RTC Module Reference

Classes
struct	Acceleration2D
	Accelerations in 2D cartesian space. More...
struct	Acceleration3D
	Accelerations in 3D cartesian space. More...
struct	ActArrayActuatorCurrent
	Stores the current draw of a single actuator. More...
struct	ActArrayActuatorGeometry
	Describes the geometry of an individual actuator. More...
struct	ActArrayActuatorPos
	Stores the position of a single actuator. More...
struct	ActArrayActuatorSpeed
	Stores the speed of a single actuator. More...
struct	ActArrayGeometry
	Geometry of an actuator array. More...
struct	ActArrayState
	State of all actuators in an array. More...
struct	Actuator
	State information of a single actuator. More...
struct	AngularAcceleration3D
	Angular accelerations in 3D cartesian space. More...
struct	AngularVelocity3D
	Angular velocities in 3D cartesian space. More...
struct	BumperArrayGeometry
	Geometry of an array of bump sensors. More...
struct	BumperGeometry
	Geometry of a single bumper. More...
struct	CameraImage
	Stores an image from a camera or camera-like device. More...
struct	CameraInfo
	Information about an image-producing device. More...
struct	Carlike
	Control specification for a car-like robot. More...
interface	ComponentAction
	ComponentAction. More...
struct	ComponentProfile
	ComponentProfile. More...
struct	ConnectorProfile
	ConnectorProfile. More...
struct	Covariance2D
	Covariance matrix for a 2D pose. More...
struct	Covariance3D
	Covariance matrix for a 3D pose. More...
interface	DataFlowComponent
	dataFlowComponent More...
interface	DataFlowComponentAction
	DataFlowComponentAction. More...
interface	ExecutionContext
	ExecutionContext. More...
struct	ExecutionContextProfile
interface	ExecutionContextService
	ExecutionContextService. More...
struct	Features
struct	FiducialFOV
	Field of view of a fiducial tracker. More...
struct	FiducialInfo
	Information about a single fiducial. More...
struct	Fiducials
	Time-stamped list of detected fiducials. More...
interface	Fsm
	fsm More...
struct	FsmBehaviorProfile
	FsmBehaviorProfile. More...
interface	FsmObject
	FsmObject. More...
interface	FsmParticipant
interface	FsmParticipantAction
	FsmParticipantAction. More...
struct	FsmProfile
	FsmProfile. More...
interface	FsmService
	FsmService. More...
struct	Geometry2D
	Geometry information for a device in 2D cartesian space. More...
struct	Geometry3D
struct	GPSData
	Data as returned by a common GPS device. More...
struct	GPSTime
	Time since epoch as reported by a GPS device. More...
struct	GripperGeometry
	Geometry of a gripper, including both the outside and inside sizes. More...
struct	GripperState
	State of a gripper. More...
struct	Hypotheses2D
	Time-stamped list of localisation hypotheses in 2D space. More...
struct	Hypotheses3D
	Time-stamped list of localisation hypotheses in 3D space. More...
struct	Hypothesis2D
	A pose hypothesis in 2D space. More...
struct	Hypothesis3D
	A pose hypothesis in 3D space. More...
struct	INSData
	Data returned by an inertial navigation system. More...
struct	IntensityData
	Intensity readings from a range sensor. More...
interface	LightweightRTObject
	LightweightRTObject. More...
struct	LimbState
	Time-stamped state of a limb. More...
struct	LineFeature
	A line feature. More...
interface	Mode
	Mode. More...
interface	ModeCapable
	ModeCapable. More...
struct	MulticameraGeometry
	Geometry of a multi-camera system, such as a stereo camera. More...
struct	MultiCameraImages
interface	MultiModeComponentAction
	MultiModeComponentAction. More...
interface	MultiModeObject
struct	OAP
	Orientation, approach and position vectors. More...
struct	OGMapConfig
	Configuration of a occupancy-grip map. More...
struct	OGMapTile
	A tile from an occupancy-grid map. More...
struct	Orientation3D
	Orientation in 3D cartesian space. More...
struct	PanTiltAngles
	Pan and tilt values of a pan-tilt unit. More...
struct	PanTiltState
	Status of a pan-tilt unit. More...
struct	Path2D
	A time-stamped path in 2D space. More...
struct	Path3D
	A time-stamped path in 3D space. More...
struct	Point2D
	Point in 2D cartesian space. More...
struct	Point3D
	Point in 3D cartesian space. More...
struct	PointCloud
	A cloud of points in 3D space. More...
struct	PointCloudPoint
	A point in a point cloud. More...
struct	PointCovariance2D
	Covariance matrix for a 2D point. More...
struct	PointFeature
	A size-less point feature. More...
