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

#include <CollisionDetector.h>

Inheritance diagram for CollisionDetector:

Classes
class	CollisionLinkPair

Public Member Functions
bool	checkIsSafeTransition (void)

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

bool	disable (void)

bool	enable (void)

bool	getCollisionStatus (OpenHRP::CollisionDetectorService::CollisionState &state)

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

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

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

virtual RTC::ReturnCode_t	onFinalize ()

virtual RTC::ReturnCode_t	onInitialize ()

bool	setCollisionLoop (int input_loop)

bool	setTolerance (const char *i_link_pair_name, double i_tolerance)

virtual	~CollisionDetector ()
	Destructor. More...

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)

Protected Member Functions
void	setupVClipModel (hrp::BodyPtr i_body)

void	setupVClipModel (hrp::Link *i_link)

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	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
TimedLongSeq	m_beepCommand

OutPort< TimedLongSeq >	m_beepCommandOut

RTC::CorbaPort	m_CollisionDetectorServicePort

TimedDoubleSeq	m_q

TimedDoubleSeq	m_qCurrent

InPort< TimedDoubleSeq >	m_qCurrentIn

OutPort< TimedDoubleSeq >	m_qOut

TimedDoubleSeq	m_qRef

InPort< TimedDoubleSeq >	m_qRefIn

CollisionDetectorService_impl	m_service0

OpenHRP::TimedLongSeqSeq	m_servoState

InPort< OpenHRP::TimedLongSeqSeq >	m_servoStateIn

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
BeepClient	bc

int	collision_beep_count

int	collision_beep_freq

int	default_recover_time

int	dummy

double	i_dt

bool	is_beep_port_connected

int	m_collision_loop

std::vector< int >	m_curr_collision_mask

unsigned int	m_debugLevel

double	m_dt

bool	m_enable

bool	m_have_safe_posture

std::vector< int >	m_init_collision_mask

interpolator *	m_interpolator

double *	m_lastsafe_jointdata

bool *	m_link_collision

int	m_loop_for_check

std::map< std::string, CollisionLinkPair * >	m_pair

double *	m_recover_jointdata

int	m_recover_time

hrp::BodyPtr	m_robot

bool	m_safe_posture

OpenHRP::CollisionDetectorService::CollisionState	m_state

bool	m_use_limb_collision

bool	m_use_viewer

std::vector< Vclip::Polyhedron * >	m_VclipLinks

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

Detailed Description

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

Definition at line 51 of file CollisionDetector.h.

Constructor & Destructor Documentation

◆ CollisionDetector()

CollisionDetector::CollisionDetector ( RTC::Manager * manager )

Constructor.

Parameters

manager pointer to the Manager

Definition at line 60 of file CollisionDetector.cpp.

◆ ~CollisionDetector()

CollisionDetector::~CollisionDetector ( )

virtual

Destructor.

Definition at line 94 of file CollisionDetector.cpp.

Member Function Documentation

◆ checkIsSafeTransition()

bool CollisionDetector::checkIsSafeTransition ( void )

Definition at line 726 of file CollisionDetector.cpp.

◆ disable()

bool CollisionDetector::disable ( void )

Definition at line 774 of file CollisionDetector.cpp.

◆ enable()

bool CollisionDetector::enable ( void )

Definition at line 736 of file CollisionDetector.cpp.

◆ getCollisionStatus()

bool CollisionDetector::getCollisionStatus ( OpenHRP::CollisionDetectorService::CollisionState & state )

Definition at line 710 of file CollisionDetector.cpp.

◆ onActivated()

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

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 318 of file CollisionDetector.cpp.

◆ onDeactivated()

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

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 325 of file CollisionDetector.cpp.

◆ onExecute()

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

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 332 of file CollisionDetector.cpp.

◆ onFinalize()

RTC::ReturnCode_t CollisionDetector::onFinalize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 295 of file CollisionDetector.cpp.

◆ onInitialize()

RTC::ReturnCode_t CollisionDetector::onInitialize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 101 of file CollisionDetector.cpp.

