def __init__(self, manager):
OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
self._d_status = ogata_lab.CarStatus(
ogata_lab.CameraData(0, 0, []), ogata_lab.CameraData(0, 0, []),
ogata_lab.CameraData(0, 0, []), RTC.Velocity3D(0, 0, 0, 0, 0, 0),
RTC.AngularVelocity3D(0, 0, 0), RTC.Acceleration3D(0, 0, 0),
RTC.AngularAcceleration3D(0, 0, 0))
"""
"""
self._statusIn = OpenRTM_aist.InPort("status", self._d_status)
self._d_simulator = ogata_lab.SimulatorStatus(
RTC.Time(0, 0),
RTC.Pose3D(RTC.Point3D(0, 0, 0), RTC.Orientation3D(0, 0, 0)))
"""
"""
self._simulatorIn = OpenRTM_aist.InPort("simulator", self._d_simulator)
self._d_command = ogata_lab.CarCommand(RTC.Time(0, 0), 0, 0, 0)
"""
"""
self._commandOut = OpenRTM_aist.OutPort("command", self._d_command)
# initialize of configuration-data.
# <rtc-template block="init_conf_param">
"""
- Name: debug
- DefaultValue: 0
"""
self._debug = [0]
def onActivated(self, ec_id):
self.buttons = [False] * 11
self.accel = RTC.AngularAcceleration3D(0, 0, 0)
self.orientation = RTC.Orientation3D(0, 0, 0)
self.cursor = RTC.Point2D(0, 0)
self.distance = 0
self.ir = RTC.Point2D(0, 0)
return RTC.RTC_OK
def create_data(data_type):
if data_type == "RTC::Time":
return RTC.Time(0, 0)
elif data_type == "RTC::TimedState":
return RTC.TimedState(RTC.Time(0, 0), 0)
elif data_type == "RTC::TimedShort":
return RTC.TimedShort(RTC.Time(0, 0), 0)
elif data_type == "RTC::TimedLong":
return RTC.TimedLong(RTC.Time(0, 0), 0)
elif data_type == "RTC::TimedUShort":
return RTC.TimedUShort(RTC.Time(0, 0), 0)
elif data_type == "RTC::TimedULong":
return RTC.TimedULong(RTC.Time(0, 0), 0)
elif data_type == "RTC::TimedFloat":
return RTC.TimedFloat(RTC.Time(0, 0), 0.0)
elif data_type == "RTC::TimedDouble":
return RTC.TimedDouble(RTC.Time(0, 0), 0.0)
elif data_type == "RTC::TimedChar":
return RTC.TimedChar(RTC.Time(0, 0), chr(0))
elif data_type == "RTC::TimedWChar":
return RTC.TimedWChar(RTC.Time(0, 0), u"00")
elif data_type == "RTC::TimedBoolean":
return RTC.TimedBoolean(RTC.Time(0, 0), False)
elif data_type == "RTC::TimedOctet":
return RTC.TimedOctet(RTC.Time(0, 0), 0)
elif data_type == "RTC::TimedString":
return RTC.TimedString(RTC.Time(0, 0), "")
elif data_type == "RTC::TimedWString":
return RTC.TimedWString(RTC.Time(0, 0), u"")
elif data_type == "RTC::TimedShortSeq":
return RTC.TimedShortSeq(RTC.Time(0, 0), [])
elif data_type == "RTC::TimedLongSeq":
return RTC.TimedLongSeq(RTC.Time(0, 0), [])
elif data_type == "RTC::TimedUShortSeq":
return RTC.TimedUShortSeq(RTC.Time(0, 0), [])
elif data_type == "RTC::TimedULongSeq":
return RTC.TimedULongSeq(RTC.Time(0, 0), [])
elif data_type == "RTC::TimedFloatSeq":
return RTC.TimedFloatSeq(RTC.Time(0, 0), [])
elif data_type == "RTC::TimedDoubleSeq":
return RTC.TimedDoubleSeq(RTC.Time(0, 0), [])
elif data_type == "RTC::TimedCharSeq":
return RTC.TimedCharSeq(RTC.Time(0, 0), [])
elif data_type == "RTC::TimedWCharSeq":
return RTC.TimedWCharSeq(RTC.Time(0, 0), [])
elif data_type == "RTC::TimedBooleanSeq":
