@@ -18,6 +18,9 @@ // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA #include "Kuka361DWHConvertor.hpp" +#include <ocl/ComponentLoader.hpp> + +ORO_LIST_COMPONENT_TYPE( OCL::Kuka361DWHConvertor ) namespace OCL{ using namespace std; @@ -40,17 +43,31 @@ namespace OCL{ ports()->addPort(&geometric_velocities); } - bool Kuka361DWHConvertor::startHook(){ - return (naxes_positions.Get().size()==6)&& - (geometric_velocities.Get().size()==6); + void Kuka361DWHConvertor::updateHook() + { + if((naxes_positions.Get().size()==6)&& + (geometric_velocities.Get().size()==6)){ + Kuka361DWH::convertGeometric(naxes_positions.Get(),geometric_velocities.Get(), + geometric_positions_local,naxes_velocities_local); + naxes_velocities.Set(naxes_velocities_local); + geometric_positions.Set(geometric_positions_local); + }else{ + naxes_velocities.Set(vector<double>(6,0.0)); + geometric_positions.Set(vector<double>(6,0.0)); + this->error(); + } } - void Kuka361DWHConvertor::updateHook(){ - - Kuka361DWH::convertGeometric(naxes_positions.Get(),geometric_velocities.Get(), - geometric_positions_local,naxes_velocities_local); - naxes_velocities.Set(naxes_velocities_local); - geometric_positions.Set(geometric_positions_local); + + void Kuka361DWHConvertor::errorHook() + { + if((naxes_positions.Get().size()==6)&& + (geometric_velocities.Get().size()==6)){ + this->recovered(); + } } + } - + + + hardware/kuka/Kuka361DWHConvertor.cpp @@ -30,9 +30,10 @@ namespace OCL{ Kuka361DWHConvertor(const std::string& name); ~Kuka361DWHConvertor(){}; - virtual bool startHook(); + virtual bool startHook(){return true;}; virtual void updateHook(); virtual void stopHook(){}; + virtual void errorHook(); private: std::vector<double> naxes_positions_local, geometric_positions_local, hardware/kuka/Kuka361DWHConvertor.hpp bcc7e5cb2961dd28ab67a02e7c4929d82d2ea1c3 rsmits rsmits@ce417995-dfc9-0310-95a0-acdaff106893 http://github.com/doudou/orocos-ocl/commit/b6fd5df8ecdb4c6e4292a3058d571b0c9d42e018 b6fd5df8ecdb4c6e4292a3058d571b0c9d42e018 2008-10-23T06:04:48-07:00 2008-10-23T06:04:48-07:00 Added error state git-svn-id: https://svn.mech.kuleuven.be/repos/orocos/trunk/ocl@29704 ce417995-dfc9-0310-95a0-acdaff106893 b1cbeb98f73474f744c9e2f05e385b12b8e8e919 rsmits rsmits@ce417995-dfc9-0310-95a0-acdaff106893