mc_global_controller.h File Reference

#include <mc_control/ControllerServer.h>
#include <mc_control/GlobalPlugin_fwd.h>
#include <mc_control/MCController.h>
#include <mc_control/api.h>
#include <mc_rbdyn/RobotModule.h>
#include <mc_rtc/loader.h>
#include <mc_rtc/log/Logger.h>
#include <array>

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Classes
struct	mc_control::MCGlobalController
struct	mc_control::MCGlobalController::GlobalConfiguration
	Store the controller configuration. More...

Namespaces
	mc_control

Macros
Accessors to the robots:
robots contains the output of the controller pipeline, that is: controller -> converter -> grippers -> module.postprocess -> plugins realRobots contains the output of the observer pipeline, that is: observer pipeline -> converter -> module.postprocess -> plugins
#define	MAKE_ROBOTS_ACCESSOR(NAME, PTR)

Macro Definition Documentation

MAKE_ROBOTS_ACCESSOR

#define MAKE_ROBOTS_ACCESSOR	(		NAME,
			PTR
	)

Value:

  inline mc_rbdyn::Robots & NAME##s() noexcept { return *controller().PTR##s_; }             \
  inline const mc_rbdyn::Robots & NAME##s() const noexcept { return *controller().PTR##s_; } \
  inline mc_rbdyn::Robot & NAME() noexcept { return NAME##s().robot(); }                     \
  inline const mc_rbdyn::Robot & NAME() const noexcept { return NAME##s().robot(); }         \
  inline mc_rbdyn::Robot & NAME(const std::string & name) { return NAME##s().robot(name); }  \
  inline const mc_rbdyn::Robot & NAME(const std::string & name) const { return NAME##s().robot(name); }