return RTC.TimedBooleanSeq(RTC.Time(0, 0), [])
elif data_type == "RTC::TimedOctetSeq":
return RTC.TimedOctetSeq(RTC.Time(0, 0), "")
elif data_type == "RTC::TimedStringSeq":
return RTC.TimedStringSeq(RTC.Time(0, 0), [])
elif data_type == "RTC::TimedWStringSeq":
return RTC.TimedWStringSeq(RTC.Time(0, 0), [])
elif data_type == "RTC::RGBColour":
return RTC.RGBColour(0.0, 0.0, 0.0)
elif data_type == "RTC::Point2D":
return RTC.Point2D(0.0, 0.0)
elif data_type == "RTC::Vector2D":
return RTC.Vector2D(0.0, 0.0)
elif data_type == "RTC::Pose2D":
return RTC.Pose2D(RTC.Point2D(0.0, 0.0), 0.0)
elif data_type == "RTC::Velocity2D":
return RTC.Velocity2D(0.0, 0.0, 0.0)
elif data_type == "RTC::Acceleration2D":
return RTC.Acceleration2D(0.0, 0.0)
elif data_type == "RTC::PoseVel2D":
return RTC.PoseVel2D(RTC.Pose2D(RTC.Point2D(0.0, 0.0), 0.0),
RTC.Velocity2D(0.0, 0.0, 0.0))
elif data_type == "RTC::Size2D":
return RTC.Size2D(0.0, 0.0)
elif data_type == "RTC::Geometry2D":
return RTC.Geometry2D(RTC.Pose2D(RTC.Point2D(0.0, 0.0), 0.0),
RTC.Size2D(0.0, 0.0))
elif data_type == "RTC::Covariance2D":
return RTC.Covariance2D(*([0.0] * 6))
elif data_type == "RTC::PointCovariance2D":
return RTC.PointCovariance2D(0.0, 0.0, 0.0)
elif data_type == "RTC::Carlike":
return RTC.Carlike(0.0, 0.0)
elif data_type == "RTC::SpeedHeading2D":
return RTC.SpeedHeading2D(0.0, 0.0)
elif data_type == "RTC::Point3D":
return RTC.Point3D(0.0, 0.0, 0.0)
elif data_type == "RTC::Vector3D":
return RTC.Vector3D(0.0, 0.0, 0.0)
elif data_type == "RTC::Orientation3D":
return RTC.Orientation3D(0.0, 0.0, 0.0)
elif data_type == "RTC::Pose3D":
return RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0))
elif data_type == "RTC::Velocity3D":
return RTC.Velocity3D(*([0.0] * 6))
elif data_type == "RTC::AngularVelocity3D":
return RTC.AngularVelocity3D(0.0, 0.0, 0.0)
elif data_type == "RTC::Acceleration3D":
return RTC.Acceleration3D(0.0, 0.0, 0.0)
elif data_type == "RTC::AngularAcceleration3D":
return RTC.AngularAcceleration3D(0.0, 0.0, 0.0)
elif data_type == "RTC::PoseVel3D":
return RTC.PoseVel3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Velocity3D(*([0.0] * 6)))
elif data_type == "RTC::Size3D":
return RTC.Size3D(0.0, 0.0, 0.0)
elif data_type == "RTC::Geometry3D":
return RTC.Geometry3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Size3D(0.0, 0.0, 0.0))
elif data_type == "RTC::Covariance3D":
return RTC.Covariance3D(*([0.0] * 21))
elif data_type == "RTC::SpeedHeading3D":
return RTC.SpeedHeading3D(0.0, RTC.Orientation3D(0.0, 0.0, 0.0))
elif data_type == "RTC::OAP":
return RTC.OAP(*([RTC.Vector3D(0.0, 0.0, 0.0)] * 3))
elif data_type == "RTC::TimedRGBColour":
return RTC.TimedRGBColour(RTC.Time(0, 0), RTC.RGBColour(0.0, 0.0, 0.0))
elif data_type == "RTC::TimedPoint2D":
return RTC.TimedPoint2D(RTC.Time(0, 0), RTC.Point2D(0.0, 0.0))
elif data_type == "RTC::TimedVector2D":
return RTC.TimedVector2D(RTC.Time(0, 0), RTC.Vector2D(0.0, 0.0))
elif data_type == "RTC::TimedPose2D":
