mars::ForceApplier Class Reference

#include <ForceApplier.hpp>

Inheritance diagram for mars::ForceApplier:

Public Member Functions
	ForceApplier (std::string const &name="mars::ForceApplier")
	ForceApplier (std::string const &name, RTT::ExecutionEngine *engine)
	~ForceApplier ()
bool	startHook ()
	The following lines are template definitions for the various state machine. More...
void	updateHook ()
void	errorHook ()

Protected Member Functions
void	update (double time)

Protected Attributes
unsigned long	vehicle_id
unsigned int	amount_of_actuators
std::vector< double >	maximum_thruster_force
std::vector< mars::utils::Vector >	thruster_position
std::vector< mars::utils::Vector >	thruster_direction
std::vector< mars::interfaces::sReal >	thruster_force
pthread_mutex_t	node_update_mutex
unsigned int	RATE
base::commands::Joints	command

Friends
class	ForceApplierBase

Constructor & Destructor Documentation

ForceApplier::ForceApplier

(

std::string const &

name = "mars::ForceApplier"

)

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

ForceApplier::~ForceApplier

(

)

Member Function Documentation

void ForceApplier::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.

bool ForceApplier::startHook

(

)

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

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 ForceApplier::update ( double  time )

protected

void ForceApplier::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

friend class ForceApplierBase

friend

Member Data Documentation

unsigned int mars::ForceApplier::amount_of_actuators

protected

base::commands::Joints mars::ForceApplier::command

protected

std::vector<double> mars::ForceApplier::maximum_thruster_force

protected

pthread_mutex_t mars::ForceApplier::node_update_mutex

protected

unsigned int mars::ForceApplier::RATE

protected

std::vector<mars::utils::Vector> mars::ForceApplier::thruster_direction

protected

std::vector<mars::interfaces::sReal> mars::ForceApplier::thruster_force

protected

std::vector<mars::utils::Vector> mars::ForceApplier::thruster_position

protected

unsigned long mars::ForceApplier::vehicle_id

protected

---

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

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