C++ (Cpp) addInPort Beispiele

Beispiel #1

Datei: RaspberryPiMouseController_DistanceSensor.cpp Projekt: Nobu19800/RaspberryPiMouseController_DistanceSensor

RTC::ReturnCode_t RaspberryPiMouseController_DistanceSensor::onInitialize()
{
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("target_velocity_in", m_target_velocity_inIn);
  addInPort("distance_sensor", m_distance_sensorIn);
  
  // Set OutPort buffer
  addOutPort("target_velocity_out", m_target_velocity_outOut);
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  bindParameter("sensor_limit", m_sensor_limit, "10");
  bindParameter("rotational_speed", m_rotational_speed, "1.6");
  bindParameter("stop_velocity", m_stop_velocity, "0.01");
  // </rtc-template>
  
  return RTC::RTC_OK;
}

Beispiel #2

Datei: EchoCanceler.cpp Projekt: Nobu19800/OpenHRIAudio

RTC::ReturnCode_t EchoCanceler::onInitialize()
{
  RTC_DEBUG(("onInitialize start"));
  RTC_INFO(("EchoCanceler : Acoustic echo cancellation component using adaptive filter"));
  RTC_INFO((" Copyright (C) 2010-2011 Yosuke Matsusaka and AIST-OpenHRI development team"));
  RTC_INFO((" Version %s", VERSION));

  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("AudioDataIn", m_ninIn);
  addInPort("ReferenceAudioDataIn", m_finIn);

  /* setiing datalistener event */
  m_ninIn.addConnectorDataListener(ON_BUFFER_WRITE, new DataListener("ON_BUFFER_WRITE_N", this));
  m_ninIn.setDescription(_("Audio data input (from mic)."));
  m_finIn.addConnectorDataListener(ON_BUFFER_WRITE, new DataListener("ON_BUFFER_WRITE_F", this));
  m_finIn.setDescription(_("Referenct audio data input (from AudioOuput component)."));
  // Set OutPort buffer
  registerOutPort("AudioDataOut", m_foutOut);
  m_foutOut.setDescription(_("Audio data output."));

  // Set service provider to Ports

  // Set service consumers to Ports

  // Set CORBA Service Ports

  // </rtc-template>
  mp_sest = NULL;
  RTC_DEBUG(("onInitialize finish"));
  return RTC::RTC_OK;
}

Beispiel #3

Datei: CollisionDetector.cpp Projekt: thomas-moulard/hrpsys-base-deb

RTC::ReturnCode_t CollisionDetector::onInitialize()
{
    std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
    // <rtc-template block="bind_config">
    // Bind variables and configuration variable
    bindParameter("debugLevel", m_debugLevel, "0");
  
    // </rtc-template>

    // Registration: InPort/OutPort/Service
    // <rtc-template block="registration">
    // Set InPort buffers
    addInPort("qRef", m_qRefIn);
    addInPort("qCurrent", m_qCurrentIn);

    // Set OutPort buffer
    addOutPort("q", m_qOut);
  
    // Set service provider to Ports
    m_CollisionDetectorServicePort.registerProvider("service0", "CollisionDetectorService", m_service0);
  
    // Set service consumers to Ports
  
    // Set CORBA Service Ports
    addPort(m_CollisionDetectorServicePort);
  
    // </rtc-template>

    //RTC::Properties& prop = getProperties();

    return RTC::RTC_OK;
}

Beispiel #4

Datei: TabletTest.cpp Projekt: ogata-lab/TabletTestRTC

RTC::ReturnCode_t TabletTest::onInitialize()
{
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("position", m_positionIn);
  addInPort("pressure", m_pressureIn);
  addInPort("orientation", m_orientationIn);
  addInPort("size", m_sizeIn);
  
  // Set OutPort buffer
  addOutPort("outputTabData", m_outputTabDataOut);
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  // <rtc-template block="bind_config">
  // </rtc-template>
  
  return RTC::RTC_OK;
}

Beispiel #5

Datei: footPlot.cpp Projekt: pentaholic/MovingFlagSystem

RTC::ReturnCode_t footPlot::onInitialize()
{
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("rightFootPos3dr", m_rightFootPos3drIn);
  addInPort("leftFootPos3dr", m_leftFootPos3drIn);
  addInPort("footUrg3d", m_footUrg3dIn);

