forked from s-nakaoka/openhrp-plugin
-
Notifications
You must be signed in to change notification settings - Fork 4
/
OpenHRPControllerBase.cpp
152 lines (100 loc) · 2.62 KB
/
OpenHRPControllerBase.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
/**
@author Shin'ichiro Nakaoka
*/
#include "OpenHRPControllerBase.h"
#include <cnoid/ExecutablePath>
#include <cnoid/CorbaUtil>
#include <iostream>
using namespace std;
using namespace cnoid;
using namespace OpenHRP;
static const bool DEBUG_CONTROLLER = false;
OpenHRPControllerBase::OpenHRPControllerBase(const std::string& charaName)
{
characterName = charaName;
timeStep = 0.001;
}
OpenHRPControllerBase::~OpenHRPControllerBase()
{
}
void OpenHRPControllerBase::setDynamicsSimulator(DynamicsSimulator_ptr dynamicsSimulator)
{
this->dynamicsSimulator = DynamicsSimulator::_duplicate(dynamicsSimulator);
}
void OpenHRPControllerBase::setViewSimulator(ViewSimulator_ptr viewSimulator)
{
this->viewSimulator = ViewSimulator::_duplicate(viewSimulator);
}
void OpenHRPControllerBase::setTimeStep(::CORBA::Double timeStep)
{
this->timeStep = timeStep;
}
void OpenHRPControllerBase::start()
{
}
void OpenHRPControllerBase::input()
{
}
void OpenHRPControllerBase::control()
{
}
void OpenHRPControllerBase::output()
{
}
void OpenHRPControllerBase::stop()
{
}
void OpenHRPControllerBase::destroy()
{
PortableServer::POA_var poa = _default_POA();
PortableServer::ObjectId_var id = poa->servant_to_id(this);
poa->deactivate_object(id);
}
#ifdef OPENHRP_3_1
void OpenHRPControllerBase::setModelName(const char* /* localModelName */)
{
}
void OpenHRPControllerBase::initialize()
{
}
void OpenHRPControllerBase::shutdown()
{
getORB()->shutdown(false);
}
#endif
OpenHRPControllerFactory_impl::OpenHRPControllerFactory_impl()
{
}
OpenHRPControllerFactory_impl::~OpenHRPControllerFactory_impl()
{
#ifdef OPENHRP_3_0
PortableServer::POA_var poa = _default_POA();
PortableServer::ObjectId_var id = poa->servant_to_id(this);
poa->deactivate_object(id);
#endif
}
void OpenHRPControllerFactory_impl::shutdown()
{
getORB()->shutdown(false);
}
bool OpenHRPControllerFactory_impl::run(int argc, char* argv[])
{
try {
initializeCorbaUtil(true);
OpenHRPControllerFactory_impl* controllerFactoryImpl = new OpenHRPControllerFactory_impl();
string name = cnoid::executableBasename();
#ifdef OPENHRP_3_0
getDefaultNamingContextHelper()->bindObject(controllerFactoryImpl->_this(), name);
#elif OPENHRP_3_1
getDefaultNamingContextHelper()->bindObject(controllerFactoryImpl->create(name.c_str()), name);
#endif
cout << name << " ready" << endl;
getORB()->run();
} catch (CORBA::SystemException& ex) {
cerr << ex._rep_id() << endl;
getORB()->destroy();
return false;
}
getORB()->destroy();
return true;
}