Basic RT components and utilities  ..

Overview

This component memorize references(joint angles, position/orientation of the base link) from input data ports and provide them to other components

implementation_idStateHolder
categoryexample

Data Ports

Input Ports

port namedata typeunitdescription
currentQInRTC::TimedDoubleSeq[rad]measured joint angles
qInRTC::TimedDoubleSeq[rad]reference joint angles
basePosInRTC::TimedPoint3D[m]reference position of the base link
baseRpyInRTC::TimedOrientation3D[rad]Roll-Pitch-Yaw angles of the base link
zmpInRTC::TimedPoint3D[m]ZMP(Zero Moment Point) w.r.t. the base link

Output Ports

port namedata typeunitdescription
qOutRTC::TimedDoubleSeq[rad]reference joint angles
basePosOutRTC::TimedPoint3D[m]reference position of the base link
baseRpyOutRTC::TimedOrientation3D[rad]reference Roll-Pitch-Yaw angles of the base link
zmpOutRTC::TimedPoint3D[m]ZMP(Zero Moment Point) w.r.t. the base link

Service Ports

Service Providers

port nameinterface nameservice typeIDLdescription
StateHolderServiceservice0StateHolderServiceOpenHRP::StateHolderService
TimeKeeperServiceservice1TimeKeeperServiceOpenHRP::TimeKeeperService

Service Consumers

N/A

Configuration Variables

N/A

Configuration File

N/A

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