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

#include <PCDLoader.h>

Inheritance diagram for PCDLoader:

Public Member Functions
bool	load (const std::string &filename, const std::string &label)

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	onInitialize ()

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

virtual	~PCDLoader ()
	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	setCloudXYZ (PointCloudTypes::PointCloud &cloud, const pcl::PointCloud< pcl::PointXYZ >::Ptr cloud_raw)

void	setCloudXYZRGB (PointCloudTypes::PointCloud &cloud, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_raw)

void	updateOffsetToCloudXYZ (void)

void	updateOffsetToCloudXYZRGB (void)

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	onFinalize ()

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
PointCloudTypes::PointCloud	m_cloud

OutPort< PointCloudTypes::PointCloud >	m_cloudOut

RTC::TimedBoolean	m_isOutput

OutPort< RTC::TimedBoolean >	m_isOutputOut

OpenHRP::PCDOffsetSeq	m_offset

InPort< OpenHRP::PCDOffsetSeq >	m_offsetIn

RTC::CorbaPort	m_PCDLoaderServicePort

PCDLoaderService_impl	m_service0

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
int	dummy

boost::unordered_map< std::string, pcl::PointCloud< pcl::PointXYZ >::Ptr >	m_clouds_xyz

boost::unordered_map< std::string, pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	m_clouds_xyzrgb

std::string	m_fields

std::string	m_path

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 42 of file PCDLoader.h.

Constructor & Destructor Documentation

◆ PCDLoader()

PCDLoader::PCDLoader ( RTC::Manager * manager )

Constructor.

Parameters

manager pointer to the Manager

Definition at line 37 of file PCDLoader.cpp.

◆ ~PCDLoader()

PCDLoader::~PCDLoader ( )

virtual

Destructor.

Definition at line 49 of file PCDLoader.cpp.

Member Function Documentation

◆ load()

bool PCDLoader::load	(	const std::string &	filename,
		const std::string &	label
	)

Definition at line 363 of file PCDLoader.cpp.

◆ onActivated()

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

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 266 of file PCDLoader.cpp.

◆ onDeactivated()

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

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 272 of file PCDLoader.cpp.

◆ onExecute()

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

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 278 of file PCDLoader.cpp.

◆ onInitialize()

RTC::ReturnCode_t PCDLoader::onInitialize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 55 of file PCDLoader.cpp.

◆ setCloudXYZ()

void PCDLoader::setCloudXYZ	(	PointCloudTypes::PointCloud &	cloud,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud_raw
	)

protected

Definition at line 91 of file PCDLoader.cpp.

◆ setCloudXYZRGB()

void PCDLoader::setCloudXYZRGB	(	PointCloudTypes::PointCloud &	cloud,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud_raw
	)

protected

Definition at line 126 of file PCDLoader.cpp.

◆ updateOffsetToCloudXYZ()

void PCDLoader::updateOffsetToCloudXYZ ( void )

protected

Definition at line 177 of file PCDLoader.cpp.

◆ updateOffsetToCloudXYZRGB()

void PCDLoader::updateOffsetToCloudXYZRGB ( void )

protected

Definition at line 211 of file PCDLoader.cpp.

Member Data Documentation

◆ dummy

int PCDLoader::dummy

private

Definition at line 157 of file PCDLoader.h.

◆ m_cloud

PointCloudTypes::PointCloud PCDLoader::m_cloud

protected

Definition at line 112 of file PCDLoader.h.

◆ m_cloudOut

OutPort<PointCloudTypes::PointCloud> PCDLoader::m_cloudOut

protected

Definition at line 125 of file PCDLoader.h.

◆ m_clouds_xyz

boost::unordered_map<std::string, pcl::PointCloud<pcl::PointXYZ>::Ptr> PCDLoader::m_clouds_xyz

private

Definition at line 158 of file PCDLoader.h.

◆ m_clouds_xyzrgb

boost::unordered_map<std::string, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> PCDLoader::m_clouds_xyzrgb

private

Definition at line 159 of file PCDLoader.h.

◆ m_fields

std::string PCDLoader::m_fields

private

Definition at line 156 of file PCDLoader.h.

◆ m_isOutput

RTC::TimedBoolean PCDLoader::m_isOutput

protected

Definition at line 114 of file PCDLoader.h.

◆ m_isOutputOut

OutPort<RTC::TimedBoolean> PCDLoader::m_isOutputOut

protected

Definition at line 126 of file PCDLoader.h.

◆ m_offset

OpenHRP::PCDOffsetSeq PCDLoader::m_offset

protected

Definition at line 113 of file PCDLoader.h.

◆ m_offsetIn

InPort<OpenHRP::PCDOffsetSeq> PCDLoader::m_offsetIn

protected

Definition at line 119 of file PCDLoader.h.

◆ m_path

std::string PCDLoader::m_path

private

Definition at line 156 of file PCDLoader.h.

◆ m_PCDLoaderServicePort

RTC::CorbaPort PCDLoader::m_PCDLoaderServicePort

protected

Definition at line 132 of file PCDLoader.h.

◆ m_service0

PCDLoaderService_impl PCDLoader::m_service0

protected

Definition at line 138 of file PCDLoader.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PCDLoader()

◆ ~PCDLoader()

Member Function Documentation

◆ load()

◆ onActivated()

◆ onDeactivated()

◆ onExecute()

◆ onInitialize()

◆ setCloudXYZ()

◆ setCloudXYZRGB()

◆ updateOffsetToCloudXYZ()

◆ updateOffsetToCloudXYZRGB()

Member Data Documentation

◆ dummy

◆ m_cloud

◆ m_cloudOut

◆ m_clouds_xyz

◆ m_clouds_xyzrgb

◆ m_fields

◆ m_isOutput

◆ m_isOutputOut

◆ m_offset

◆ m_offsetIn

◆ m_path

◆ m_PCDLoaderServicePort

◆ m_service0