◆ setCollisionLoop()

bool CollisionDetector::setCollisionLoop ( int input_loop )

Definition at line 702 of file CollisionDetector.cpp.

◆ setTolerance()

bool CollisionDetector::setTolerance	(	const char *	i_link_pair_name,
		double	i_tolerance
	)

Definition at line 689 of file CollisionDetector.cpp.

◆ setupVClipModel() [1/2]

void CollisionDetector::setupVClipModel ( hrp::BodyPtr i_body )

protected

Definition at line 716 of file CollisionDetector.cpp.

◆ setupVClipModel() [2/2]

void CollisionDetector::setupVClipModel ( hrp::Link * i_link )

protected

Definition at line 785 of file CollisionDetector.cpp.

Member Data Documentation

◆ bc

BeepClient CollisionDetector::bc

private

Definition at line 204 of file CollisionDetector.h.

◆ collision_beep_count

int CollisionDetector::collision_beep_count

private

Definition at line 201 of file CollisionDetector.h.

◆ collision_beep_freq

int CollisionDetector::collision_beep_freq

private

Definition at line 201 of file CollisionDetector.h.

◆ default_recover_time

int CollisionDetector::default_recover_time

private

Definition at line 198 of file CollisionDetector.h.

◆ dummy

int CollisionDetector::dummy

private

Definition at line 208 of file CollisionDetector.h.

◆ i_dt

double CollisionDetector::i_dt

private

Definition at line 197 of file CollisionDetector.h.

◆ is_beep_port_connected

bool CollisionDetector::is_beep_port_connected

private

Definition at line 207 of file CollisionDetector.h.

◆ m_beepCommand

TimedLongSeq CollisionDetector::m_beepCommand

protected

Definition at line 142 of file CollisionDetector.h.

◆ m_beepCommandOut

OutPort<TimedLongSeq> CollisionDetector::m_beepCommandOut

protected

Definition at line 143 of file CollisionDetector.h.

◆ m_collision_loop

int CollisionDetector::m_collision_loop

private

Definition at line 189 of file CollisionDetector.h.

◆ m_CollisionDetectorServicePort

RTC::CorbaPort CollisionDetector::m_CollisionDetectorServicePort

protected

Definition at line 149 of file CollisionDetector.h.

◆ m_curr_collision_mask

std::vector<int> CollisionDetector::m_curr_collision_mask

private

Definition at line 184 of file CollisionDetector.h.

◆ m_debugLevel

unsigned int CollisionDetector::m_debugLevel

private

Definition at line 199 of file CollisionDetector.h.

◆ m_dt

double CollisionDetector::m_dt

private

Definition at line 192 of file CollisionDetector.h.

◆ m_enable

bool CollisionDetector::m_enable

private

Definition at line 200 of file CollisionDetector.h.

◆ m_have_safe_posture

bool CollisionDetector::m_have_safe_posture

private

Definition at line 202 of file CollisionDetector.h.

◆ m_init_collision_mask

std::vector<int> CollisionDetector::m_init_collision_mask

private

Definition at line 184 of file CollisionDetector.h.

◆ m_interpolator

interpolator* CollisionDetector::m_interpolator

private

Definition at line 196 of file CollisionDetector.h.

◆ m_lastsafe_jointdata

double * CollisionDetector::m_lastsafe_jointdata

private

Definition at line 194 of file CollisionDetector.h.

◆ m_link_collision

bool* CollisionDetector::m_link_collision

private

Definition at line 195 of file CollisionDetector.h.

◆ m_loop_for_check

int CollisionDetector::m_loop_for_check

private

Definition at line 189 of file CollisionDetector.h.

◆ m_pair

std::map<std::string, CollisionLinkPair *> CollisionDetector::m_pair

private

Definition at line 188 of file CollisionDetector.h.

◆ m_q

TimedDoubleSeq CollisionDetector::m_q

protected

Definition at line 140 of file CollisionDetector.h.

