Basic RT components and utilities  315.12.1

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_idStateHolder
categoryexample

Data Ports

Input Ports

port namedata typeunitdescription
currentQInRTC::TimedDoubleSeq[rad]measured joint angles
qInRTC::TimedDoubleSeq[rad]reference joint angles
tqInRTC::TimedDoubleSeq[Nm]reference joint torques
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
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
optionalDataInRTC::TimedDoubleSeqoptional data sequence

Output Ports

port namedata typeunitdescription
qOutRTC::TimedDoubleSeq[rad]reference joint angles
tqRefRTC::TimedDoubleSeq[Nm]reference joint torques
basePosOutRTC::TimedPoint3D[m]reference position of the base link in the world frame
baseRpyOutRTC::TimedOrientation3D[rad]reference Roll-Pitch-Yaw angles of the base link in the world frame
zmpOutRTC::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
optionalDataOutRTC::TimedDoubleSeqoptional data sequence

Service Ports

Service Providers

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

Service Consumers

N/A

Configuration Variables

N/A

Configuration File

N/A