return RTC.TimedPose2D(RTC.Time(0, 0),
RTC.Pose2D(RTC.Point2D(0.0, 0.0), 0.0))
elif data_type == "RTC::TimedVelocity2D":
return RTC.TimedVelocity2D(RTC.Time(0, 0),
RTC.Velocity2D(0.0, 0.0, 0.0))
elif data_type == "RTC::TimedAcceleration2D":
return RTC.TimedAcceleration2D(RTC.Time(0, 0),
RTC.Acceleration2D(0.0, 0.0))
elif data_type == "RTC::TimedPoseVel2D":
return RTC.TimedPoseVel2D(
RTC.Time(0, 0),
RTC.PoseVel2D(RTC.Pose2D(RTC.Point2D(0.0, 0.0), 0.0),
RTC.Velocity2D(0.0, 0.0, 0.0)))
elif data_type == "RTC::TimedSize2D":
return RTC.TimedSize2D(RTC.Time(0, 0), RTC.Size2D(0.0, 0.0))
elif data_type == "RTC::TimedGeometry2D":
return RTC.TimedGeometry2D(
RTC.Time(0, 0),
RTC.Geometry2D(RTC.Pose2D(RTC.Point2D(0.0, 0.0), 0.0),
RTC.Size2D(0.0, 0.0)))
elif data_type == "RTC::TimedCovariance2D":
return RTC.TimedCovariance2D(RTC.Time(0, 0),
RTC.Covariance2D(*([0.0] * 6)))
elif data_type == "RTC::TimedPointCovariance2D":
return RTC.TimedPointCovariance2D(RTC.Time(0, 0),
RTC.PointCovariance2D(0.0, 0.0, 0.0))
elif data_type == "RTC::TimedCarlike":
return RTC.TimedCarlike(RTC.Time(0, 0), RTC.Carlike(0.0, 0.0))
elif data_type == "RTC::TimedSpeedHeading2D":
return RTC.TimedSpeedHeading2D(RTC.Time(0, 0),
RTC.SpeedHeading2D(0.0, 0.0))
elif data_type == "RTC::TimedPoint3D":
return RTC.TimedPoint3D(RTC.Time(0, 0), RTC.Point3D(0.0, 0.0, 0.0))
elif data_type == "RTC::TimedVector3D":
return RTC.TimedVector3D(RTC.Time(0, 0), RTC.Vector3D(0.0, 0.0, 0.0))
elif data_type == "RTC::TimedOrientation3D":
return RTC.TimedOrientation3D(RTC.Time(0, 0),
RTC.Orientation3D(0.0, 0.0, 0.0))
elif data_type == "RTC::TimedPose3D":
return RTC.TimedPose3D(
RTC.Time(0, 0),
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)))
elif data_type == "RTC::TimedVelocity3D":
return RTC.TimedVelocity3D(RTC.Time(0, 0),
RTC.Velocity3D(*([0.0] * 6)))
elif data_type == "RTC::TimedAngularVelocity3D":
return returnRTC.TimedAngularVelocity3D(
RTC.Time(0, 0), RTC.AngularVelocity3D(0.0, 0.0, 0.0))
elif data_type == "RTC::TimedAcceleration3D":
return RTC.TimedAcceleration3D(RTC.Time(0, 0),
RTC.Acceleration3D(0.0, 0.0, 0.0))
elif data_type == "RTC::TimedAngularAcceleration3D":
return RTC.TimedAngularAcceleration3D(
RTC.Time(0, 0), RTC.AngularAcceleration3D(0.0, 0.0, 0.0))
elif data_type == "RTC::TimedPoseVel3D":
return RTC.TimedPoseVel3D(
RTC.Time(0, 0),
RTC.PoseVel3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Velocity3D(*([0.0] * 6))))
elif data_type == "RTC::TimedSize3D":
return RTC.TimedSize3D(RTC.Time(0, 0), RTC.Size3D(0.0, 0.0, 0.0))
elif data_type == "RTC::TimedGeometry3D":
return RTC.TimedGeometry3D(
RTC.Time(0, 0),
RTC.Geometry3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Size3D(0.0, 0.0, 0.0)))
elif data_type == "RTC::TimedCovariance3D":
return RTC.TimedCovariance3D(RTC.Time(0, 0),
RTC.Covariance3D(*([0.0] * 21)))
elif data_type == "RTC::TimedSpeedHeading3D":
return RTC.TimedSpeedHeading3D(
RTC.Time(0, 0),
RTC.SpeedHeading3D(0.0, RTC.Orientation3D(0.0, 0.0, 0.0)))
