#include <ChainPublisher.hpp>
| ChainPublisher::ChainPublisher |
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std::string const & |
name = "robot_frames::ChainPublisher" | ) |
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| ChainPublisher::ChainPublisher |
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std::string const & |
name, |
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RTT::ExecutionEngine * |
engine |
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) |
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| ChainPublisher::~ChainPublisher |
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| ) |
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| void ChainPublisher::cleanupHook |
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| ) |
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This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.
| void ChainPublisher::clear_and_resize_vectors |
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| ) |
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protected |
| bool ChainPublisher::configureHook |
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| ) |
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The following lines are template definitions for the various state machine.
| void ChainPublisher::errorHook |
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| ) |
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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.
| bool ChainPublisher::startHook |
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| ) |
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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.
| void ChainPublisher::stopHook |
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| ) |
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This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.
| bool ChainPublisher::unpack_joints |
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const base::samples::Joints & |
joint_state, |
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const std::vector< std::string > & |
involved_joints, |
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KDL::JntArray & |
joint_array |
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) |
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protected |
| void ChainPublisher::updateHook |
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| ) |
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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.
| friend class ChainPublisherBase |
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friend |
| std::vector<base::samples::RigidBodyState> robot_frames::ChainPublisher::bt_frames_ |
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protected |
| std::vector<std::string> robot_frames::ChainPublisher::chain_names_ |
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protected |
| std::vector<KDL::Chain> robot_frames::ChainPublisher::chains_ |
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protected |
| std::vector<std::vector<std::string> > robot_frames::ChainPublisher::involved_active_joints_ |
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protected |
| std::vector<KDL::JntArray> robot_frames::ChainPublisher::joint_arrays_ |
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protected |
| base::samples::Joints robot_frames::ChainPublisher::joint_state_ |
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protected |
| std::vector<KDL::Frame> robot_frames::ChainPublisher::kdl_frames_ |
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protected |
| int robot_frames::ChainPublisher::n_defined_chains_ |
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protected |
| std::vector<RTT::OutputPort<base::samples::RigidBodyState>*> robot_frames::ChainPublisher::out_ports_ |
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protected |
| std::vector<KDL::ChainFkSolverPos_recursive*> robot_frames::ChainPublisher::pos_solvers_ |
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protected |
| KDL::Tree robot_frames::ChainPublisher::tree_ |
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protected |
The documentation for this class was generated from the following files:
