#include <ControllerItem.h>

Inheritance diagram for cnoid::ControllerItem:

Public Types
typedef ControllerItemIO	Target

Public Types inherited from cnoid::Item
enum	Attribute { SUB_ITEM, TEMPORAL, LOAD_ONLY, NUM_ATTRIBUTES }

Public Member Functions
	ControllerItem ()

	ControllerItem (const ControllerItem &org)

virtual	~ControllerItem ()

bool	isActive () const

bool	isImmediateMode () const

void	setImmediateMode (bool on)

const std::string &	optionString () const

bool	splitOptionString (const std::string &optionString, std::vector< std::string > &out_options) const

virtual bool	initialize (ControllerItemIO *io)

virtual bool	start ()

virtual bool	start (ControllerItemIO *io)

virtual double	timeStep () const =0

virtual void	input ()=0

virtual bool	control ()=0

virtual void	output ()=0

virtual void	stop ()

SignalProxy< void(const std::string &message)>	sigMessage ()

std::string	getMessage ()

Public Member Functions inherited from cnoid::Item
virtual	~Item ()

const std::string &	name () const

virtual void	setName (const std::string &name)

bool	hasAttribute (Attribute attribute) const

Item *	childItem () const

Item *	prevItem () const

Item *	nextItem () const

Item *	parentItem () const

bool	addChildItem (Item *item, bool isManualOperation=false)

bool	addSubItem (Item *item)

bool	isSubItem () const

void	detachFromParentItem ()

void	emitSigDetachedFromRootForSubTree ()

bool	insertChildItem (Item item, Item nextItem, bool isManualOperation=false)

bool	insertSubItem (Item item, Item nextItem)

bool	isTemporal () const

void	setTemporal (bool on=true)

RootItem *	findRootItem () const

Item *	findItem (const std::string &path) const

template<class ItemType >
ItemType *	findItem (const std::string &path) const

template<class ItemType >
ItemType *	find (const std::string &path)

Item *	findChildItem (const std::string &path) const

template<class ItemType >
ItemType *	findChildItem (const std::string &path) const

Item *	findSubItem (const std::string &path) const

template<class ItemType >
ItemType *	findSubItem (const std::string &path) const

Item *	headItem () const

template<class ItemType >
ItemType *	findOwnerItem (bool includeSelf=false)

bool	isOwnedBy (Item *item) const

bool	traverse (boost::function< bool(Item *)> function)

template<class ItemType >
bool	traverse (boost::function< bool(ItemType *item)> function)

Item *	duplicate () const

Item *	duplicateAll () const

void	assign (Item *srcItem)

bool	load (const std::string &filename, const std::string &format=std::string())

bool	load (const std::string &filename, Item *parent, const std::string &format=std::string())

bool	save (const std::string &filename, const std::string &format=std::string())

bool	overwrite (bool forceOverwrite=false, const std::string &format=std::string())

const std::string &	filePath () const

const std::string &	fileFormat () const

std::time_t	fileModificationTime () const

bool	isConsistentWithFile () const

void	clearFileInformation ()

void	suggestFileUpdate ()

void	putProperties (PutPropertyFunction &putProperty)

virtual void	notifyUpdate ()

SignalProxy< void(const std::string &oldName)>	sigNameChanged ()

SignalProxy< void()>	sigUpdated ()

SignalProxy< void()>	sigPositionChanged ()

SignalProxy< void()>	sigDetachedFromRoot ()

SignalProxy< void()>	sigDisconnectedFromRoot ()

SignalProxy< void()>	sigSubTreeChanged ()

Referenced *	customData (int id)

const Referenced *	customData (int id) const

void	setCustomData (int id, ReferencedPtr data)

void	clearCustomData (int id)

Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

void	addRef ()

void	releaseRef ()

Protected Member Functions
void	putMessage (const std::string &message)

virtual void	doPutProperties (PutPropertyFunction &putProperty)

virtual bool	store (Archive &archive)

virtual bool	restore (const Archive &archive)

Protected Member Functions inherited from cnoid::Item
	Item ()

	Item (const Item &item)

virtual void	onConnectedToRoot ()

virtual void	onDisconnectedFromRoot ()

virtual void	onPositionChanged ()

virtual bool	onChildItemAboutToBeAdded (Item *childItem, bool isManualOperation)

virtual Item *	doDuplicate () const

virtual void	doAssign (Item *srcItem)

void	setAttribute (Attribute attribute)

void	unsetAttribute (Attribute attribute)

Protected Member Functions inherited from cnoid::Referenced
	Referenced ()

	Referenced (const Referenced &org)

int	refCount () const

Friends
class	SimulatorItemImpl

Additional Inherited Members
Static Public Member Functions inherited from cnoid::Item
static Item *	find (const std::string &path)

static SignalProxy< void(const char *type_info_name)>	sigClassUnregistered ()

Member Typedef Documentation

◆ Target

typedef ControllerItemIO cnoid::ControllerItem::Target

Constructor & Destructor Documentation

◆ ControllerItem() [1/2]

ControllerItem::ControllerItem ( )

◆ ControllerItem() [2/2]

ControllerItem::ControllerItem ( const ControllerItem & org )

◆ ~ControllerItem()

ControllerItem::~ControllerItem ( )

virtual

Member Function Documentation

◆ control()

virtual bool cnoid::ControllerItem::control ( )

pure virtual

Implemented in cnoid::OpenHRPControllerItem, cnoid::BodyRTCItem, cnoid::SimpleControllerItem, cnoid::BodyMotionControllerItem, and cnoid::OpenHRPClockGeneratorItem.

◆ doPutProperties()

void ControllerItem::doPutProperties ( PutPropertyFunction & putProperty )

protectedvirtual

Override this function to put properties of the item.

Note: Please call doPutProperties() of the parent class in this function. For example, when your class directly inherits the Item class, call Item::doPutProperties(putProperty).

Reimplemented from cnoid::Item.

Reimplemented in cnoid::BodyRTCItem, cnoid::OpenHRPControllerItem, cnoid::SimpleControllerItem, cnoid::BodyMotionControllerItem, and cnoid::OpenHRPClockGeneratorItem.

◆ getMessage()

std::string ControllerItem::getMessage ( )

◆ initialize()

bool ControllerItem::initialize ( ControllerItemIO * io )

virtual

This function is called before the simulation world is initialized.

Note: If the body() of the target returns a null pointer, a controller is not associated with a particular body. This is for a controller which does some general operations.; This function is called from the main thread.

Reimplemented in cnoid::SimpleControllerItem, and cnoid::BodyMotionControllerItem.

◆ input()

virtual void cnoid::ControllerItem::input ( )

pure virtual

Note: This function is called from the simulation thread.

Implemented in cnoid::OpenHRPControllerItem, cnoid::BodyRTCItem, cnoid::SimpleControllerItem, cnoid::BodyMotionControllerItem, and cnoid::OpenHRPClockGeneratorItem.

◆ isActive()

bool ControllerItem::isActive ( ) const

◆ isImmediateMode()

bool cnoid::ControllerItem::isImmediateMode ( ) const

inline

◆ optionString()

const std::string& cnoid::ControllerItem::optionString ( ) const

inline

◆ output()

virtual void cnoid::ControllerItem::output ( )

pure virtual

Note: This function is called from the simulation thread.

Implemented in cnoid::OpenHRPControllerItem, cnoid::BodyRTCItem, cnoid::SimpleControllerItem, cnoid::BodyMotionControllerItem, and cnoid::OpenHRPClockGeneratorItem.

◆ putMessage()

void ControllerItem::putMessage ( const std::string & message )

protected

◆ restore()

bool ControllerItem::restore ( const Archive & archive )

protectedvirtual

Reimplemented from cnoid::Item.

Reimplemented in cnoid::BodyRTCItem, cnoid::OpenHRPControllerItem, cnoid::SimpleControllerItem, cnoid::BodyMotionControllerItem, and cnoid::OpenHRPClockGeneratorItem.

◆ setImmediateMode()

void ControllerItem::setImmediateMode ( bool on )

◆ sigMessage()

SignalProxy< void(const std::string &message)> ControllerItem::sigMessage ( )

◆ splitOptionString()

bool ControllerItem::splitOptionString	(	const std::string &	optionString,
		std::vector< std::string > &	out_options
	)		const

◆ start() [1/2]

bool ControllerItem::start ( )

virtual

This function is called after the simulation world is initialized.

Reimplemented in cnoid::SimpleControllerItem, and cnoid::BodyMotionControllerItem.

◆ start() [2/2]

bool ControllerItem::start ( ControllerItemIO * io )

virtual

Deprecated:

Reimplemented in cnoid::OpenHRPControllerItem, cnoid::BodyRTCItem, and cnoid::OpenHRPClockGeneratorItem.

◆ stop()

void ControllerItem::stop ( )

virtual

Note: This function is called from the main thread.

Reimplemented in cnoid::OpenHRPControllerItem, cnoid::BodyRTCItem, cnoid::SimpleControllerItem, cnoid::BodyMotionControllerItem, and cnoid::OpenHRPClockGeneratorItem.

◆ store()

bool ControllerItem::store ( Archive & archive )

protectedvirtual

Reimplemented from cnoid::Item.

Reimplemented in cnoid::BodyRTCItem, cnoid::OpenHRPControllerItem, cnoid::SimpleControllerItem, cnoid::BodyMotionControllerItem, and cnoid::OpenHRPClockGeneratorItem.

◆ timeStep()

virtual double cnoid::ControllerItem::timeStep ( ) const

pure virtual

Implemented in cnoid::OpenHRPControllerItem, cnoid::BodyRTCItem, cnoid::SimpleControllerItem, cnoid::BodyMotionControllerItem, and cnoid::OpenHRPClockGeneratorItem.

Friends And Related Function Documentation

◆ SimulatorItemImpl

friend class SimulatorItemImpl

friend

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Member Typedef Documentation

◆ Target

Constructor & Destructor Documentation

◆ ControllerItem() [1/2]

◆ ControllerItem() [2/2]

◆ ~ControllerItem()

Member Function Documentation

◆ control()

◆ doPutProperties()

◆ getMessage()

◆ initialize()

◆ input()

◆ isActive()

◆ isImmediateMode()

◆ optionString()

◆ output()

◆ putMessage()

◆ restore()

◆ setImmediateMode()

◆ sigMessage()

◆ splitOptionString()

◆ start() [1/2]

◆ start() [2/2]

◆ stop()

◆ store()

◆ timeStep()

Friends And Related Function Documentation

◆ SimulatorItemImpl