[openrtm-users 01352] Re: OpenHRP3のSimulationECをOpenRTM-aistに標準で入れられませんか？

[Ando Noriaki]

$B6b9-$5$s!"?{$5$s(B

$B0BF#$G$9(B

$BLdBj$J$1$l$P!":#8e(BOpenRTM-aist$B$K4^$a$FG[I[$7$F$b9=$$$^$;$s!d(BSimulationEC
$B$?$@!"4pK\E*$K$O(Bso or DLL$B7A<0$G$NG[I[$K$J$k$+$H;W$$$^$9!#(B

$B$"$H!"=i4|2=4X?t$NLdBj$G$9$,!"$=$l$K$D$$$F$bG$0U$N=i4|2=4X?t$r(B
rtc.conf$B$+$iM?$($i$l$k$h$&$K$7$?$$$H;W$$$^$9!#(B

manager.modules.preload: Hoge.so (MunyaInit), Foo.so (BarInitialize FooInit)

$B$H$$$C$?46$8$G$I$&$G$7$g$&$+!)(B

2010$BG/(B7$B7n(B3$BF|(B1:02 ysuga <ysuga ＠ pop07.odn.ne.jp>:
> $B?{!w%j%P%9%H$G$9!%(B
>
>
>> OpenHRP$B$N<!%P!<%8%g%s$G$O$3$l$i$N=$@5$r4^$a$kM=Dj$G$9!%(B
>
> $B$J$k$[$I!%4|BT$7$F$$$^$9!%(B
>
>
> $B$?$@!$(BRTC$B$r<B9T$9$k(BPC$B$9$Y$F$K(BOpenHRP$B$N%$%s%9%H!<%k$,I,MW$K$J$k$N$G!$(B
> $B:#$OC10l(BPC$B$G$9$,!$>-MhE*$KJ#?tBf$N(BPC$B$G$d$m$&$H;W$C$F$$$k$N$G!$(B
> $BJ,;64D6-$@$HLLE]!$$H;W$&$N$G$9$,!D(B
>
> $B$5$i$K8@$($P ＠ _Dj$O>/$J$$J}$,$$$$$G$9$7!$(B
> $BCf$KF~$l$J$$M}M3$b$J$$$+$J!$$H;W$C$F$$$^$9!%(B
>
>
> OpenRTM$B;H$C$F$k$H!$(B
> OpenHRP$B$b;H$$$?$$(B
> $B$H;W$&$N$,IaDL$@$H;W$&$N$G!$(B
> $B$A$g$C$H!$?4$KN1$a$F$*$$$F2<$5$l$P!$$H;W$$$^$9!%(B
>
>
>
> //////////////////////////////////////////////
> $B?{!!M$<y!!!J$9$,!!$f$&$-!K(B
> E-mail: ysuga ＠ ysuga.net
> $B8&5f<T4XO"!'!!(Bhttp://www.ysuga.net/research
> $B%m%\%C%H4XO"!'(B http://www.ysuga.net/robot
> $B%$%s%i%$%s%9%1!<%H!'!!(Bhttp://www.ysuga.net/inline
>
> $B$*$7$i$;!'!!(BRT$B%_%I%k%&%(%"$d$C$F$^$9(B
>  http://www.ysuga.net/robot/rtm
> /////////////////////////////////////////////
>
> (2010/07/03 0:02), Fumio Kanehiro wrote:
>> $B6b9-!w;:Am8&$G$9!%(B
>>
>> $B8=:_$N(BOpenHRP$B%[!<%`%Z!<%8$G$O%7%'%"!<%I%i%$%V%i%j7A<0$N(BExecutionContext$B$r(B
>> $BMxMQ$9$k$K$O%=!<%9%3!<%I$NJQ99$,I,MW$H=q$$$F$$$^$9$,!$$3$l$O0JA0$N%P!<%8%g%s$N(B
>> OpenRTM-aist$B$N>l9g$NOC$G(B1.0$B$G$O(Brtc.conf$B$G%7%'%"!<%I%i%$%V%i%j$r(Bpreload$B;XDj(B
>> $B$9$k$3$H$G%=!<%9%3!<%I$NJQ99L5$7$G(BExecutionContext$B$rEPO?$9$k$3$H$,$G$-$^$9!%(B
>>
>> $B$?$@$7$3$N>l9g$K$O%b%8%e!<%k$N=i4|2=4X?tL>$,%7%'%"!<%I%i%$%V%i%j$N%Y!<%9L>(B+Init$B$G(B
>> $B$"$kI,MW$,$"$k$h$&$G!$8=>u$G$O%7%'%"!<%I%i%$%V%i%jL>$,(BhrpRTM-3.1.{dll, so}$B!$=i4|2=(B
>> $B4X?tL>$,(BSimulationECInit$B$H$J$C$F$$$k$N$G$I$A$i$+$r$b$&0lJ}$K9g$o$;$kI,MW$,$"$j$^$9!%(B
>>
>> OpenHRP$B$N<!%P!<%8%g%s$G$O$3$l$i$N=$@5$r4^$a$kM=Dj$G$9!%(B
>>
>>
>> 2010/7/2 ysuga<ysuga ＠ pop07.odn.ne.jp>:
>>> OpenRTM-aist ML$B$N3'$5$^!'(B
>>> $B$*@$OC$K$J$C$F$*$j$^$9!%-j%j%P%9%H$N?{$G$9!%(B
>>>
>>>
>>> $B:G6a$O(BOpenHRP3$B$H(BRTC-scilab$B$rO"7H$5$;$k:n6H$r$d$C$F$$$^$9!%(B
