Classes
struct	CompletionCriteria

class	Contact

struct	ControllerClient

class	ControllerLoader

struct	ControllerParameters
	Extra parameters that influence the creator construction. More...

class	ControllerResetData
	Contains information allowing the controller to start smoothly from the current state of the robot. More...

struct	ControllerServer

struct	ControllerServerConfiguration

struct	ElementId

struct	GlobalPlugin

class	GlobalPluginLoader

struct	Gripper
	A robot's gripper reprensentation. More...

class	MCController
	MCController is the base class to implement all controllers. It assumes that at least two robots are provided. The first is considered as the "main" robot. Some common constraints and a posture task are defined (but not added to the solver) for this robot. More...

struct	MCGlobalController

struct	MCPythonController

struct	PythonRWCallback

struct	SimulationContactPair

struct	TasksController

struct	Ticker

struct	TVMController

Typedefs
using	Configuration = mc_rtc::Configuration

using	ContactSet = std::unordered_set< Contact, std::hash< Contact >, std::equal_to< Contact >, Eigen::aligned_allocator< Contact > >

using	GripperPtr = std::unique_ptr< Gripper >

using	GripperRef = std::reference_wrapper< Gripper >

using	GlobalPluginPtr = std::unique_ptr< GlobalPlugin, mc_rtc::ObjectLoader< GlobalPlugin >::ObjectDeleter >

Detailed Description

Static interface used to load controllers, this is only used in static builds of mc_rtc

Static interface used to load plugins, this is only used in static builds of mc_rtc

Typedef Documentation

using mc_control::ContactSet = typedef std::unordered_set<Contact, std::hash<Contact>, std::equal_to<Contact>, Eigen::aligned_allocator<Contact> >

using mc_control::GripperPtr = typedef std::unique_ptr<Gripper>

using mc_control::GripperRef = typedef std::reference_wrapper<Gripper>