mars::Joints 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 <Joints.hpp>

Inheritance diagram for mars::Joints:

Classes
struct	JointConversion

Public Member Functions
virtual void	init ()
virtual void	update (double delta_t)
	Joints (std::string const &name="mars::Joints")
	Joints (std::string const &name, RTT::ExecutionEngine *engine)
	~Joints ()
bool	configureHook ()
	The following lines are template definitions for the various state machine. More...
bool	startHook ()
void	updateHook ()
void	errorHook ()
void	stopHook ()
void	cleanupHook ()

Protected Types
enum	JointTypes { MOTOR, PASSIVE }

Protected Attributes
std::vector< JointConversion >	mars_ids
std::vector< JointTypes >	joint_types
base::samples::Joints	status
mars::JointCurrents	currents
base::commands::Joints	cmd
std::vector< mars::ParallelKinematic >	parallel_kinematics
mars::JointPositionAndSpeedControlMode	controlMode

Friends
class	JointsBase

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.

The name of a TaskContext is primarily defined via:

deployment 'deployment_name'
    task('custom_task_name','mars::Joints')
end

It can be dynamically adapted when the deployment is called with a prefix argument.

Member Enumeration Documentation

JointTypes

enum mars::Joints::JointTypes

protected

Enumerator
MOTOR
PASSIVE

Constructor & Destructor Documentation

Joints() [1/2]

Joints::Joints

(

std::string const &

name = "mars::Joints"

)

TaskContext constructor for Joints

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.

Joints() [2/2]

Joints::Joints	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

TaskContext constructor for Joints

Parameters

name	Name of the task. This name needs to be unique to make it identifiable for nameservices.
engine	The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.

~Joints()

Joints::~Joints

(

)

Default deconstructor of Joints

Member Function Documentation

cleanupHook()

void Joints::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 Joints::configureHook

(

)

The following lines are template definitions for the various state machine.

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 Joints::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.

init()

void Joints::init ( )

virtual

startHook()

bool Joints::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 Joints::stopHook

(

)

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

update()

void Joints::update ( double  delta_t )

virtual

updateHook()

void Joints::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 Function Documentation

JointsBase

friend class JointsBase

friend

Member Data Documentation

cmd

base::commands::Joints mars::Joints::cmd

protected

controlMode

mars::JointPositionAndSpeedControlMode mars::Joints::controlMode

protected

currents

mars::JointCurrents mars::Joints::currents

protected

joint_types

std::vector<JointTypes> mars::Joints::joint_types

protected

mars_ids

std::vector<JointConversion> mars::Joints::mars_ids

protected

parallel_kinematics

std::vector< mars::ParallelKinematic > mars::Joints::parallel_kinematics

protected

status

base::samples::Joints mars::Joints::status

protected

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

• /build/rock-master-18.09-simulation-orogen-mars-0.20180420/tasks/Joints.hpp
• /build/rock-master-18.09-simulation-orogen-mars-0.20180420/tasks/Joints.cpp