> BodyRTC::power_status

private

Definition at line 164 of file BodyRTC.h.

◆ servo_status

std::vector<OpenHRP::RobotHardwareService::SwitchStatus> BodyRTC::servo_status

private

Definition at line 163 of file BodyRTC.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ emg_reason

Constructor & Destructor Documentation

◆ BodyRTC()

◆ ~BodyRTC()

Member Function Documentation

◆ addJointGroup()

◆ checkEmergency()

◆ createInPort()

◆ createOutPort()

◆ getJointGroup()

◆ getStatus()

◆ getStatus2()

◆ lengthDigitalInput()

◆ lengthDigitalOutput()

◆ moduleInit()

◆ names2ids()

◆ onActivated()

◆ onDeactivated()

◆ postOneStep()

◆ power() [1/2]

◆ power() [2/2]

◆ preOneStep()

◆ readCalibState()

◆ readDataPorts()

◆ readDigitalInput()

◆ readDigitalOutput()

◆ readPowerState()

◆ readServoState()

◆ resetPosition()

◆ servo() [1/2]

◆ servo() [2/2]

◆ setServoErrorLimit()

◆ setup()

◆ writeDataPorts()

◆ writeDigitalOutput()

◆ writeDigitalOutputWithMask()

Member Data Documentation

◆ accels

◆ angles

◆ bodyrtc_spec

◆ calib_status

◆ commands

◆ dummy

◆ forces

◆ gyros

◆ m_emergencyId

◆ m_emergencyReason

◆ m_inports

◆ m_jointGroups

◆ m_lastServoOn_p

◆ m_lastServoOn_R

◆ m_outports

◆ m_resetPosition

◆ m_RobotHardwareServicePort

◆ m_service0

◆ m_servoErrorLimit

◆ power_status

◆ servo_status