RobotConverterConfig.h

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/*
 * Copyright 2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/api.h>
 
namespace mc_rbdyn
{
 
struct MC_RBDYN_DLLAPI RobotConverterConfig
{
  bool mbcToOutMbc_ = true;
  bool copyJointCommand_ = true;
  bool copyJointVelocityCommand_ = true;
  bool copyJointAccelerationCommand_ = true;
  bool copyJointTorqueCommand_ = true;
 
  bool encodersToOutMbc_ = false;
  bool encodersToOutMbcOnce_ = true;
  bool enforceMimics_ = true;
 
  /* Copy the input robot's position in the world into the output
   *
   * This also triggers the robot's kinematic update (outputRobot.forwardKinematics()), if this option is false the
   * update must be done outside of the robot converter if the accurate position of the robot is needed
   */
  bool copyPosWorld_ = true;
 
#define ROBOT_CONVERTER_PROPERTY(NAME)                \
  inline RobotConverterConfig & NAME(bool b) noexcept \
  {                                                   \
    NAME##_ = b;                                      \
    return *this;                                     \
  }
 
  ROBOT_CONVERTER_PROPERTY(mbcToOutMbc)
  ROBOT_CONVERTER_PROPERTY(copyJointCommand)
  ROBOT_CONVERTER_PROPERTY(copyJointVelocityCommand)
  ROBOT_CONVERTER_PROPERTY(copyJointAccelerationCommand)
  ROBOT_CONVERTER_PROPERTY(copyJointTorqueCommand)
  ROBOT_CONVERTER_PROPERTY(encodersToOutMbc)
  ROBOT_CONVERTER_PROPERTY(encodersToOutMbcOnce)
  ROBOT_CONVERTER_PROPERTY(enforceMimics)
  ROBOT_CONVERTER_PROPERTY(copyPosWorld)
 
#undef ROBOT_CONVERTER_PROPERTY
};
 
} // namespace mc_rbdyn