mc_python_controller.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/MCController.h>
#include <mc_control/api.h>
 
namespace mc_control
{
 
struct PythonRWCallback
{
  bool success;
  std::string out;
};
 
struct MC_CONTROL_DLLAPI MCPythonController : public MCController
{
public:
  MCPythonController(const std::vector<std::shared_ptr<mc_rbdyn::RobotModule>> & robots, double dt);
 
  virtual void reset(const ControllerResetData & reset_data) override;
 
  virtual bool run() override;
 
  std::function<bool()> run_callback;
  std::function<void(const ControllerResetData &)> reset_callback;
  std::function<bool()> handle_python_error;
 
private:
  bool python_failed_ = false;
};
 
} // namespace mc_control