def __init__(self, manager):
OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
inImage_arg = [None] * ((len(Img._d_TimedCameraImage) - 4) / 2)
self._d_inImage = Img.TimedCameraImage(*inImage_arg)
"""
"""
self._inImageIn = OpenRTM_aist.InPort("inImage", self._d_inImage)
self._d_inString = OpenRTM_aist.instantiateDataType(RTC.TimedString)
"""
"""
self._inStringIn = OpenRTM_aist.InPort("inString", self._d_inString)
outImage_arg = [None] * ((len(Img._d_TimedCameraImage) - 4) / 2)
self._d_outImage = Img.TimedCameraImage(
RTC.Time(0, 0),
Img.CameraImage(RTC.Time(0, 0), Img.ImageData(0, 0, 0, []),
Img.CameraIntrinsicParameter([], []), []), 0)
"""
"""
self._outImageOut = OpenRTM_aist.OutPort("outImage", self._d_outImage)
self._d_outObjectParam = OpenRTM_aist.instantiateDataType(
ObjectRecognition.TimedObjectParamSeq)
"""
"""
self._outObjectParamOut = OpenRTM_aist.OutPort("outObjectParam",
self._d_outObjectParam)
self._d_outFlag = OpenRTM_aist.instantiateDataType(RTC.TimedLong)
"""
"""
self._outFlagOut = OpenRTM_aist.OutPort("outFlag", self._d_outFlag)
# initialize of configuration-data.
# <rtc-template block="init_conf_param">
"""
- Name: dataset
- DefaultValue: karuta
"""
self._dataset = ['karuta']
"""
- Name: mode
- DefaultValue: gpu
"""
self._mode = ['gpu']
"""
- Name: net
- DefaultValue: vgg16
"""
self._net = ['vgg16']
"""
- Name: recognitionRate
- DefaultValue: 0.8
"""
self._recognitionRate = [0.8]
def __init__(self, manager):
OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
camera_arg = [None] * ((len(Img._d_TimedCameraImage) - 4) / 2)
self._d_camera = Img.TimedCameraImage(*camera_arg)
"""
"""
self._cameraIn = OpenRTM_aist.InPort("camera", self._d_camera)
"""
"""
self._manipCommonPort = OpenRTM_aist.CorbaPort("manipCommon")
"""
"""
self._manipMiddlePort = OpenRTM_aist.CorbaPort("manipMiddle")
"""
"""
self._manipCommon = OpenRTM_aist.CorbaConsumer(
interfaceType=JARA_ARM.ManipulatorCommonInterface_Common)
"""
"""
self._manipMiddle = OpenRTM_aist.CorbaConsumer(
interfaceType=JARA_ARM.ManipulatorCommonInterface_Middle)
# initialize of configuration-data.
# <rtc-template block="init_conf_param">
"""
- Name: debug
- DefaultValue: 1
"""
self._debug = [1]
self._model = None
"""
- Name: gripper_close_ratio
- DefaultValue: 0.1
"""
self._gripper_close_ratio = [0.1]
#self._model = None
# the position for taking a picture
self._camera_jointPos0 = [1.57076]
self._camera_jointPos1 = [0]
self._camera_jointPos2 = [1.57076]
self._camera_jointPos3 = [0]
self._camera_jointPos4 = [1.57076]
self._camera_jointPos5 = [0]
#the initial position
self._initial_jointPos0 = [1.57076]
self._initial_jointPos1 = [0]
self._initial_jointPos2 = [1.57076]
self._initial_jointPos3 = [0]
self._initial_jointPos4 = [1.57076]
self._initial_jointPos5 = [0]
def __init__(self, manager):
OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
camera_arg = [None] * ((len(Img._d_TimedCameraImage) - 4) / 2)
self._d_camera = Img.TimedCameraImage(*camera_arg)
"""
"""
self._cameraIn = OpenRTM_aist.InPort("camera", self._d_camera)
"""
"""
self._manipCommon_RPort = OpenRTM_aist.CorbaPort("manipCommon_R")
"""
"""
self._manipMiddle_RPort = OpenRTM_aist.CorbaPort("manipMiddle_R")
self._manipCommon_LPort = OpenRTM_aist.CorbaPort("manipCommon_L")
"""
"""
self._manipMiddle_LPort = OpenRTM_aist.CorbaPort("manipMiddle_L")
"""
"""
self._manipCommon_R = OpenRTM_aist.CorbaConsumer(
interfaceType=JARA_ARM.ManipulatorCommonInterface_Common)
"""
"""
self._manipMiddle_R = OpenRTM_aist.CorbaConsumer(
interfaceType=JARA_ARM.ManipulatorCommonInterface_Middle)
"""
"""
self._manipCommon_L = OpenRTM_aist.CorbaConsumer(
interfaceType=JARA_ARM_LEFT.ManipulatorCommonInterface_Common)
"""
"""
self._manipMiddle_L = OpenRTM_aist.CorbaConsumer(
interfaceType=JARA_ARM_LEFT.ManipulatorCommonInterface_Middle)
# initialize of configuration-data.
# <rtc-template block="init_conf_param">
"""
- Name: debug
- DefaultValue: 1
"""
self._debug = [1]
self._model = None
"""
- Name: gripper_close_ratio
- DefaultValue: 0.1
"""
self._gripper_close_ratio = [0.1]
self._model = None
def __init__(self, manager):
OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
self._d_InImage = Img.TimedCameraImage(RTC.Time(0, 0), 0, 0)
"""
"""
self._InImageIn = OpenRTM_aist.InPort("InImage", self._d_InImage)
self._d_InIRSignal = RTC.TimedLongSeq(RTC.Time(0, 0), [])
"""
"""
self._InIRSignalIn = OpenRTM_aist.InPort("InIRSignal",
self._d_InIRSignal)
self._d_OutLongSeq = RTC.TimedLongSeq(RTC.Time(0, 0), [])
"""
"""
self._OutLongSeqOut = OpenRTM_aist.OutPort("OutLongSeq",
self._d_OutLongSeq)
self._d_Instruction = RTC.TimedString(RTC.Time(0, 0), 0)
"""
"""
self._InstructionOut = OpenRTM_aist.OutPort("Instruction",
self._d_Instruction)