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. contact-point odometry applied to Asguard. More...
#include <ContactPointTask.hpp>
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ContactPointTask (std::string const &name="odometry::ContactPointTask") |
| ContactPointTask (std::string const &name, RTT::ExecutionEngine *engine) | |
| ~ContactPointTask () | |
| bool | startHook () |
| The following lines are template definitions for the various state machine. More... | |
Protected Member Functions | |
| void | contact_samplesTransformerCallback (const base::Time &ts, const ::odometry::BodyContactState &contact_samples_sample) |
| void | body2imu_enuTransformerCallback (const base::Time &ts) |
Protected Attributes | |
| odometry::BodyContactState | contactState |
| odometry::Configuration | odometryConfiguration |
| odometry::FootContact * | contactOdometry |
| bool | gotContactState |
Friends | |
| class | ContactPointTaskBase |
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. contact-point odometry applied to Asguard.
The name of a TaskContext is primarily defined via:
deployment 'deployment_name'
task('custom_task_name','odometry::ContactPointTask')
end
It can be dynamically adapted when the deployment is called with a prefix argument.
Constructor & Destructor Documentation
◆ ContactPointTask() [1/2]
| ContactPointTask::ContactPointTask | ( | std::string const & | name = "odometry::ContactPointTask" | ) |
TaskContext constructor for ContactPointTask
- 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.
◆ ContactPointTask() [2/2]
| ContactPointTask::ContactPointTask | ( | std::string const & | name, |
| RTT::ExecutionEngine * | engine | ||
| ) |
TaskContext constructor for ContactPointTask
- 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.
◆ ~ContactPointTask()
| ContactPointTask::~ContactPointTask | ( | ) |
Default deconstructor of ContactPointTask
Member Function Documentation
◆ body2imu_enuTransformerCallback()
|
protected |
◆ contact_samplesTransformerCallback()
|
protected |
◆ startHook()
| bool ContactPointTask::startHook | ( | ) |
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
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.
Friends And Related Function Documentation
◆ ContactPointTaskBase
|
friend |
Member Data Documentation
◆ contactOdometry
|
protected |
◆ contactState
|
protected |
current Asguard body state
◆ gotContactState
|
protected |
◆ odometryConfiguration
|
protected |
The documentation for this class was generated from the following files:
- /build/rock-master-18.09-slam-orogen-odometry-0.20160923/tasks/ContactPointTask.hpp
- /build/rock-master-18.09-slam-orogen-odometry-0.20160923/tasks/ContactPointTask.cpp