  // Set OutPort buffer
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  // <rtc-template block="bind_config">
  // </rtc-template>

  
  pv_x = new std::vector<double> ( 2 );
  pv_y = new std::vector<double> ( 2 );
  pv_r = new std::vector<double> ( 2 );
  pv_footUrg3d = new std::vector<double> ( MAX_POINT_URG*3);
  
  return RTC::RTC_OK;
}

Beispiel #6

Datei: sh_MT.cpp Projekt: hi-brain/sh_MT

RTC::ReturnCode_t sh_MT::onInitialize()
{
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("input1", m_input1In);
  addInPort("input2", m_input2In);
  
  // Set OutPort buffer
  addOutPort("output1", m_output1Out);
  addOutPort("output2", m_output2Out);
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  // <rtc-template block="bind_config">
  // </rtc-template>
  
  return RTC::RTC_OK;
}

Beispiel #7

Datei: QController.cpp Projekt: fkanehiro/etc

RTC::ReturnCode_t QController::onInitialize()
{
  coil::Properties& ref = getProperties();
  bindParameter("axisIds", m_axisIds, ref["conf.default.axisIds"].c_str());
  bindParameter("axisScales", m_axisScales, ref["conf.default.axisScales"].c_str());
  bindParameter("buttonIds", m_buttonIds, ref["conf.default.buttonIds"].c_str());

  // Set InPort buffers
  addInPort("buttons", m_buttonsIn);
  addInPort("axes", m_axesIn);
  addInPort("angles", m_anglesIn);
  addInPort("vels", m_velsIn);
  
  // Set OutPort buffer
  addOutPort("torque", m_torqueOut);
  addOutPort("lightF", m_lightFOut);
  addOutPort("lightB", m_lightBOut);

  // ポート初期化 //
  m_torque.data.length(10);
  for (size_t i=0; i<m_torque.data.length(); i++){
      m_torque.data[i] = 0;
  }
  m_lightF.data = m_lightB.data = true;

  for (int i=0; i<2; i++) m_qRef[i] = 0;
  return RTC::RTC_OK;
}

Beispiel #8

Datei: AHViewer.cpp Projekt: uyaponz/AHRTC

RTC::ReturnCode_t AHViewer::onInitialize()
{
    // Registration: InPort/OutPort/Service
    // <rtc-template block="registration">
    // Set InPort buffers
    addInPort("PuckXY_in", m_puckXY_inIn);
    addInPort("MalletXY_in", m_malletXY_inIn);
    addInPort("ArmXY_in", m_armXY_inIn);

    // Set OutPort buffer

    // Set service provider to Ports

    // Set service consumers to Ports

    // Set CORBA Service Ports

    // </rtc-template>

    m_malletXY_in.data.length(2);
    m_armXY_in.data.length(2);
    m_puckXY_in.data.length(2);

    m_malletXY_in.data[0] = m_malletXY_in.data[1] = 0.0;
    m_armXY_in.data[0]    = m_armXY_in.data[1]    = 0.0;
    m_puckXY_in.data[0]   = m_puckXY_in.data[1]   = 0.0;

    cv::namedWindow(winName, CV_WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
    cv::imshow(winName, frame);
    cv::waitKey(10);
    cv::waitKey(10);

    return RTC::RTC_OK;
}

Beispiel #9

Datei: Gate.cpp Projekt: Nobu19800/OpenHRIAudio

RTC::ReturnCode_t Gate::onInitialize()
{
  RTC_DEBUG(("onInitialize start"));
  RTC_INFO(("Gate : Gate component"));
  RTC_INFO((" Copyright (C) 2010-2011 Yosuke Matsusaka and AIST-OpenHRI development team"));
  RTC_INFO((" Version %s", VERSION));

  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("AudioDataIn", m_inIn);
  m_inIn.setDescription(_("Audio data input."));
  addInPort("GateIn", m_gateIn);
  m_gateIn.setDescription(_("Gate data input."));

