6 #ifndef CNOID_OPENRTM_PLUGIN_BODY_RTC_ITEM_H 7 #define CNOID_OPENRTM_PLUGIN_BODY_RTC_ITEM_H 11 #include <cnoid/ControllerItem> 12 #include <cnoid/BasicSensorSimulationHelper> 14 #include <boost/filesystem.hpp> 15 #ifdef ENABLE_SIMULATION_PROFILING 16 #include <cnoid/TimeMeasure> 34 virtual double timeStep()
const;
36 virtual bool control();
37 virtual void output();
58 void setControllerModule(
const std::string& name);
59 void setConfigFile(
const std::string& filename);
60 void setConfigMode(
int mode);
61 void setPeriodicRate(
double freq);
62 void setAutoConnectionMode(
bool on);
63 void setPathBase(
int pathBase);
65 #ifdef ENABLE_SIMULATION_PROFILING 66 virtual void getProfilingNames(std::vector<std::string>& profilingNames);
67 virtual void getProfilingTimes(std::vector<double>& profilingTimes);
71 virtual void onPositionChanged();
72 virtual void onDisconnectedFromRoot();
73 virtual Item* doDuplicate()
const;
75 virtual bool store(
Archive& archive);
76 virtual bool restore(
const Archive& archive);
86 double executionCycleProperty;
87 double executionCycle;
88 double executionCycleCounter;
95 RTC::CorbaNaming* naming;
98 OpenRTM::ExtTrigExecutionContextService_var virtualRobotEC;
105 typedef std::map<std::string, RTC::PortService_var> PortMap;
109 RTC::RTObject_var rtcRef;
111 OpenRTM::ExtTrigExecutionContextService_var execContext;
113 double timeRateCounter;
115 typedef boost::shared_ptr<RtcInfo> RtcInfoPtr;
117 typedef std::map<std::string, RtcInfoPtr> RtcInfoMap;
118 RtcInfoMap rtcInfoMap;
119 typedef std::vector<RtcInfoPtr> RtcInfoVector;
120 RtcInfoVector rtcInfoVector;
122 std::string moduleName;
123 std::string moduleFileName;
124 std::string confFileName;
125 std::string instanceName;
131 void setdefaultPort(
BodyPtr body);
132 void activateComponents();
133 void deactivateComponents();
135 void setupRtcConnections();
136 RtcInfoPtr addRtcVectorWithConnection(RTC::RTObject_var new_rtcRef);
137 void makePortMap(RtcInfoPtr& rtcInfo);
138 int connectPorts(RTC::PortService_var outPort, RTC::PortService_var inPort);
140 void setInstanceName(
const std::string& name);
141 void deleteModule(
bool waitToBeDeleted);
143 #ifdef ENABLE_SIMULATION_PROFILING 145 double controllerTime;
ref_ptr< BodyRTCItem > BodyRTCItemPtr
Definition: BodyRTCItem.h:151
Definition: ExtensionManager.h:26
Definition: VirtualRobotRTC.h:21
double controlTime() const
Definition: BodyRTCItem.h:45
ConfigMode
Definition: BodyRTCItem.h:47
Definition: PutPropertyFunction.h:35
Definition: Selection.h:14
const BodyPtr & body() const
Definition: BodyRTCItem.h:40
Definition: BodyRTCItem.h:49
Definition: TimeMeasure.h:16
Definition: MessageView.h:19
Definition: BodyRTCItem.h:24
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Definition: BridgeConf.h:92
const DeviceList< ForceSensor > & forceSensors() const
Definition: BodyRTCItem.h:41
PathBase
Definition: BodyRTCItem.h:52
Definition: BodyRTCItem.h:54
Definition: ControllerItem.h:28
const DeviceList< AccelerationSensor > & accelerationSensors() const
Definition: BodyRTCItem.h:43
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
const DeviceList< RateGyroSensor > & rateGyroSensors() const
Definition: BodyRTCItem.h:42
Definition: DeviceList.h:16
Definition: ControllerItem.h:16