OCL Namespace Reference

The Orocos Component Library. More...

Classes
class	ComponentFactories
	A global variable storing all component factories added with ORO_LIST_COMPONENT_TYPE. More...
class	ComponentLoader
	A helper class storing a single component factory. More...
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	TimerComponent
	A Component interface to the Real-Time Toolkit's timer. More...
class	AxesComponent
	A Component which allows you to control Axis objects. More...
class	AbsoluteEncoderSensor
	A sensor reading a single Absolute Encoder and converting the counter to a physical unit, with support for calibration. More...
class	AnalogDrive
	A AnalogDrive Object converts a physical unit (position, torque,. More...
class	AnalogSensor
	A SensorInterface which reads its data from an analog channel. More...
class	Axis
	Axis is an example of how you can easily implement a generic axis using the Device Interfaces. More...
class	EncoderPositionSensor
	A sensor reading a single Encoder and converting the counter to a physical unit, with support for calibration. More...
class	EndLimitDetector
	This class represents a virtual Digital Input device with two bits denoting software end limit reaches. More...
class	HomePositionDetector
	This class represents a virtual Digital Input device with three bits denoting the Homing Status. More...
class	IncrementalEncoderSensor
	A sensor reading a single Incremental Encoder and converting the counter to a physical unit, with support for calibration. More...
class	SimulationEncoder
	Helper class that implements a Position Sensor for a SimulationAxis. More...
class	SimulationAxis
	Simple implementation of a non-physical axis for simulation of a machine/robot. More...
class	SimulationVelocitySensor
	Helper class that implements a Velocity Sensor for a SimulationAxis. More...
class	TorqueSimulationEncoder
	Helper class that implements a Position Sensor for a TorqueSimulationAxis. More...
class	TorqueSimulationVelocitySensor
	Helper class that implements a Velocity Sensor for a TorqueSimulationAxis. More...
class	TorqueSimulationAxis
	Simple implementation of a non-physical axis for simulation of a machine/robot. More...
class	TorqueSimulationCurrentSensor
	Helper class that implements a Current Sensor for a TorqueSimulationAxis. More...
class	CaptureCamera
	This class implements a TaskContext that grabs images from a firewire-camera using OpenCV. More...
class	ComediDevice
	Minimal C++ API to a comedi device. More...
class	ComediEncoder
	A class for reading an encoder using the comedi hardware abstraction layer. More...
class	ComediPulseTrainGenerator
	A class for generation of pulse trains using the comedi hardware abstraction layer. More...
class	ComediSubDeviceAIn
	This logical device represents one subdevice of a Comedi device. More...
class	ComediSubDeviceAOut
	This logical device represents one subdevice of a Comedi device. More...
class	ComediSubDeviceDIn
	This logical device represents one 'Digital Input' subdevice of a Comedi device. More...
class	ComediSubDeviceDOut
	This logical device represents one subdevice of a Comedi device. More...
class	ComediThreadScope
	A ThreadScope implementatation for Comedi Digital Outputs. More...
class	Demotool
	This class implements a TaskContext to use with the demonstration tool in the RoboticLab, PMA, dept. More...
class	EthercatDemoIO
class	Kuka361nAxesVelocityController
	This class implements a TaskContext to use with the Kuka361 robot in the RoboticLab, PMA, dept. More...
class	EthercatIO
class	Gripper
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	Kuka361DWHConvertor
class	Kuka361Kinematics
class	Kuka361nAxesAccelerationController
	This class implements a TaskContext that reads out the output acceleration dataports OCl::nAxesController and puts these output values in the driveValue dataports of an nAxesTorqueController. More...
class	Kuka361nAxesTorqueController
	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	LaserDistance
	This class implements a TaskContext which construct an interface to the automated Laser initialising a link to the digital IO PCI cards. More...
class	LaserScanner
	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	PerformerMK2nAxesVelocityController
	This class implements a TaskContext to use with the PerformerMK2 robot in the RoboticLab, PMA, dept. More...
class	nAxesVelocityController
	This class implements a Taskcontext that simulates a robot with a configurable number of axes. More...
class	StaubliRX130nAxesVelocityController
	This class implements a TaskContext to use with the StaubliRX130 robot in the RoboticLab, PMA, dept. More...
class	CalibratedWrenchSensor
class	WrenchSensor
	This class implements a TaskContext that communicates with a JR3-WrenchSensor. More...
class	VelocityReaderXY
class	xyPlatformAxisHardware
class	CorbaDeploymentComponent
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	NetcdfReporting
	A component which writes data reports to a netCDF file. More...
class	ReportingComponent
	A Component for periodically reporting Component Port contents to a human readable text format. More...
class	ListenThread
	ListenThread is a thread which waits for new incoming connections from clients. More...
class	TcpReporting
	A component which writes data reports to a tcp/ip socket. 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	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	CartesianVelocityController
class	gcodeReceiver
class	nAxesControllerPos
	This component can control the positions of multiple axes. More...
class	nAxesControllerPosVel
	This component can control the positions of multiple axes. More...
class	nAxesControllerPosVelAcc
	This component can control the accelerations of multiple axes. More...
class	nAxesControllerVel
	This component can control the velocities of multiple axes. More...
class	nAxesGeneratorPos
	This component generates paths between the current positions and new desired positions for multiple axes. More...
class	nAxesGeneratorVel
	This component generates paths between the current velocities and the new desired velocities for multiple axes, this velocities can be maintained or stopped. 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 RTT::TaskContext *(*	ComponentLoaderSignature )(std::string instance_name)
	This signature defines how a component can be instantiated.
typedef std::map< std::string, ComponentLoaderSignature >	FactoryMap
typedef unsigned int	Data
typedef Kuka361nAxesVelocityController	MyType
typedef ACE_Acceptor < ClientHandler, ACE_SOCK_ACCEPTOR >	ClientAcceptor
Functions
int	loadOCL ()
char	getTaskStatusChar (TaskContext *t)
	Helper functions to display task and script states.
char	getStateMachineStatusChar (TaskContext *t, string progname)
char	getProgramStatusChar (TaskContext *t, string progname)
void	str_trim (string &str, char to_trim)
std::ostream &	operator<< (std::ostream &os, comcol f)
std::ostream &	operator<< (std::ostream &os, keycol f)
std::ostream &	operator<< (std::ostream &os, titlecol f)
TaskContext *	createControlTaskProxy (std::string name)
	This helper function looks up a server using the Naming Service and creates a proxy for that object.
TaskContext *	createControlTaskProxyIORFile (std::string iorfilename)
	This helper function looks up a server using an IOR file and creates a proxy for that object.
TaskContext *	createControlTaskProxyIOR (std::string ior)
	This helper function looks up a server using an IOR file and creates a proxy for that object.
int	string_to_oro_sched (const std::string &sched)
Variables
OS::InitFunction OCLLoader &	loadOCL
std::deque< TaskContext * >	taskHistory

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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.