  // Set OutPort buffer
  addOutPort("AudioDataOut", m_outOut);
  m_outOut.setDescription(_("Audio data output."));

  // Set service provider to Ports

  // Set service consumers to Ports

  // Set CORBA Service Ports

  // </rtc-template>

  RTC_DEBUG(("onInitialize finish"));
  return RTC::RTC_OK;
}

Beispiel #10

Datei: PA10Controller.cpp Projekt: SatokiOgiso/test-devrtbuild-pa10

RTC::ReturnCode_t PA10Controller::onInitialize()
{
  // Set InPort buffers
  addInPort("angles", m_anglesIn);
  addInPort("vels", m_velsIn);
  
  // Set OutPort buffer
  addOutPort("torque", m_torqueOut);

  count = 0;

  m_qRef.data.length(9);
  m_qRef.data[0] = 0.0;
  m_qRef.data[1] = 0.8;
  m_qRef.data[2] = 0.0;
  m_qRef.data[3] = 0.8;
  m_qRef.data[4] = 0.0;
  m_qRef.data[5] = 0.8;
  m_qRef.data[6] = 1.57;
  m_qRef.data[7] = 0.0;
  m_qRef.data[8] = 0.0;

  m_torque.data.length(9);
  for (size_t i = 0; i < m_torque.data.length(); i++){
    m_torque.data[i] = 0;
  }
  return RTC::RTC_OK;
}

Beispiel #11

Datei: ForwardKinematics.cpp Projekt: 130s/hrpsys-base

RTC::ReturnCode_t ForwardKinematics::onInitialize()
{
  std::cerr << "[" << m_profile.instance_name << "] onInitialize()" << std::endl;
  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  coil::Properties& ref = getProperties();
  bindParameter("sensorAttachedLink", m_sensorAttachedLinkName, ref["conf.default.sensorAttachedLink"].c_str());
  
  // </rtc-template>

  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("q", m_qIn);
  addInPort("sensorRpy", m_sensorRpyIn);
  addInPort("qRef", m_qRefIn);
  addInPort("basePosRef", m_basePosRefIn);
  addInPort("baseRpyRef", m_baseRpyRefIn);

  // Set OutPort buffer
  
  // Set service provider to Ports
  m_ForwardKinematicsServicePort.registerProvider("service0", "ForwardKinematicsService", m_service0);
  addPort(m_ForwardKinematicsServicePort);
  m_service0.setComp(this);
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  RTC::Properties& prop = getProperties();

  RTC::Manager& rtcManager = RTC::Manager::instance();
  std::string nameServer = rtcManager.getConfig()["corba.nameservers"];
  int comPos = nameServer.find(",");
  if (comPos < 0){
      comPos = nameServer.length();
  }
  nameServer = nameServer.substr(0, comPos);
  RTC::CorbaNaming naming(rtcManager.getORB(), nameServer.c_str());
  m_refBody = hrp::BodyPtr(new hrp::Body());
  if (!loadBodyFromModelLoader(m_refBody, prop["model"].c_str(), 
                               CosNaming::NamingContext::_duplicate(naming.getRootContext()))){
    std::cerr << "[" << m_profile.instance_name << "] failed to load model[" << prop["model"] << "]" << std::endl;
    return RTC::RTC_ERROR;
  }
  m_actBody = hrp::BodyPtr(new hrp::Body());
  if (!loadBodyFromModelLoader(m_actBody, prop["model"].c_str(), 
                               CosNaming::NamingContext::_duplicate(naming.getRootContext()))){
    std::cerr << "[" << m_profile.instance_name << "] failed to load model[" << prop["model"] << "]" << std::endl;
    return RTC::RTC_ERROR;
  }

  m_refLink = m_refBody->rootLink();
  m_actLink = m_actBody->rootLink();

  return RTC::RTC_OK;
}

Beispiel #12

Datei: MultiCameraViewer.cpp Projekt: cormoran/RTC_MultiCameraViewer

RTC::ReturnCode_t MultiCameraViewer::onInitialize()
{
    
    static InPort<RTC::CameraImage> m_imageIn2("camera2",m_image);

    addInPort("camera", m_imageIn);
    addInPort("camera2", m_imageIn2);
    
