RTCモジュール

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

型定義
typedef sequence< Actuator >	ActuatorList
	List of Actuator elements. [詳解]
typedef sequence< ActArrayActuatorGeometry >	ActArrayActuatorGeometryList
	List of ActArrayActuatorGeometry elements. [詳解]
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
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

列挙型
enum	ActArrayActuatorStatus { ACTUATOR_STATUS_IDLE, ACTUATOR_STATUS_MOVING, ACTUATOR_STATUS_BRAKED, ACTUATOR_STATUS_STALLED }
	Describes the status of an actuator. [詳解]
enum	ActArrayActuatorType { ACTARRAY_ACTUATORTYPE_LINEAR, ACTARRAY_ACTUATORTYPE_ROTARY }
	Describes the type of an actuator. [詳解]
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. [詳解]
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. [詳解]
enum	LifeCycleState { CREATED_STATE, INACTIVE_STATE, ACTIVE_STATE, ERROR_STATE }
enum	ExecutionKind { PERIODIC, EVENT_DRIVEN, OTHER }
enum	PortInterfacePolarity { PROVIDED, REQUIRED }

型定義詳解

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

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

列挙型詳解

enum RTC::ActArrayActuatorStatus

Describes the status of an actuator.

列挙値
ACTUATOR_STATUS_IDLE
ACTUATOR_STATUS_MOVING
ACTUATOR_STATUS_BRAKED
ACTUATOR_STATUS_STALLED

enum RTC::ActArrayActuatorType

Describes the type of an actuator.

列挙値
ACTARRAY_ACTUATORTYPE_LINEAR
ACTARRAY_ACTUATORTYPE_ROTARY

enum RTC::ExecutionKind

列挙値
PERIODIC
EVENT_DRIVEN
OTHER

enum RTC::GPSFixType

列挙値
GPS_FIX_NONE
GPS_FIX_NORMAL
GPS_FIX_DGPS

enum RTC::GripperStatus

Describes the status of a gripper.

列挙値
GRIPPER_STATE_OPEN
GRIPPER_STATE_CLOSED
GRIPPER_STATE_MOVING
GRIPPER_STATE_UNKNOWN

enum RTC::LifeCycleState

列挙値
CREATED_STATE
INACTIVE_STATE
ACTIVE_STATE
ERROR_STATE

enum RTC::LimbStatus

列挙値
LIMB_STATUS_IDLE
LIMB_STATUS_BRAKED
LIMB_STATUS_MOVING
LIMB_STATUS_OOR
LIMB_STATUS_COLLISION

enum RTC::PortInterfacePolarity

列挙値
PROVIDED
REQUIRED

enum RTC::ReturnCode_t

ReturnCode_t.

OMG RTC 1.0 仕様中の多くのオペレーションは、クラインとに対して考え られるエラー状態を報告する必要がある。これは、ReturnCode_t型の所謂 リターンコードにより行われる。

OMG RTC 1.0 の PIM 内において、ReturnCode_t型の値を返さないオペレーションは それらの戻り値の型に依存して、次の方法によりエラーを報告するものとする。 -オペレーションが正数値を返す場合 (OMG RTC 1.0 Section 5.2.2.6.4 の get_rateのように)、負数値を返すことによりエラーを示すものとする。

• オペレーションがオブジェクトリファレンス(RTObject::get_component_profile OMG RTC 1.0 5.4.2.2.1を参照) を通常返す場合、nil参照を返すことにより エラーを示すものとする。

列挙値
RTC_OK
RTC_ERROR
BAD_PARAMETER
UNSUPPORTED
OUT_OF_RESOURCES
PRECONDITION_NOT_MET