wbc::RbsToCartesianStateTask Class Reference

The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. More...

#include <RbsToCartesianStateTask.hpp>

Inheritance diagram for wbc::RbsToCartesianStateTask:

Public Member Functions
	RbsToCartesianStateTask (std::string const &name="wbc::RbsToCartesianStateTask")
	~RbsToCartesianStateTask ()
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	errorHook ()
void	stopHook ()
void	cleanupHook ()

Protected Types
typedef RTT::InputPort< base::samples::RigidBodyState >	RbsInputPort
typedef std::shared_ptr< RTT::InputPort< base::samples::RigidBodyState > >	RbsInputPortPtr
typedef RTT::OutputPort< base::samples::RigidBodyStateSE3 >	CartesianStateOutputPort
typedef std::shared_ptr< RTT::OutputPort< base::samples::RigidBodyStateSE3 > >	CartesianStateOutputPortPtr
typedef std::map< std::string, RbsInputPortPtr >	RbsInputPortMap
typedef std::map< std::string, CartesianStateOutputPortPtr >	CartesianStateOutputPortMap

Protected Member Functions
base::samples::RigidBodyStateSE3	fromRigidBodyState (const base::samples::RigidBodyState &in)

Protected Attributes
RbsInputPortMap	input_port_map
CartesianStateOutputPortMap	output_port_map

Friends
class	RbsToCartesianStateTaskBase

Detailed Description

The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow.

Convert samples of type base/samples/CartesianState to type base/samples/RigidBodyState and vice versa

   \details
   The name of a TaskContext is primarily defined via:
 \verbatim
 deployment 'deployment_name'
     task('custom_task_name','wbc::RbsToCartesianStateTask')
 end
 \endverbatim
    It can be dynamically adapted when the deployment is called with a prefix argument.

Member Typedef Documentation

CartesianStateOutputPort

typedef RTT::OutputPort<base::samples::RigidBodyStateSE3> wbc::RbsToCartesianStateTask::CartesianStateOutputPort

protected

CartesianStateOutputPortMap

typedef std::map<std::string, CartesianStateOutputPortPtr> wbc::RbsToCartesianStateTask::CartesianStateOutputPortMap

protected

CartesianStateOutputPortPtr

typedef std::shared_ptr< RTT::OutputPort<base::samples::RigidBodyStateSE3> > wbc::RbsToCartesianStateTask::CartesianStateOutputPortPtr

protected

RbsInputPort

typedef RTT::InputPort<base::samples::RigidBodyState> wbc::RbsToCartesianStateTask::RbsInputPort

protected

RbsInputPortMap

typedef std::map<std::string, RbsInputPortPtr> wbc::RbsToCartesianStateTask::RbsInputPortMap

protected

RbsInputPortPtr

typedef std::shared_ptr< RTT::InputPort<base::samples::RigidBodyState> > wbc::RbsToCartesianStateTask::RbsInputPortPtr

protected

Constructor & Destructor Documentation

RbsToCartesianStateTask()

RbsToCartesianStateTask::RbsToCartesianStateTask

(

std::string const &

name = "wbc::RbsToCartesianStateTask"

)

TaskContext constructor for RbsToCartesianStateTask

Parameters

name	Name of the task. This name needs to be unique to make it identifiable via nameservices.
initial_state	The initial TaskState of the TaskContext. Default is Stopped state.

~RbsToCartesianStateTask()

RbsToCartesianStateTask::~RbsToCartesianStateTask

(

)

Default deconstructor of RbsToCartesianStateTask

Member Function Documentation

cleanupHook()

void RbsToCartesianStateTask::cleanupHook

(

)

This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.

configureHook()

bool RbsToCartesianStateTask::configureHook

(

)

This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.

It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):

task_context "TaskName" do
  needs_configuration
  ...
end

errorHook()

void RbsToCartesianStateTask::errorHook

(

)

This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.

Call recover() to go back in the Runtime state.

fromRigidBodyState()

base::samples::RigidBodyStateSE3 RbsToCartesianStateTask::fromRigidBodyState ( const base::samples::RigidBodyState & in )

protected

startHook()

bool RbsToCartesianStateTask::startHook

(

)

This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called.

stopHook()

void RbsToCartesianStateTask::stopHook

(

)

This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

updateHook()

void RbsToCartesianStateTask::updateHook

(

)

This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.

The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.

In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.

Friends And Related Symbol Documentation

RbsToCartesianStateTaskBase

friend class RbsToCartesianStateTaskBase

friend

Member Data Documentation

input_port_map

RbsInputPortMap wbc::RbsToCartesianStateTask::input_port_map

protected

output_port_map

CartesianStateOutputPortMap wbc::RbsToCartesianStateTask::output_port_map

protected

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

• tasks/RbsToCartesianStateTask.hpp
• tasks/RbsToCartesianStateTask.cpp