elif data_type == "RTC::TimedOAP":
return RTC.TimedOAP(RTC.Time(0, 0),
RTC.OAP(*([RTC.Vector3D(0.0, 0.0, 0.0)] * 3)))
elif data_type == "RTC::Quaternion":
return RTC.Quaternion(*([0.0] * 4))
elif data_type == "RTC::TimedQuaternion":
return RTC.TimedQuaternion(RTC.Time(0, 0),
RTC.Quaternion(*([0.0] * 4)))
elif data_type == "RTC::ActArrayActuatorPos":
return RTC.ActArrayActuatorPos(RTC.Time(0, 0), 0, 0.0)
elif data_type == "RTC::ActArrayActuatorSpeed":
return RTC.ActArrayActuatorSpeed(RTC.Time(0, 0), 0, 0.0)
elif data_type == "RTC::ActArrayActuatorCurrent":
return RTC.ActArrayActuatorCurrent(RTC.Time(0, 0), 0, 0.0)
elif data_type == "RTC::Actuator":
return RTC.Actuator(0.0, 0.0, 0.0, 0.0, RTC.ACTUATOR_STATUS_IDLE)
elif data_type == "RTC::ActArrayState":
return RTC.ActArrayState(RTC.Time(0, 0), [])
elif data_type == "RTC::ActArrayActuatorGeometry":
return RTC.ActArrayActuatorGeometry(RTC.ACTARRAY_ACTUATORTYPE_LINEAR,
0.0,
RTC.Orientation3D(0.0, 0.0, 0.0),
RTC.Vector3D(0.0, 0.0, 0.0), 0.0,
0.0, 0.0, 0.0, False)
elif data_type == "RTC::ActArrayGeometry":
return RTC.ActArrayGeometry(
RTC.TimedGeometry3D(
RTC.Time(0, 0),
RTC.Geometry3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Size3D(0.0, 0.0, 0.0)), []))
elif data_type == "RTC::BumperGeometry":
return RTC.BumperGeometry(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Size3D(0.0, 0.0, 0.0), 0.0)
elif data_type == "RTC::BumperArrayGeometry":
return RTC.BumperArrayGeometry(
RTC.Geometry3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Size3D(0.0, 0.0, 0.0)), [])
elif data_type == "RTC::CameraImage":
return RTC.CameraImage(RTC.Time(0, 0), 0, 0, 0, "", 0.0, "")
elif data_type == "RTC::CameraInfo":
return RTC.CameraInfo(RTC.Vector2D(0.0, 0.0), RTC.Point2D(0.0, 0.0),
0.0, 0.0, 0.0, 0.0)
elif data_type == "RTC::FiducialInfo":
return RTC.FiducialInfo(
0,
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Size3D(0.0, 0.0, 0.0), RTC.Size3D(0.0, 0.0, 0.0))
elif data_type == "RTC::Fiducials":
return RTC.Fiducials(RTC.Time(0, 0), [])
elif data_type == "RTC::FiducialFOV":
return RTC.FiducialFOV(0.0, 0.0, 0.0)
elif data_type == "RTC::GPSTime":
return RTC.GPSTime(0, 0)
elif data_type == "RTC::GPSData":
return RTC.GPSData(RTC.Time(0, 0), RTC.GPSTime(0, 0), 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0, RTC.GPS_FIX_NONE)
elif data_type == "RTC::GripperState":
return RTC.GripperState(RTC.Time(0, 0), RTC.GRIPPER_STATE_UNKNOWN)
elif data_type == "RTC::INSData":
return RTC.INSData(RTC.Time(0, 0), 0.0, 0.0, 0.0, 0.0,
RTC.Velocity3D(*([0.0] * 6)),
RTC.Orientation3D(0.0, 0.0, 0.0))
elif data_type == "RTC::LimbState":
return RTC.LimbState(RTC.Time(0, 0),
RTC.OAP(*([RTC.Vector3D(0.0, 0.0, 0.0)] * 3)),
RTC.LIMB_STATUS_IDLE)
elif data_type == "RTC::Hypothesis2D":
return RTC.Hypothesis2D(RTC.Pose2D(RTC.Point2D(0.0, 0.0), 0.0),
RTC.Covariance2D(*([0.0] * 6)), 0.0)
elif data_type == "RTC::Hypotheses2D":
return RTC.Hypotheses2D(RTC.Time(0, 0), [])
elif data_type == "RTC::Hypothesis3D":