◆ m_qCurrent

TimedDoubleSeq CollisionDetector::m_qCurrent

protected

Definition at line 131 of file CollisionDetector.h.

◆ m_qCurrentIn

InPort<TimedDoubleSeq> CollisionDetector::m_qCurrentIn

protected

Definition at line 132 of file CollisionDetector.h.

◆ m_qOut

OutPort<TimedDoubleSeq> CollisionDetector::m_qOut

protected

Definition at line 141 of file CollisionDetector.h.

◆ m_qRef

TimedDoubleSeq CollisionDetector::m_qRef

protected

Definition at line 129 of file CollisionDetector.h.

◆ m_qRefIn

InPort<TimedDoubleSeq> CollisionDetector::m_qRefIn

protected

Definition at line 130 of file CollisionDetector.h.

◆ m_recover_jointdata

double* CollisionDetector::m_recover_jointdata

private

Definition at line 194 of file CollisionDetector.h.

◆ m_recover_time

int CollisionDetector::m_recover_time

private

Definition at line 191 of file CollisionDetector.h.

◆ m_robot

hrp::BodyPtr CollisionDetector::m_robot

private

Definition at line 187 of file CollisionDetector.h.

◆ m_safe_posture

bool CollisionDetector::m_safe_posture

private

Definition at line 190 of file CollisionDetector.h.

◆ m_service0

CollisionDetectorService_impl CollisionDetector::m_service0

protected

Definition at line 155 of file CollisionDetector.h.

◆ m_servoState

OpenHRP::TimedLongSeqSeq CollisionDetector::m_servoState

protected

Definition at line 133 of file CollisionDetector.h.

◆ m_servoStateIn

InPort<OpenHRP::TimedLongSeqSeq> CollisionDetector::m_servoStateIn

protected

Definition at line 134 of file CollisionDetector.h.

◆ m_state

OpenHRP::CollisionDetectorService::CollisionState CollisionDetector::m_state

private

Definition at line 203 of file CollisionDetector.h.

◆ m_use_limb_collision

bool CollisionDetector::m_use_limb_collision

private

Definition at line 185 of file CollisionDetector.h.

◆ m_use_viewer

bool CollisionDetector::m_use_viewer

private

Definition at line 186 of file CollisionDetector.h.

◆ m_VclipLinks

std::vector<Vclip::Polyhedron *> CollisionDetector::m_VclipLinks

private

Definition at line 183 of file CollisionDetector.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CollisionDetector()

◆ ~CollisionDetector()

Member Function Documentation

◆ checkIsSafeTransition()

◆ disable()

◆ enable()

◆ getCollisionStatus()

◆ onActivated()

◆ onDeactivated()

◆ onExecute()

◆ onFinalize()

◆ onInitialize()

◆ setCollisionLoop()

◆ setTolerance()

◆ setupVClipModel() [1/2]

◆ setupVClipModel() [2/2]

Member Data Documentation

◆ bc

◆ collision_beep_count

◆ collision_beep_freq

◆ default_recover_time

◆ dummy

◆ i_dt

◆ is_beep_port_connected

◆ m_beepCommand

◆ m_beepCommandOut

◆ m_collision_loop

◆ m_CollisionDetectorServicePort

◆ m_curr_collision_mask

◆ m_debugLevel

◆ m_dt

◆ m_enable

◆ m_have_safe_posture

◆ m_init_collision_mask

◆ m_interpolator

◆ m_lastsafe_jointdata

◆ m_link_collision

◆ m_loop_for_check

◆ m_pair

◆ m_q

◆ m_qCurrent

◆ m_qCurrentIn

◆ m_qOut

◆ m_qRef

◆ m_qRefIn

◆ m_recover_jointdata

◆ m_recover_time

◆ m_robot

◆ m_safe_posture

◆ m_service0

◆ m_servoState

◆ m_servoStateIn

◆ m_state

◆ m_use_limb_collision

◆ m_use_viewer

◆ m_VclipLinks