RobotData.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/generic_gripper.h>
#include <mc_rbdyn/BodySensor.h>
#include <mc_rbdyn/Flexibility.h>
#include <mc_rbdyn/ForceSensor.h>
#include <mc_rbdyn/JointSensor.h>
#include <mc_rbdyn/Springs.h>
 
#include <memory>
#include <vector>
 
namespace mc_rbdyn
{
 
struct Robot;
 
struct RobotData
{
  std::vector<std::string> refJointOrder;
  std::vector<double> encoderValues;
  std::vector<double> encoderVelocities;
  std::vector<double> jointTorques;
  /* Force sensors */
  std::vector<ForceSensor> forceSensors;
  std::unordered_map<std::string, size_t> forceSensorsIndex;
  std::unordered_map<std::string, size_t> bodyForceSensors_;
  BodySensorVector bodySensors;
  std::unordered_map<std::string, size_t> bodySensorsIndex;
  std::unordered_map<std::string, size_t> bodyBodySensors;
  std::vector<JointSensor> jointSensors;
  std::unordered_map<std::string, size_t> jointJointSensors;
  std::unordered_map<std::string, mc_control::GripperPtr> grippers;
  std::vector<mc_control::GripperRef> grippersRef;
  DevicePtrVector devices;
  std::unordered_map<std::string, size_t> devicesIndex;
  std::vector<Robot *> robots;
};
 
using RobotDataPtr = std::shared_ptr<RobotData>;
 
} // namespace mc_rbdyn