    bindParameter("port_num", m_port_num, "1");

  return RTC::RTC_OK;
}

Beispiel #13

Datei: ArmInverseKinematicsTest.cpp Projekt: RikiHayashi/HumanoidRobotLibrary

RTC::ReturnCode_t ArmInverseKinematicsTest::onInitialize()
{
	addInPort("qCur", m_qCurIn);
	addInPort("axes", m_axesIn);
	addInPort("button", m_buttonIn);

	addOutPort("qRef",m_qRefOut);

	arm = new Kinematics(ulink);
	SetJointInfo(ulink);

	return RTC::RTC_OK;
}

Beispiel #14

Datei: SetKobukiVelo.cpp Projekt: A-Nakashima/Painter_Kobuki_RTC

RTC::ReturnCode_t SetKobukiVelo::onInitialize()
{
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("ref_goal_pos", m_ref_goal_posIn);
  addInPort("ref_now_pos", m_ref_now_posIn);
  addInPort("ref_bumper", m_ref_bumperIn);
  
  // Set OutPort buffer
  addOutPort("out_velocity", m_out_velocityOut);
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  bindParameter("cfg_goal_X", m_cfg_goal_X, "0");
  bindParameter("cfg_goal_Y", m_cfg_goal_Y, "0");
  bindParameter("cfg_goal_sita", m_cfg_goal_sita, "0");
  bindParameter("cfg_velo_X", m_cfg_velo_X, "0");
  bindParameter("cfg_velo_Y", m_cfg_velo_Y, "0");
  bindParameter("cfg_velo_a", m_cfg_velo_a, "0");
  bindParameter("set_max_speed", m_set_max_speed, "0.1");
  bindParameter("bumper_react", m_bumper_react, "1");
  bindParameter("set_max_revol", m_set_max_revol, "1.07");

  std::cout<<"●RTMサマーキャンプ : SetKobukiVeloコンポーネント";
  std::cout<<"\n　本コンポーネントは以下のポートから得られたデータを基に\n　Kobukiに対し速度指令値をだす．";
  std::cout<<"\n\n●PortIn";
  std::cout<<"\n　ref_goal_pos : TimedPose2D型．";
  std::cout<<"\n            　   kobukiが行きたい目標地点を入力するポート";
  std::cout<<"\n　ref_LRF : TimedDobuleSeq型．";
  std::cout<<"\n        　  LRFのデータを入力するポート．一番近い障害物をよけようとする．";
  std::cout<<"\n          　後述のコンフィギュレーションでシミュ用か実機用のモード変更ができる";
  std::cout<<"\n　ref_now_pos : TimedPose2D型．Kobukiの現在位置を入力するポート";
  std::cout<<"\n\n●PortOut";
  std::cout<<"\n　out_velocity : TimedVelocity2D型．Kobukiに対し直進と回転の速度指令を与える．";
  std::cout<<"\n      　         直進速度は最大0.1m/sで回転は最大pi/2";
  std::cout<<"\n\n●Configuration parameter";
  std::cout<<"\n　目標座標および速度指令";
  std::cout<<std::endl;
  std::cout<<"\nイニシャライズ完了";
  // </rtc-template>
  return RTC::RTC_OK;
}

Beispiel #15

Datei: PresentationCommentTimer.cpp Projekt: sasaki-t/Presentation-RTCs

RTC::ReturnCode_t PresentationCommentTimer::onInitialize()
{
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("MeasurementTrigger", m_MeasurementTriggerIn);
  
  // Set OutPort buffer
  addOutPort("MeasuredTimeString", m_MeasuredTimeStringOut);
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  bindParameter("OutputType", m_OutputType, "split");
  bindParameter("PresentationTime", m_PresentationTime, "0.0");
  
  // </rtc-template>
  return RTC::RTC_OK;
}

Beispiel #16

Datei: flowprobe.cpp Projekt: christianurich/DynaMind-ToolBox

FlowProbe::FlowProbe() {

	addInPort(ADD_PARAMETERS(in));
	addOutPort(ADD_PARAMETERS(out));
	addState("TotalFlow", &totalflow);
	addState("Flow", &flow);
}

