Overview

This component limits joint-level error and alerts by beep sound. This component checks two types of errors:

Type of error	Description	Beep sound	Limitation
Soft error	Joint angle error between ref and act becomes large.	4 times / 1[s]	Limit joint error within some threshould
Position error	Reference joint position violates the joint range.	2 times / 1[s]	Limit joint angle within upper limit and lower limit

For soft error, this component observes the error between reference joint angle and actual joint angle. If the error exceeds a threshould, this component overwrite output reference joint angles to limit error within the threshould. At the same time, this component makes beep sound 4 times per 1[s].

For position error, this component checks whether input reference joint angle is within the joint range. If input reference joint angle exceeds the joint range, this component overwrite output reference joint angles to keep output reference joint angle within the range. At the same time, this component makes beep sound 2 times per 1[s].

If the cause of errors are removed, error flags and beep sound are removed.

Since this RTC is stable RTC, we support both direct beeping from this RTC and beepring through BeeperRTC.

implementation_id	NullComponent
category	example

Data Ports

Input Ports

port name	data type	unit	description
qRef	RTC::TimedDouble	[deg]	Input reference joint angles
qCurrent	RTC::TimedDouble	[deg]	Actual joint angles

Output Ports

port name	data type	unit	description
q	RTC::TimedDouble	[deg]	Output reference joint angles

Service Ports

Service Providers

port name	interface name	service type	IDL	description
SoftErrorLimiterService	service0	SoftErrorLimiterService	OpenHRP::SoftErrorLimiterService

Service Consumers

N/A

Configuration Variables

name	type	unit	default value	description
debugLevel	int		0	debug level

Configuration File

key	type	unit	description
dt	double	[s]	sampling time
model	std::string		URL of a VRML model