return RTC.Hypothesis3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Covariance3D(*([0.0] * 21)), 0.0)
elif data_type == "RTC::Hypotheses3D":
return RTC.Hypotheses3D(RTC.Time(0, 0), [
RTC.Hypothesis3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Covariance3D(*([0.0] * 21)), 0.0)
])
elif data_type == "RTC::OGMapConfig":
return RTC.OGMapConfig(0.0, 0.0, 0, 0,
RTC.Pose2D(RTC.Point2D(0.0, 0.0), 0.0))
elif data_type == "RTC::OGMapTile":
return RTC.OGMapTile(0, 0, 0, 0, "")
elif data_type == "RTC::PointFeature":
return RTC.PointFeature(0.0, RTC.Point2D(0.0, 0.0),
RTC.PointCovariance2D(0.0, 0.0, 0.0))
elif data_type == "RTC::PoseFeature":
return RTC.PoseFeature(0.0, RTC.Pose2D(RTC.Point2D(0.0, 0.0), 0.0),
RTC.Covariance2D(*([0.0] * 6)))
elif data_type == "RTC::LineFeature":
return RTC.LineFeature(0.0, 0.0, 0.0,
RTC.PointCovariance2D(0.0, 0.0, 0.0),
RTC.Point2D(0.0, 0.0), RTC.Point2D(0.0, 0.0),
False, False)
elif data_type == "RTC::Features":
return RTC.Features(RTC.Time(0, 0), [], [], [])
elif data_type == "RTC::MultiCameraImages":
return RTC.MultiCameraImages(RTC.Time(0, 0), [])
elif data_type == "RTC::MulticameraGeometry":
return RTC.MulticameraGeometry(
RTC.Geometry3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Size3D(0.0, 0.0, 0.0)), [
RTC.Geometry3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Size3D(0.0, 0.0, 0.0))
])
elif data_type == "RTC::Waypoint2D":
return RTC.Waypoint2D(RTC.Pose2D(RTC.Point2D(0.0, 0.0), 0.0), 0.0, 0.0,
RTC.Time(0, 0), RTC.Velocity2D(0.0, 0.0, 0.0))
elif data_type == "RTC::Path2D":
return RTC.Path2D(RTC.Time(0, 0), [
RTC.Waypoint2D(RTC.Pose2D(RTC.Point2D(0.0, 0.0), 0.0), 0.0, 0.0,
RTC.Time(0, 0), RTC.Velocity2D(0.0, 0.0, 0.0))
])
elif data_type == "RTC::Waypoint3D":
return RTC.Waypoint3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)), 0.0, 0.0,
RTC.Time(0, 0), RTC.Velocity3D(*([0.0] * 6)))
elif data_type == "RTC::Path3D":
return RTC.Path3D(RTC.Time(0, 0), [])
elif data_type == "RTC::PointCloudPoint":
return RTC.PointCloudPoint(RTC.Point3D(0.0, 0.0, 0.0),
RTC.RGBColour(0.0, 0.0, 0.0))
elif data_type == "RTC::PointCloud":
return RTC.PointCloud(RTC.Time(0, 0), [])
elif data_type == "RTC::PanTiltAngles":
return RTC.PanTiltAngles(RTC.Time(0, 0), 0.0, 0.0)
elif data_type == "RTC::RangerGeometry":
return RTC.RangerGeometry(
RTC.Geometry3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Size3D(0.0, 0.0, 0.0)), [])
elif data_type == "RTC::RangerConfig":
return RTC.RangerConfig(*([0.0] * 7))
elif data_type == "RTC::RangeData":
return RTC.RangeData(
RTC.Time(0, 0), [],
RTC.RangerGeometry(
RTC.Geometry3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Size3D(0.0, 0.0, 0.0)), []),
RTC.RangerConfig(*([0.0] * 7)))
elif data_type == "RTC::IntensityData":
return RTC.IntensityData(
RTC.Time(0, 0), [],
RTC.RangerGeometry(
RTC.Geometry3D(
RTC.Pose3D(RTC.Point3D(0.0, 0.0, 0.0),
RTC.Orientation3D(0.0, 0.0, 0.0)),
RTC.Size3D(0.0, 0.0, 0.0)), []),
RTC.RangerConfig(*([0.0] * 7)))
else:
return None