Beispiel #17

Datei: DataLogger.cpp Projekt: chiwunau/hrpsys-base

RTC::ReturnCode_t DataLogger::onInitialize()
{
  std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("emergencySignal", m_emergencySignalIn);

  // Set OutPort buffer
  
  // Set service provider to Ports
  m_DataLoggerServicePort.registerProvider("service0", "DataLoggerService", m_service0);
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  addPort(m_DataLoggerServicePort);
  
  // </rtc-template>
  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  
  // </rtc-template>

  return RTC::RTC_OK;
}

Beispiel #18

Datei: Point2DtoPose2D.cpp Projekt: A-Nakashima/Painter_Kobuki_RTC

RTC::ReturnCode_t Point2DtoPose2D::onInitialize()
{
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("in", m_inIn);
  
  // Set OutPort buffer
  addOutPort("out", m_outOut);
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  bindParameter("mode", m_mode, "0");
  bindParameter("gain", m_gain, "1");
  
  // </rtc-template>
  return RTC::RTC_OK;
}

Beispiel #19

Datei: RangeDataViewer.cpp Projekt: 130s/hrpsys-base

RTC::ReturnCode_t RangeDataViewer::onInitialize()
{
  std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  bindParameter("maxRange", m_maxRange, "2.0");
  
  // </rtc-template>

  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("rangeIn", m_rangeIn);

  // Set OutPort buffer
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  RTC::Properties& prop = getProperties();

  return RTC::RTC_OK;
}

Beispiel #20

Datei: ConvertImage.cpp Projekt: Nobu19800/ConvertImageRTC

RTC::ReturnCode_t ConvertImage::onInitialize()
{
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("imageIn", m_imageInIn);
  
  // Set OutPort buffer
  addOutPort("imageOut", m_imageOutOut);
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  bindParameter("string_encode", m_string_encode, "off");
  bindParameter("int_encode_quality", m_int_encode_quality, "75");
  
  // </rtc-template>
  return RTC::RTC_OK;
}

Beispiel #21

Datei: fileout.cpp Projekt: gregorburger/CityDrain3

FileOut::FileOut()
	: Node(), stream(&file) {
	out_file_name = "out.txt";
	addParameter(ADD_PARAMETERS(out_file_name));
	addInPort(ADD_PARAMETERS(in));
	addOutPort("out", &in);
}

Beispiel #22

Datei: SamplePD_HG.cpp Projekt: YoheiKakiuchi/openhrp3-1

RTC::ReturnCode_t SamplePD_HG::onInitialize()
{
  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  if( CONTROLLER_BRIDGE_DEBUG )
  {
    std::cout << "onInitialize" << std::endl;
  }

  // Set InPort buffers
  addInPort("angle_in", m_angle_inIn);
  
  // Set OutPort buffer
  addOutPort("torque", m_torqueOut);
  addOutPort("angle_out", m_angle_outOut);
  addOutPort("vel", m_velOut);
  addOutPort("acc", m_accOut);

  Pgain = new double[DOF];
  Dgain = new double[DOF];

  gain.open(GAIN_FILE);
  if (gain.is_open()){
    for (int i=0; i<DOF; i++){
      gain >> Pgain[i];
      gain >> Dgain[i];
    }
    gain.close();
  }else{

Beispiel #23

Datei: JoyRTM2velROS.cpp Projekt: ashraf1234/otl-ros-pkg

RTC::ReturnCode_t JoyRTM2velROS::onInitialize()
{
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("joy_input", m_joyInputIn);
  
  // Set OutPort buffer
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  bindParameter("max_linear_velocity", m_max_linear_velocity, "0.2");
  bindParameter("max_angular_velocity", m_max_angular_velocity, "0.4");
  // </rtc-template>

  addRosOutPort("ros_velocity", m_rosVelOut);

  return RTC::RTC_OK;
}

Beispiel #24

Datei: imperviousrunoff.cpp Projekt: christianurich/DynaMind-ToolBox

ImperviousRunoff::ImperviousRunoff() {

    addInPort(ADD_PARAMETERS(rain_in)); //in mm
    addOutPort(ADD_PARAMETERS(out_sw));
    addParameter(ADD_PARAMETERS(area)); // in m2
	addState(ADD_PARAMETERS(run_off));
}

