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 <Generic.hpp>
Public Member Functions | |
| Generic (std::string const &name="odometry::Generic") | |
| Generic (std::string const &name, RTT::ExecutionEngine *engine) | |
| ~Generic () | |
| bool | startHook () |
| The following lines are template definitions for the various state machine. More... | |
Protected Member Functions | |
| void | pushState (base::Time const &ts, base::TransformWithCovariance &body2prevbody, base::Quaterniond const &R_body2world, base::Vector3d const &velocity=base::unknown< base::Vector3d >(), base::Vector3d const &angular_velocity=base::unknown< base::Vector3d >()) |
Protected Attributes | |
| base::TransformWithCovariance | lastBody2Odometry |
Friends | |
| class | GenericBase |
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','odometry::Generic')
end
It can be dynamically adapted when the deployment is called with a prefix argument.
Constructor & Destructor Documentation
◆ Generic() [1/2]
| Generic::Generic | ( | std::string const & | name = "odometry::Generic" | ) |
TaskContext constructor for Generic
- 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.
◆ Generic() [2/2]
| Generic::Generic | ( | std::string const & | name, |
| RTT::ExecutionEngine * | engine | ||
| ) |
TaskContext constructor for Generic
- 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.
◆ ~Generic()
| Generic::~Generic | ( | ) |
Default deconstructor of Generic
Member Function Documentation
◆ pushState()
|
protected |
Call this method to write the combined odometry to the output ports.
- Parameters
-
body2prevbody - current body frame to previous frame transform with error R_body2world - absolute orientation from the IMU velocity - optional velocity of the system angular_velocity - optional angular velocity
◆ startHook()
| bool Generic::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
◆ GenericBase
|
friend |
Member Data Documentation
◆ lastBody2Odometry
|
protected |
previous absolute odometry transformation
The documentation for this class was generated from the following files:
- /build/rock-master-18.09-slam-orogen-odometry-0.20160923/tasks/Generic.hpp
- /build/rock-master-18.09-slam-orogen-odometry-0.20160923/tasks/Generic.cpp
