22 #include <Tasks/QPTasks.h>
30 #include <sch-core/S_Object.h>
42 #define DECLARE_IO(...) \
44 struct MC_RBDYN_DLLAPI ConfigurationLoader<__VA_ARGS__> \
46 static __VA_ARGS__ load(const mc_rtc::Configuration &); \
47 static mc_rtc::Configuration save(const __VA_ARGS__ &); \
50 DECLARE_IO(Eigen::Matrix<double, 6, Eigen::Dynamic>)
66 DECLARE_IO(rbd::parsers::Geometry::Superellipsoid)
80 DECLARE_IO(std::shared_ptr<mc_rbdyn::PlanarSurface>)
81 DECLARE_IO(std::shared_ptr<mc_rbdyn::CylindricalSurface>)
82 DECLARE_IO(std::shared_ptr<mc_rbdyn::GripperSurface>)
100 bool save_mbc =
true,
101 const std::vector<std::string> & filteredLinks = {},
110 bool save_mbc =
true,
111 const std::vector<std::string> & filteredLinks = {},
#define DECLARE_IO(...)
Definition: configuration_io.h:42
#define MC_RBDYN_DLLAPI
Definition: api.h:50
mc_control::Contact Contact
Definition: Controller.h:22
Definition: generic_gripper.h:15
std::shared_ptr< sch::S_Object > S_ObjectPtr
Definition: RobotModule.h:35
std::shared_ptr< RobotModule > RobotModulePtr
Definition: RobotModule.h:629
Type
Definition: types.h:31
auto Box(const std::string &name, GetSize size_fn, GetPos get_pos_fn, GetColor color_fn=mc_rtc::gui::Color::Red)
Definition: Box.h:20
auto Visual(const std::string &name, GetVisual get_visual_fn, GetPos get_pos_fn)
Definition: Visual.h:64
auto Cylinder(const std::string &name, GetParams params_fn, GetPos get_pos_fn, GetColor color_fn=mc_rtc::gui::Color::Red)
Definition: Cylinder.h:27
auto Sphere(const std::string &name, GetRadius radius_fn, GetPos get_pos_fn, GetColor color_fn=mc_rtc::gui::Color::Red)
Definition: Sphere.h:20
Definition: BodySensor.h:20
Definition: Collision.h:21
Definition: Flexibility.h:25
Definition: ForceSensor.h:20
Definition: JointSensor.h:18
Stores mimic joint information.
Definition: Mimic.h:16
Definition: polygon_utils.h:44
Definition: PolygonInterpolator.h:26
Definition: RobotModule.h:209
Definition: RobotModule.h:116
Definition: RobotModule.h:113
Definition: RobotModule.h:70
static mc_rbdyn::RobotModulePtr load(const mc_rtc::Configuration &)
static mc_rtc::Configuration save(const mc_rbdyn::RobotModulePtr &, bool save_mbc=true, const std::vector< std::string > &filteredLinks={}, bool fixed=false)
static mc_rbdyn::RobotModule load(const mc_rtc::Configuration &)
static mc_rtc::Configuration save(const mc_rbdyn::RobotModule &, bool save_mbc=true, const std::vector< std::string > &filteredLinks={}, bool fixed=false)
Definition: Configuration.h:56
Simplify access to values hold within a JSON file.
Definition: Configuration.h:166