Beispiel #25

Datei: HockeyArm.cpp Projekt: uyaponz/AirHockeyRTCs

RTC::ReturnCode_t HockeyArm::onInitialize()
{
    // Registration: InPort/OutPort/Service
    // <rtc-template block="registration">
    // Set InPort buffers
    addInPort("ArmXY_in", m_armXY_inIn);

    // Set OutPort buffer
    addOutPort("ArmXY_out", m_armXY_outOut);

    // Set service provider to Ports

    // Set service consumers to Ports
    m_AHServicePort.registerConsumer("AHCommonDataService", "AHCommon::AHCommonDataService", m_ahCommonDataService);

    // Set CORBA Service Ports
    addPort(m_AHServicePort);

    // </rtc-template>

    // 入力の初期化
    m_armXY_in.data.length(2);
    m_armXY_in.data[0] = 0.0;
    m_armXY_in.data[1] = -HKY_H/2.0 - ARM_OFFSET + 400.0;
    // 出力の初期化
    m_armXY_out.data.length(2);
    m_armXY_out.data[0] = 0.0;
    m_armXY_out.data[1] = -HKY_H/2.0 - ARM_OFFSET + 400.0;
    m_armXY_outOut.write();

    return RTC::RTC_OK;
}

Beispiel #26

Datei: makePattern_v2.cpp Projekt: urano-r/amanegasa_ver2

RTC::ReturnCode_t makePattern_v2::onInitialize()
{
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("val", m_valIn);
  
  // Set OutPort buffer
  addOutPort("pattern", m_patternOut);
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  bindParameter("num", m_num, "8");
  bindParameter("threshold", m_threshold, "0");
  
  // </rtc-template>
  return RTC::RTC_OK;
}

Beispiel #27

Datei: CaptureController.cpp Projekt: 130s/hrpsys-base

RTC::ReturnCode_t CaptureController::onInitialize()
{
  std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  bindParameter("frameRate", m_frameRate, "1");
  bindParameter("initialMode", m_initialMode, "sleep");
  
  // </rtc-template>

  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("imageIn", m_imageIn);

  // Set OutPort buffer
  addOutPort("imageOut", m_imageOut);
  
  // Set service provider to Ports
  m_CameraCaptureServicePort.registerProvider("service0", "CameraCaptureService", m_CameraCaptureService);
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  addPort(m_CameraCaptureServicePort);
  
  // </rtc-template>

  RTC::Properties& prop = getProperties();

  return RTC::RTC_OK;
}

Beispiel #28

Datei: JpegEncoder.cpp Projekt: iory/hrpsys-base

RTC::ReturnCode_t JpegEncoder::onInitialize()
{
  std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  bindParameter("quality", m_quality, "95");
  
  // </rtc-template>

  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("decodedIn", m_decodedIn);

  // Set OutPort buffer
  addOutPort("encodedOut", m_encodedOut);
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  //RTC::Properties& prop = getProperties();

  return RTC::RTC_OK;
}

Beispiel #29

Datei: RGB2Gray.cpp Projekt: Isaac-Gray/hrpsys-base

RTC::ReturnCode_t RGB2Gray::onInitialize()
{
  std::cout << m_profile.instance_name << ": onInitialize()" << std::endl;
  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  
  // </rtc-template>

  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("rgbIn", m_rgbIn);

  // Set OutPort buffer
  addOutPort("grayOut", m_grayOut);
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  //RTC::Properties& prop = getProperties();

  return RTC::RTC_OK;
}

Beispiel #30

Datei: Flip.cpp Projekt: s15mh218/openrtm_tutorial

/*!
 * コンポーネント自身の各種初期化処理
 */
RTC::ReturnCode_t Flip::onInitialize()
{
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("originalImage", m_originalImageIn);
  
  // Set OutPort buffer
  addOutPort("flippedImage", m_flippedImageOut);
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  bindParameter("flipMode", m_flipMode, "0");
  
  // </rtc-template>
  return RTC::RTC_OK;
}