lib.cpp

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <lipm_walking/Controller.h>
 
extern "C"
{
  CONTROLLER_MODULE_API void MC_RTC_CONTROLLER(std::vector<std::string> & names)
  {
    CONTROLLER_CHECK_VERSION("LIPMWalking")
    names.emplace_back("LIPMWalking");
  }
 
  CONTROLLER_MODULE_API void destroy(mc_control::MCController * ptr)
  {
    delete ptr;
  }
 
  CONTROLLER_MODULE_API unsigned int create_args_required()
  {
    return 4;
  }
 
  CONTROLLER_MODULE_API mc_control::MCController * create(const std::string & name,
                                                          const mc_rbdyn::RobotModulePtr & robot,
                                                          const double & dt,
                                                          const mc_control::Configuration & conf)
  {
    return new lipm_walking::Controller(
        robot, dt, conf, mc_control::ControllerParameters{}.load_robot_config_into({}).overwrite_config(true));
  }
}