Overview

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

implementation_id	StateHolder
category	example

Data Ports

Input Ports

port name	data type	unit	description
currentQIn	RTC::TimedDoubleSeq	[rad]	measured joint angles
qIn	RTC::TimedDoubleSeq	[rad]	reference joint angles
tqIn	RTC::TimedDoubleSeq	[Nm]	reference joint torques
basePosIn	RTC::TimedPoint3D	[m]	reference position of the base link
baseRpyIn	RTC::TimedOrientation3D	[rad]	Roll-Pitch-Yaw angles of the base link
zmpIn	RTC::TimedPoint3D	[m]	ZMP(Zero Moment Point) w.r.t. the base link
name of force/torque sensor defined in a VRML model + "In", such as "rhsensorIn"	RTC::TimedDoubleSeq	[N],[Nm]	reference force/torque in the sensor frame
optionalDataIn	RTC::TimedDoubleSeq		optional data sequence

Output Ports

port name	data type	unit	description
qOut	RTC::TimedDoubleSeq	[rad]	reference joint angles
tqRef	RTC::TimedDoubleSeq	[Nm]	reference joint torques
basePosOut	RTC::TimedPoint3D	[m]	reference position of the base link in the world frame
baseRpyOut	RTC::TimedOrientation3D	[rad]	reference Roll-Pitch-Yaw angles of the base link in the world frame
zmpOut	RTC::TimedPoint3D	[m]	ZMP(Zero Moment Point) in the base link frame
name of force/torque sensor defined in a VRML model + "Out", such as "rhsensorOut"	RTC::TimedDoubleSeq	[N],[Nm]	reference force/torque in the sensor frame
optionalDataOut	RTC::TimedDoubleSeq		optional data sequence

Service Ports

Service Providers

port name	interface name	service type	IDL	description
StateHolderService	service0	StateHolderService	OpenHRP::StateHolderService
TimeKeeperService	service1	TimeKeeperService	OpenHRP::TimeKeeperService

Service Consumers

N/A

Configuration Variables

N/A

Configuration File

N/A