>>> $B$=$3$GLdBj$K$J$k$N$,!$%7%_%e%l!<%7%g%s4V$NF14|$r$H$k:n6H$G!$(B
>>> OpenHRP3$B$O!$(BOpenHRP3$B$+$iNe5/$9$k(BRTC$B0J30$K!$(B
>>> ExecutionContext$B$r!V(BSimulationEC$B!W$H$7$F$$$k(BRTC$B$r(B
>>> $BF14|$NNX$K2C$($F$b$i$($k$h$&$G$9!%(B
>>>
>>> $B<B:]$O!$(BSimulationEC$B$O(BOpenHRPExecutionContext$B$r7Q>5$7$F$$$F!$(B
>>> SimulationECInit$B$G(BECFactory$B$rEPO?$9$kD>A0$K!$(B
>>> $B0z?t$N(Bmanager$B$,;}$D%W%m%Q%F%#$+$i!$%M!<%`%5!<%P$K%"%/%;%9$7$F!$(B
>>> ClockGenerator$B$N;2>H$r3MF@$7$F$$$k$N$G!$(B
>>> $B$=$N;2>H$r;H$C$F<+F0E*$K(BOpenHRP3$B$N(B
>>> $B%7%_%e%l!<%7%g%s;~4V$K2C$o$C$F$/$l$^$9!%(B
>>>
>>>
>>> SimulationEC$B$O(BOpenHRP3$B$N%=!<%9%3!<%I$K4^$^$l$F$$$F!$(B
>>> hrpRTM-3.1.dll$B$H$$$&%i%$%V%i%j$K$^$H$^$C$F$$$k$N$G!$(B
>>> main$BFb$G(Bactivate$B$9$kA0JU$j$G!$(B
>>> manager->load("hrpRTM-3.1.dll", "SimulationECInit")
>>> $B$N9T$rDI2C$9$k$HF14|$G$-$^$9!%(B
>>> $B!J<B:]$O:#G[I[Cf$N$b$N$O%3!<%I$,4V0c$C$F$$$F!$(B
>>> $B%5%]!<%H7G<(HD$N%3!<%I$,:G?7$G$9!%!K(B
>>>
>>>
>>> $B$=$3$GK\Bj$J$N$G$9$,!$(B
>>> $B$3$N(BSimulationEC$B$r!$(BOpenRTM-aist$B$KF~$l$F$b$i$($^$;$s$+!)(B
>>> $BBg;v$J$N$O(BOpenHRP3$B$HF14|$5$;$h$&$H$9$k$H!$(B
>>> $B%3!<%I$N2~JQ$,I,MW$K$J$k!%$H$$$&ItJ,$G$9!%(B
>>> manager#load$B$r;H$C$F>e5-$N(BDLL$B$r%m!<%I$7$F!$(B
>>> SimulationECInit$B4X?t$r8F$S=P$5$J$1$l$P$$$1$J$$$N$G$9!%(B
>>> $B$3$NJU$O>!<j$K$d$C$F$[$7$$$HHs>o$K;W$&ItJ,$G$9!%(B
>>>
>>> $B$3$l$@$1L)@\$K$+$+$o$C$F$$$k!J$H30$+$i$O8+$($k!K%W%m%8%'%/%H4V$J$N$G!$(B
>>> $B$3$&$$$C$?ItJ,$OO"7H$G$-$^$;$s$+!)(B
>>>
>>> $B$48!F$$$$?$@$1$^$;$s$G$7$g$&$+!)(B
>>>
>>> --
>>> //////////////////////////////////////////////
>>> $B?{!!M$<y!!!J$9$,!!$f$&$-!K(B
>>> E-mail: ysuga ＠ ysuga.net
>>> $B8&5f<T4XO"!'!!(Bhttp://www.ysuga.net/research
>>> $B%m%\%C%H4XO"!'(B http://www.ysuga.net/robot
>>> $B%$%s%i%$%s%9%1!<%H!'!!(Bhttp://www.ysuga.net/inline
>>>
>>> $B$*$7$i$;!'!!(BRT$B%_%I%k%&%(%"$d$C$F$^$9(B
>>>   http://www.ysuga.net/robot/rtm
>>> /////////////////////////////////////////////
>>>
>>>
>>
>>
>
>



-- 
$B0BF#7D><!wFHN)9T@/K!?M;:6H5;=QAm9g8&5f=j(B $BCNG=%7%9%F%`8&5fItLg(B
    $BE}9gCNG=8&5f%0%k!<%W(B $B<gG$8&5f0w(B, $BGn;N(B($B9)3X(B)
    $B")(B305-8568 $B$D$/$P;TG_1`(B1-1-1 $BCf1{Bh(B2
    e-mail: n-ando ＠ aist.go.jp, web: http://staff.aist.go.jp/n-ando
    OpenRTM-aist: http://www.openrtm.org

Noriaki Ando, Ph.D.
    Senior Research Scientist, RT-Synthesis R.G., ISRI, AIST
    AIST Tsukuba Central 2, Tsukuba, Ibaraki 305-8568 JAPAN
    e-mail: n-ando ＠ aist.go.jp, web: http://staff.aist.go.jp/n-ando
    OpenRTM-aist: http://www.openrtm.org