C++ (Cpp) TaskContext::getPort Beispiele

Beispiel #1

Datei: rtt_state_publisher.cpp Projekt: YuehChuan/rtt_lwr_controllers

    bool connectDefault(const std::string& robot_name) // MQueue
    {
        if(hasPeer(robot_name)) {
            RTT::log(RTT::Info) << "Trying to connect to default joint ports."<<RTT::endlog();
            RTT::TaskContext* peer = getPeer(robot_name);
            if(peer == NULL) return false;
            RTT::ConnPolicy policy = RTT::ConnPolicy::data();

            port_JointPosition.connectTo(peer->getPort("JointPosition"),policy);
            port_JointVelocity.connectTo(peer->getPort("JointVelocity"),policy);
            port_JointTorque.connectTo(peer->getPort("JointTorque"),policy);
        } else {
            return false;
        }
        return port_JointPosition.connected() || port_JointVelocity.connected() || port_JointTorque.connected();
    }