#include <ControlThread.h>

Inheritance diagram for ocra_recipes::ControlThread:

Collaboration diagram for ocra_recipes::ControlThread:

Classes
class	inputCallback

Public Member Functions
	ControlThread (int period, const std::string &taskRpcPortName)

	~ControlThread ()

virtual bool	threadInit ()

virtual void	threadRelease ()

virtual void	run ()

virtual bool	ct_threadInit ()=0

virtual void	ct_threadRelease ()=0

virtual void	ct_run ()=0

std::string	getThreadType ()

bool	deactivateTask ()

bool	activateTask ()

std::string	getOutputPortName ()

std::string	getInputPortName ()

Public Attributes
int	threadId

Static Public Attributes
static int	CONTROL_THREAD_COUNT = 0

Protected Member Functions
void	setThreadType (const std::string &_threadType="ControlThread")

bool	openControlPorts ()

bool	connectControlPorts ()

bool	parseInput (yarp::os::Bottle *input)

Eigen::VectorXd	getCurrentState ()

void	sendGetStateMessage ()

bool	getTaskDimensions ()

bool	getTaskParameters (TaskParameters &TP)

Protected Attributes
std::string	controlThreadType

std::string	inputPortName

std::string	outputPortName

yarp::os::Port	inputPort

yarp::os::Port	outputPort

std::string	taskRpcServerName

std::string	threadRpcClientName

yarp::os::RpcClient	threadRpcClient

yarp::os::Network	yarp

bool	isFirstInputBottle

inputCallback *	inpCallback

Eigen::VectorXd	currentStateVector

bool	waitingForFirstStateMessage

double	controlThreadPeriod

TaskParameters	originalTaskParams

TaskParameters	currentTaskParams

int	weightDimension

int	stateDimension

double	closePortTimeout

Detailed Description

Definition at line 77 of file ControlThread.h.

Constructor & Destructor Documentation

ControlThread::ControlThread	(	int	period,
		const std::string &	taskRpcPortName
	)

Definition at line 35 of file ControlThread.cpp.

ControlThread::~ControlThread ( )

Definition at line 46 of file ControlThread.cpp.

Member Function Documentation

bool ControlThread::activateTask ( )

Definition at line 242 of file ControlThread.cpp.

bool ControlThread::connectControlPorts ( )

protected

Definition at line 141 of file ControlThread.cpp.

virtual void ocra_recipes::ControlThread::ct_run ( )

pure virtual

virtual bool ocra_recipes::ControlThread::ct_threadInit ( )

pure virtual

virtual void ocra_recipes::ControlThread::ct_threadRelease ( )

pure virtual

bool ControlThread::deactivateTask ( )

Definition at line 229 of file ControlThread.cpp.

Eigen::VectorXd ControlThread::getCurrentState ( )

protected

Definition at line 217 of file ControlThread.cpp.

std::string ocra_recipes::ControlThread::getInputPortName ( )

inline

Definition at line 105 of file ControlThread.h.

std::string ocra_recipes::ControlThread::getOutputPortName ( )

inline

Definition at line 104 of file ControlThread.h.

bool ControlThread::getTaskDimensions ( )

protected

Definition at line 255 of file ControlThread.cpp.

bool ControlThread::getTaskParameters ( TaskParameters & TP )

protected

Definition at line 280 of file ControlThread.cpp.

std::string ocra_recipes::ControlThread::getThreadType ( )

inline

Definition at line 100 of file ControlThread.h.

bool ControlThread::openControlPorts ( )

protected

Definition at line 105 of file ControlThread.cpp.

bool ControlThread::parseInput ( yarp::os::Bottle * input )

protected

Definition at line 180 of file ControlThread.cpp.

void ControlThread::run ( )

virtual

Definition at line 97 of file ControlThread.cpp.

void ControlThread::sendGetStateMessage ( )

protected

Definition at line 222 of file ControlThread.cpp.

void ocra_recipes::ControlThread::setThreadType ( const std::string & _threadType = "ControlThread" )

inlineprotected

Definition at line 122 of file ControlThread.h.

bool ControlThread::threadInit ( )

virtual

Definition at line 52 of file ControlThread.cpp.

void ControlThread::threadRelease ( )

virtual

Definition at line 69 of file ControlThread.cpp.

Member Data Documentation

double ocra_recipes::ControlThread::closePortTimeout

protected

Definition at line 161 of file ControlThread.h.

int ControlThread::CONTROL_THREAD_COUNT = 0

static

Definition at line 87 of file ControlThread.h.

double ocra_recipes::ControlThread::controlThreadPeriod

protected

Definition at line 149 of file ControlThread.h.

std::string ocra_recipes::ControlThread::controlThreadType

protected

Definition at line 124 of file ControlThread.h.

Eigen::VectorXd ocra_recipes::ControlThread::currentStateVector

protected

Definition at line 142 of file ControlThread.h.

TaskParameters ocra_recipes::ControlThread::currentTaskParams

protected

Definition at line 152 of file ControlThread.h.

inputCallback* ocra_recipes::ControlThread::inpCallback

protected

Definition at line 141 of file ControlThread.h.

yarp::os::Port ocra_recipes::ControlThread::inputPort

protected

Definition at line 128 of file ControlThread.h.

std::string ocra_recipes::ControlThread::inputPortName

protected

Definition at line 127 of file ControlThread.h.

bool ocra_recipes::ControlThread::isFirstInputBottle

protected

Definition at line 140 of file ControlThread.h.

TaskParameters ocra_recipes::ControlThread::originalTaskParams

protected

Definition at line 151 of file ControlThread.h.

yarp::os::Port ocra_recipes::ControlThread::outputPort

protected

Definition at line 128 of file ControlThread.h.

std::string ocra_recipes::ControlThread::outputPortName

protected

Definition at line 127 of file ControlThread.h.

int ocra_recipes::ControlThread::stateDimension

protected

Definition at line 155 of file ControlThread.h.

std::string ocra_recipes::ControlThread::taskRpcServerName

protected

Definition at line 131 of file ControlThread.h.

int ocra_recipes::ControlThread::threadId

Definition at line 86 of file ControlThread.h.

yarp::os::RpcClient ocra_recipes::ControlThread::threadRpcClient

protected

Definition at line 132 of file ControlThread.h.

std::string ocra_recipes::ControlThread::threadRpcClientName

protected

Definition at line 131 of file ControlThread.h.

bool ocra_recipes::ControlThread::waitingForFirstStateMessage

protected

Definition at line 146 of file ControlThread.h.

int ocra_recipes::ControlThread::weightDimension

protected

Definition at line 154 of file ControlThread.h.

yarp::os::Network ocra_recipes::ControlThread::yarp

protected

Definition at line 135 of file ControlThread.h.

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

Classes

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation