[openrtm-commit:03179] r800 - trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/choreonoid

[openrtm ＠ openrtm.org]

Author: ga
Date: 2018-02-21 15:14:18 +0900 (Wed, 21 Feb 2018)
New Revision: 800

Modified:
   trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/choreonoid/CXX_RTC.h.vsl
Log:
Modified to generate source code for Choreonoid.

Modified: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/choreonoid/CXX_RTC.h.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/choreonoid/CXX_RTC.h.vsl	2018-02-20 15:59:34 UTC (rev 799)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/choreonoid/CXX_RTC.h.vsl	2018-02-21 06:14:18 UTC (rev 800)
@@ -319,79 +319,70 @@
 
   /***
    *
-   * The action that is invoked when execution context's rate is changed
-   * no corresponding operation exists in OpenRTm-aist-0.2.0
+   * This action is called when the BodyIoRTC is created by a BodyIoRTCItem.
+   * If there is an associated BodyItem, its body object can be obtained from the io object
+   * and a set of ports corresponding to the body model can dynamically be created in
+   * this action.
    *
-   * @param ec_id target ExecutionContext Id
+   * @note The io object is dedicated to this function and must not be sotred and used
+   * in other virtual functions called by the system.
    *
-   * @return RTC::ReturnCode_t
+   * @param io
+   *
+   * @return bool
    * 
-   * 
    */
    virtual bool initializeIO(ControllerIO* io) override;
 
   /***
    *
-   * The action that is invoked when execution context's rate is changed
-   * no corresponding operation exists in OpenRTm-aist-0.2.0
+   * This action is called when the simulation is initialized.
+   * 
+   * @note The io object given to this function is the object managed by a simulator item.
+   * It is different from the object given to the initializeIO function, which is not
+   * managed by the simulator item.
    *
-   * @param ec_id target ExecutionContext Id
+   * @param io
    *
-   * @return RTC::ReturnCode_t
+   * @return bool
    * 
-   * 
    */
    virtual bool initializeSimulation(ControllerIO* io) override;
 
   /***
    *
-   * The action that is invoked when execution context's rate is changed
-   * no corresponding operation exists in OpenRTm-aist-0.2.0
+   * This action is called when the simulation is started.
    *
-   * @param ec_id target ExecutionContext Id
+   * @note The simulation is first initialized, and then
+   * it is started if the initialization is successfull.
    *
-   * @return RTC::ReturnCode_t
+   * @return bool
    * 
-   * 
    */
    virtual bool startSimulation() override;
 
   /***
    *
-   * The action that is invoked when execution context's rate is changed
-   * no corresponding operation exists in OpenRTm-aist-0.2.0
-   *
-   * @param ec_id target ExecutionContext Id
-   *
-   * @return RTC::ReturnCode_t
+   * This action is called just before every step of the simulation.
+   * The process of outputting the states corresponding to the out-ports
+   * is implemented in this function.
    * 
-   * 
    */
    virtual void inputFromSimulator() override;
 
   /***
    *
-   * The action that is invoked when execution context's rate is changed
-   * no corresponding operation exists in OpenRTm-aist-0.2.0
-   *
-   * @param ec_id target ExecutionContext Id
-   *
-   * @return RTC::ReturnCode_t
+   * This action is called just after every step of the simulation.
+   * The process of applying the commands that are input from the in-ports
+   * is implemented in this function.
    * 
-   * 
    */
    virtual void outputToSimulator() override;
 
   /***
    *
-   * The action that is invoked when execution context's rate is changed
-   * no corresponding operation exists in OpenRTm-aist-0.2.0
-   *
-   * @param ec_id target ExecutionContext Id
-   *
-   * @return RTC::ReturnCode_t
+   * This action is called when the simulation is stopped.
    * 
-   * 
    */
    virtual void stopSimulation() override;