struct	PortInterfaceProfile
	PortInterfaceProfile. More...
struct	PortProfile
	PortProfile. More...
interface	PortService
	PortService. More...
struct	Pose2D
	Pose in 2D cartesian space. More...
struct	Pose3D
	Pose in 3D cartesian space. More...
struct	PoseFeature
	A size-less point feature with orientation. More...
struct	PoseVel2D
	Pose and velocity in 2D cartesian space. More...
struct	PoseVel3D
	Pose and velocity in 3D cartesian space. More...
struct	Quaternion
	Data type for Quaternion. More...
struct	RangeData
	Range readings from a range sensor. More...
struct	RangerConfig
	The configuration of a ranger device. More...
struct	RangerGeometry
	Geometry of a ranger device. A range sensor may be a single device returning multiple ranges (such as a laser scanner), or an array of sensing elements each returning a single range value (such as an array of sonar sensors). If there is only one sensing element in the device, the device should be considered a laser scanner type. If there are multiple elements, the device should be considered an array of single-range-value sensors. More...
struct	RGBColour
	Red/green/blue colour specification, with values between 0.0 for none and 1.0 for full. More...
interface	RTObject
	RTObject. More...
struct	Size2D
	Size in 2D cartesian space. More...
struct	Size3D
	Size in 3D cartesian space. More...
struct	SpeedHeading2D
	Control specification for a robot capable of moving in a given direction in 2D space. More...
struct	SpeedHeading3D
	Control specification for a robot capable of moving in a given direction in 3D space. More...
struct	Time
struct	TimedAcceleration2D
	Time-stamped version of Acceleration2D. More...
struct	TimedAcceleration3D
	Time-stamped version of Acceleration3D. More...
struct	TimedAngularAcceleration3D
	Time-stamped version of AngularAcceleration3D. More...
struct	TimedAngularVelocity3D
	Time-stamped version of AngularVelocity3D. More...
struct	TimedBoolean
struct	TimedBooleanSeq
struct	TimedCarlike
	Time-stamped version of Carlike. More...
struct	TimedChar
struct	TimedCharSeq
struct	TimedCovariance2D
	Time-stamped version of Covariance2D. More...
struct	TimedCovariance3D
	Time-stamped version of Covariance3D. More...
struct	TimedDouble
struct	TimedDoubleSeq
struct	TimedFloat
struct	TimedFloatSeq
struct	TimedGeometry2D
	Time-stamped version of Geometry2D. More...
struct	TimedGeometry3D
	Time-stamped version of Geometry3D. More...
struct	TimedLong
struct	TimedLongSeq
struct	TimedOAP
	Time-stamped version of OAP. More...
struct	TimedOctet
struct	TimedOctetSeq
struct	TimedOrientation3D
	Time-stamped version of Orientation3D. More...
struct	TimedPoint2D
	Time-stamped version of Point2D. More...
struct	TimedPoint3D
	Time-stamped version of Point3D. More...
struct	TimedPointCovariance2D
	Time-stamped version of PointCovariance2D. More...
struct	TimedPose2D
	Time-stamped version of Pose2D. More...
struct	TimedPose3D
	Time-stamped version of Pose3D. More...
struct	TimedPoseVel2D
	Time-stamped version of PoseVel2D. More...
struct	TimedPoseVel3D
	Time-stamped version of PoseVel3D. More...
struct	TimedQuaternion
	Timed version data type for Quaternion. More...
struct	TimedRGBColour
	Time-stamped version of RGBColour. More...
struct	TimedShort
struct	TimedShortSeq
struct	TimedSize2D
	Time-stamped version of Size2D. More...
struct	TimedSize3D
	Time-stamped version of Size3D. More...
struct	TimedSpeedHeading2D
	Time-stamped version of SpeedHeading2D. More...
struct	TimedSpeedHeading3D
	Time-stamped version of SpeedHeading3D. More...
struct	TimedState
struct	TimedString
struct	TimedStringSeq
struct	TimedULong
struct	TimedULongSeq
struct	TimedUShort
struct	TimedUShortSeq
struct	TimedVector2D
	Time-stamped version of Vector2D. More...
struct	TimedVector3D
	Time-stamped version of Vector3D. More...
struct	TimedVelocity2D
	Time-stamped version of Velocity2D. More...
struct	TimedVelocity3D
	Time-stamped version of Velocity3D. More...
struct	TimedWChar
struct	TimedWCharSeq
struct	TimedWString
struct	TimedWStringSeq
struct	Vector2D
	Vector in 2D cartesian space. More...
struct	Vector3D
	Vector in 3D cartesian space. More...
struct	Velocity2D
	Velocities in 2D cartesian space. More...
struct	Velocity3D
	Velocities in 3D cartesian space. More...
struct	Waypoint2D
	A waypoint in 2D space, including constraints. More...
struct	Waypoint3D
	A waypoint in 3D space, including constraints. More...

Typedefs
typedef sequence< Actuator >	ActuatorList
	List of Actuator elements. More...
typedef sequence< ActArrayActuatorGeometry >	ActArrayActuatorGeometryList
	List of ActArrayActuatorGeometry elements. More...
typedef sequence< BumperGeometry >	BumperGeometryList
typedef sequence< FiducialInfo >	FiducialInfoList
typedef sequence< Hypothesis2D >	Hypothesis2DList
typedef sequence< Hypothesis3D >	Hypothesis3DList
typedef sequence< octet >	OGMapCells
typedef sequence< PointFeature >	PointFeatureList
typedef sequence< PoseFeature >	PoseFeatureList
typedef sequence< LineFeature >	LineFeatureList
typedef sequence< CameraImage >	MulticameraImageList
typedef sequence< CameraInfo >	MulticameraInfoList
typedef sequence< Geometry3D >	MulticameraGeometryList
typedef sequence< Waypoint2D >	Waypoint2DList
typedef sequence< Waypoint3D >	Waypoint3DList
typedef sequence< PointCloudPoint >	PointCloudPointList
typedef sequence< Geometry3D >	ElementGeometryList
typedef sequence< double >	RangeList
typedef sequence< double >	IntensityList
typedef sequence< octet >	RFIDTagData
typedef EXECUTION_HANDLE_TYPE_NATIVE	ExecutionContextHandle_t
	ExecutionContextHandle_t. More...
typedef SDOPackage::UniqueIdentifier	UniqueIdentifier
typedef SDOPackage::NVList	NVList
typedef sequence< ExecutionContext >	ExecutionContextList
typedef sequence< PortInterfaceProfile >	PortInterfaceProfileList
typedef sequence< PortService >	PortServiceList
typedef sequence< RTObject >	RTCList
typedef sequence< ConnectorProfile >	ConnectorProfileList
typedef sequence< PortProfile >	PortProfileList
typedef sequence< ExecutionContextProfile >	ExecutionContextProfileList
typedef sequence< FsmBehaviorProfile >	FsmBehaviorProfileList
typedef sequence< ComponentProfile >	ComponentProfileList
typedef sequence< ExecutionContextService >	ExecutionContextServiceList

Enumerations
enum	ActArrayActuatorStatus { ACTUATOR_STATUS_IDLE, ACTUATOR_STATUS_MOVING, ACTUATOR_STATUS_BRAKED, ACTUATOR_STATUS_STALLED }
	Describes the status of an actuator. More...
enum	ActArrayActuatorType { ACTARRAY_ACTUATORTYPE_LINEAR, ACTARRAY_ACTUATORTYPE_ROTARY }
	Describes the type of an actuator. More...
enum	GPSFixType { GPS_FIX_NONE, GPS_FIX_NORMAL, GPS_FIX_DGPS }
enum	GripperStatus { GRIPPER_STATE_OPEN, GRIPPER_STATE_CLOSED, GRIPPER_STATE_MOVING, GRIPPER_STATE_UNKNOWN }
	Describes the status of a gripper. More...
enum	LimbStatus {   LIMB_STATUS_IDLE, LIMB_STATUS_BRAKED, LIMB_STATUS_MOVING, LIMB_STATUS_OOR,   LIMB_STATUS_COLLISION }
enum	ReturnCode_t {   RTC_OK, RTC_ERROR, BAD_PARAMETER, UNSUPPORTED,   OUT_OF_RESOURCES, PRECONDITION_NOT_MET }
	ReturnCode_t. More...
enum	LifeCycleState { CREATED_STATE, INACTIVE_STATE, ACTIVE_STATE, ERROR_STATE }
	LifeCycleState. More...
enum	ExecutionKind { PERIODIC, EVENT_DRIVEN, OTHER }
	ExecutionKind. More...
enum	PortInterfacePolarity { PROVIDED, REQUIRED }
	PortInterfacePolarity. More...

Typedef Documentation

RTC::ActArrayActuatorGeometryList

List of ActArrayActuatorGeometry elements.

RTC::ActuatorList

List of Actuator elements.

RTC::BumperGeometryList

typedef sequence<ComponentProfile> RTC::ComponentProfileList

typedef sequence<ConnectorProfile> RTC::ConnectorProfileList

RTC::ElementGeometryList

typedef EXECUTION_HANDLE_TYPE_NATIVE RTC::ExecutionContextHandle_t

ExecutionContextHandle_t.

Description

This data type represents the association between an RTC and an ExecutionContext in which it participates.

Semantics

This is an opaque DataType. It has no attributes or operations.

typedef sequence<ExecutionContext> RTC::ExecutionContextList

typedef sequence<ExecutionContextProfile> RTC::ExecutionContextProfileList

typedef sequence<ExecutionContextService> RTC::ExecutionContextServiceList

RTC::FiducialInfoList

typedef sequence<FsmBehaviorProfile> RTC::FsmBehaviorProfileList

RTC::Hypothesis2DList

RTC::Hypothesis3DList

RTC::IntensityList

RTC::LineFeatureList

RTC::MulticameraGeometryList

RTC::MulticameraImageList

RTC::MulticameraInfoList

typedef SDOPackage::NVList RTC::NVList

RTC::OGMapCells

RTC::PointCloudPointList

RTC::PointFeatureList

typedef sequence<PortInterfaceProfile> RTC::PortInterfaceProfileList

typedef sequence<PortProfile> RTC::PortProfileList

typedef sequence<PortService> RTC::PortServiceList

RTC::PoseFeatureList

RTC::RangeList

RTC::RFIDTagData

typedef sequence<RTObject> RTC::RTCList

typedef SDOPackage::UniqueIdentifier RTC::UniqueIdentifier

RTC::Waypoint2DList

RTC::Waypoint3DList

Enumeration Type Documentation

enum RTC::ActArrayActuatorStatus

Describes the status of an actuator.

Enumerator
ACTUATOR_STATUS_IDLE
ACTUATOR_STATUS_MOVING
ACTUATOR_STATUS_BRAKED
ACTUATOR_STATUS_STALLED

enum RTC::ActArrayActuatorType

Describes the type of an actuator.

Enumerator
ACTARRAY_ACTUATORTYPE_LINEAR
ACTARRAY_ACTUATORTYPE_ROTARY

enum RTC::ExecutionKind

ExecutionKind.

Description

The ExecutionKind enumeration defines the execution semantics (see Section 5.3) of the RTCs that participate in an execution context.

Enumerator
PERIODIC	PERIODIC. Description The participant RTCs are executing according to periodic sampled data semantics (see Section 5.3.1).
EVENT_DRIVEN	EVENT_DRIVEN. Description The participant RTCs are executing according to stimulus response semantics (see Section 5.3.2).
OTHER	OTHER. Description The participant RTCs are executing according to some semantics not defined by this specification.

enum RTC::GPSFixType

Enumerator
GPS_FIX_NONE
GPS_FIX_NORMAL
GPS_FIX_DGPS

enum RTC::GripperStatus

Describes the status of a gripper.

Enumerator
GRIPPER_STATE_OPEN
GRIPPER_STATE_CLOSED
GRIPPER_STATE_MOVING
GRIPPER_STATE_UNKNOWN

enum RTC::LifeCycleState

LifeCycleState.

Description

LifeCycleState is an enumeration of the states in the lifecycle above.

Enumerator
CREATED_STATE	CREATED. Description The RTC object has been instantiated but not yet fully initialized.
INACTIVE_STATE	INACTIVE. Description The RTC is Alive but is not being invoked in any execution context (see Section 5.2.2.5), regardless of whether the context is Running or not. Semantics An instance of this state exists for each execution context in which the RTC participates. If the RTC does not participate in any execution context, a single instance of this state exists.
ACTIVE_STATE	ACTIVE. Description The RTC is Alive and will be invoked in the execution context if the context is Running. Semantics An instance of this state exists for each execution context in which the RTC participates. If the RTC does not participate in any execution context, this state shall never be observed.
ERROR_STATE	ERROR. Description The RTC has encountered a problem in a given execution context and cannot continue functioning in that context without being reset.

enum RTC::LimbStatus

Enumerator
LIMB_STATUS_IDLE
LIMB_STATUS_BRAKED
LIMB_STATUS_MOVING
LIMB_STATUS_OOR
LIMB_STATUS_COLLISION

enum RTC::PortInterfacePolarity

PortInterfacePolarity.

Description

The PortInterfacePolarity enumeration identifies exposed interface instances as provided or required.

Enumerator
PROVIDED	PROVIDED. Description The target interface is provided as an output by the target port.
REQUIRED	REQUIRED. Description The target interface is required as an input by the target port.

enum RTC::ReturnCode_t

ReturnCode_t.

A number of operations in this specification will need to report potential error conditions to their clients. This task shall be accomplished by means of operation "return codes" of type ReturnCode_t

Operations in the PIM that do not return a value of type ReturnCode_t shall report errors in the following ways, depending on their return type:

• If an operation normally returns a positive numerical value (such as get_rate, see [OMG RTC 1.0 Section 5.2.2.6.4]), it shall indicate failure by returning a negative value.
• If an operation normally returns an object reference (such as RTObject::get_component_profile, see [OMG RTC 1.0 Section 5.4.2.2.1]), it shall indicate failure by returning a nil reference.

Parameters

RTC_OK	The operation completed successfully.
RTC_ERROR	The operation failed with a generic, unspecified error.
BAD_PARAMETER	The operation failed because an illegal argument was passed to it.
UNSUPPORTED	The operation is unsupported by the implementation (e.g., it belongs to a compliance point that is not implemented).
OUT_OF_RESOURCES	The target of the operation ran out of the resources needed to complete the operation.
PRECONDITION_NOT_MET	A pre-condition for the operation was not met.

Enumerator
RTC_OK
RTC_ERROR
BAD_PARAMETER
UNSUPPORTED
OUT_OF_RESOURCES
PRECONDITION_NOT_MET