OCL Namespace Reference

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Detailed Description

The Orocos Component Library.

This namespace contains components for supporting applications, such as the TaskBrowser, DeploymentComponent, ReportingComponent,... hardware access such as the IOComponent, AxesComponent, Kuka361Component,... or higher level application logic such as the CartesianControllerVel or nAxesGeneratorPos.

Note:

Including this header makes all the classes of the RTT namespace available in the OCL namespace. Thus a component written in the OCL namespace does not need to write the repetitive RTT:: scope.

Classes
class	HMIConsoleOutput
	This component can be used to display messages on the standard output. More...
struct	comcol
struct	keycol
struct	titlecol
class	TaskBrowser
	This component allows a text client to browse the peers of a peer TaskContext and execute commands. More...
class	AxesComponent
	A Component which allows you to control Axis objects. More...
class	CaptureCamera
	This class implements a TaskContext that grabs images from a firewire-camera using OpenCV. More...
class	Demotool
class	IOComponent
	This Component uses the Orocos Device Interface for making IO available to other components through data ports and methods. More...
class	KryptonK600Sensor
class	EmergencyStop
	This class implements a a software Emergency Stop. More...
class	Kuka160nAxesVelocityController
	This class implements a TaskContext to use with the Kuka160 robot in the RoboticLab, PMA, dept. More...
class	Kuka361nAxesTorqueController
	This class implements a TaskContext to use with the Kuka361 robot in the RoboticLab, PMA, dept. More...
class	Kuka361nAxesVelocityController
	This class implements a TaskContext to use with the Kuka361 robot in the RoboticLab, PMA, dept. More...
class	Kuka361TorqueSimulator
	This class simulates a torque controlled kuka361 using its dynamic model and updates the position and velocity sensor in the axis objects. More...
class	LaserSensor
	This class implements a TaskContext which construct an interface to the automated Laser initialising a link to the digital IO PCI cards. More...
class	CRSnAxesVelocityController
class	WrenchSensor
	This class implements a TaskContext that communicates with a JR3-WrenchSensor. More...
class	DeploymentComponent
	A Component for deploying (configuring) other components in an application. More...
class	ConsoleReporting
	A component which writes data reports to a console. More...
class	FileReporting
	A component which writes data reports to a file. More...
class	ReportingComponent
	A Component for periodically reporting Component DataObject contents to a human readable text format. More...
class	CartesianControllerPos
	This class implements a TaskContext that controlls the end-effector frame of a robot. More...
class	CartesianControllerPosVel
	This class implements a TaskContext that controlls the end-effector frame of a robot. More...
class	CartesianControllerVel
	This class implements a TaskContext that controlls the end-effector frame of a robot. More...
class	CartesianEffectorVel
	This class implements a TaskContext that reads out the output twist dataports of OCL::CartesianControllerPos, OCL::CartesianControllerPosVel or OCL::CartesianControllerVel and converts them to axis output velocities using a KDL::KinematicFamily and puts these output values in the driveValue dataports of an nAxesVelocityController. More...
class	CartesianGeneratorPos
	This class implements a TaskContext that creates a path in Cartesian space between the current cartesian position and a new desired cartesian position. More...
class	CartesianSensor
	This class implements a TaskContext that reads out the positionValue and driveValue dataports of a nAxesVelocityController. More...
class	nAxesControllerPos
	This class implements a TaskContext that controlls the positionValues of an axis. More...
class	nAxesControllerPosVel
	This class implements a TaskContext that controlls the positionValues of an axis. More...
class	nAxesControllerVel
	This class implements a TaskContext that controlls the velocities of an axis. More...
class	nAxesEffectorVel
	This class implements a TaskContext that reads out the output velocity dataports of OCL::nAxesControllerPos, OCL::nAxesControllerPosVel or OCL::nAxesControllerVel and puts these output values in the driveValue dataports of an nAxesVelocityController. More...
class	nAxesGeneratorPos
	This class implements a TaskContext that generates a path between the current positions and new desired positions of a number of axes. More...
class	nAxesGeneratorVel
	This class implements a TaskContext that generates a path between the current velocities and the new desired velocities of a number of axes, this velocity can be maintained or stopped. More...
class	nAxesSensor
	This class implements a TaskContext that reads out the positionValue and driveValue dataports of a nAxesVelocityController. More...
class	ReferenceSensor
	Implementation of a TaskContext that collects all the reference dataports of a nAxesVelocityController and supplies a method to get the value of each reference signal. More...
class	HelloWorld
	Every component inherits from the 'TaskContext' class. More...
struct	DataRecord
	(Machine dependend) message that is send by this server. More...
class	ClientHandler
class	NAxesPositionViewer
	This class implements a TaskContext that sends position values to the KDLViewer using an ACE-socket. More...
Typedefs
typedef Kuka160nAxesVelocityController	MyType
typedef Kuka361nAxesTorqueController	MyType
typedef Kuka361nAxesVelocityController	MyType
typedef nAxesControllerPos	MyType
typedef nAxesControllerVel	MyType
typedef nAxesGeneratorPos	MyType
typedef nAxesGeneratorVel	MyType
typedef ACE_Acceptor< ClientHandler, ACE_SOCK_ACCEPTOR >	ClientAcceptor
Functions
void	ctrl_c_catcher (int sig)
std::ostream &	operator<< (std::ostream &os, comcol f)
std::ostream &	operator<< (std::ostream &os, keycol f)
std::ostream &	operator<< (std::ostream &os, titlecol f)
Variables
std::deque< TaskContext * >	taskHistory

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