Namespaces
	constants

	details

	gui

	internal

	io

	log

	schema

	utils

Classes
struct	Configuration
	Simplify access to values hold within a JSON file. More...

struct	ConfigurationArrayIterator

struct	ConfigurationFile
	Configuration object that keeps track of the file it comes from More...

struct	ConfigurationLoader

struct	ConfigurationLoader< mc_control::Contact >

struct	ConfigurationLoader< mc_rbdyn::CompoundJointConstraintDescription >

struct	ConfigurationLoader< mc_rbdyn::Contact >

struct	ConfigurationLoader< mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration >
	Read DCMBias estimation parameters. More...

struct	ConfigurationLoader< mc_rbdyn::lipm_stabilizer::ExternalWrenchConfiguration >
	Read parameters for the external wrenches. More...

struct	ConfigurationLoader< mc_rbdyn::lipm_stabilizer::FDMPCWeights >
	Read CoP distribution over horizon QP weights from configuration. More...

struct	ConfigurationLoader< mc_rbdyn::lipm_stabilizer::FDQPWeights >
	Read force distribution QP weights from configuration. More...

struct	ConfigurationLoader< mc_rbdyn::lipm_stabilizer::SafetyThresholds >
	Read-write stabilizer safety thresholds from configuration. More...

struct	ConfigurationLoader< mc_rbdyn::lipm_stabilizer::StabilizerConfiguration >

struct	ConfigurationLoader< mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration >
	Read force distribution QP weights from configuration. More...

struct	ConfigurationLoader< mc_rbdyn::RobotModule >

struct	ConfigurationLoader< mc_rbdyn::RobotModulePtr >

struct	ConfigurationLoader< mc_rtc::gui::ArrowConfig >

struct	ConfigurationLoader< mc_rtc::gui::Color >

struct	ConfigurationLoader< mc_rtc::gui::ForceConfig >

struct	ConfigurationLoader< mc_rtc::gui::LineConfig >

struct	ConfigurationLoader< mc_rtc::gui::PointConfig >

struct	ConfigurationLoader< mc_rtc::gui::PolyhedronConfig >

struct	ConfigurationLoader< mc_tasks::force::ImpedanceGains >

struct	ConfigurationLoader< mc_tasks::lipm_stabilizer::ContactState >

struct	ConfigurationLoader< void >

struct	DataStore
	Generic data store. More...

struct	Default

struct	Default< std::string >

struct	Default< std::variant< T, Others... > >

struct	Default< sva::AdmittanceVecd >

struct	Default< sva::ForceVecd >

struct	Default< sva::ImpedanceVecd >

struct	Default< sva::MotionVecd >

struct	Default< sva::PTransformd >

struct	Default< T, std::enable_if_t< schema::details::is_schema_v< T > > >

struct	Default< T, std::enable_if_t< schema::details::is_std_vector_v< T > > >

struct	Default< T, std::enable_if_t< std::is_arithmetic_v< T > > >

struct	Default< T, typename std::enable_if_t< schema::details::is_std_map_v< T > > >

struct	enable_if_t<(N > 0)> >

struct	enable_if_t<(N > 1)> >

class	Loader
	General wrapper for ltdl functionnalities. More...

class	LoaderException
	Exception thrown by loader interface. More...

struct	Logger
	Logs controller data to disk. More...

class	LTDLHandle
	Wrapper around lt_dlhandle. More...

class	LTDLMutex
	Holds a global mutex for all LTDL operations. More...

struct	MessagePackBuilder

class	ObjectLoader
	ltdl wrapper for factory-like classes More...

struct	RobotPublisher
	This structure is able to publish a Robot's state to ROS. More...

struct	ROSBridge
	Allows to access ROS functionalities within mc_rtc without explicit ROS dependencies. More...

struct	shared

struct	SharedPtrVectorConstIterator

struct	SharedPtrVectorIterator

class	unique_ptr

struct	void_ptr_caster

Typedefs
using	duration_ms = std::chrono::duration< double, std::milli >

using	duration_us = std::chrono::duration< double, std::micro >

using	clock = typename std::conditional< std::chrono::high_resolution_clock::is_steady, std::chrono::high_resolution_clock, std::chrono::steady_clock >::type

using	LTDLHandlePtr = std::shared_ptr< LTDLHandle >

using	void_ptr = std::unique_ptr< void, void()(void )>

using	NodeHandlePtr = std::shared_ptr< ros::NodeHandle >

Functions
template<typename T >
std::vector< T >	fromVectorOrElement (const mc_rtc::Configuration &config, const std::string &key, const std::vector< T > &defaultVec)

template<typename T >
std::vector< T >	fromVectorOrElement (const mc_rtc::Configuration &config, const std::string &key)

bool MC_RTC_UTILS_DLLAPI	debug () noexcept

MC_RTC_UTILS_DLLAPI std::string	temp_directory_path (const std::string &suffix="")

MC_RTC_UTILS_DLLAPI std::string	user_config_directory_path (const std::string &suffix="")

template<typename T >
std::string	type_name ()

rbd::parsers::Visual	makeVisualSphere (double radius, const mc_rtc::gui::Color &color)

rbd::parsers::Visual	makeVisualCylinder (double radius, double length, const mc_rtc::gui::Color &color)

rbd::parsers::Visual	makeVisualBox (const Eigen::Vector3d &dim, const mc_rtc::gui::Color &color)

rbd::parsers::Visual	makeVisualMesh (const std::string &path, Eigen::Vector3d scaleV)

rbd::parsers::Visual	makeVisualMesh (const std::string &path, double scale)

rbd::parsers::Visual	makeVisualSuperellispoid (const Eigen::Vector3d &size, double epsilon1, double epsilon2, const mc_rtc::gui::Color &color)

template<typename T , typename... Args>
void_ptr	make_void_ptr (Args &&... args)

template<typename T >
void_ptr	make_void_ptr (std::unique_ptr< T > ptr)

Variables
struct MC_RTC_UTILS_DLLAPI	ConfigurationArrayIterator

struct MC_RTC_UTILS_DLLAPI	Configuration

constexpr auto	OUT_NONE = "\033[00m"

constexpr auto	OUT_BLUE = "\033[01;34m"

constexpr auto	OUT_GREEN = "\033[01;32m"

constexpr auto	OUT_PURPLE = "\033[01;35m"

constexpr auto	OUT_RED = "\033[01;31m"

constexpr auto	getVisualSphere = details::getVisualGeometry<rbd::parsers::Geometry::Type::SPHERE>

constexpr auto	getVisualCylinder = details::getVisualGeometry<rbd::parsers::Geometry::Type::CYLINDER>

constexpr auto	getVisualBox = details::getVisualGeometry<rbd::parsers::Geometry::Type::BOX>

constexpr auto	getVisualMesh = details::getVisualGeometry<rbd::parsers::Geometry::Type::MESH>

constexpr auto	getVisualSuperellipsoid

Detailed Description

Interface used to load observers

This file holds all mc_rtc::Configuration based serialization operation for mc_rbdyn objects

Helper functions to emit deprecation messages when loading JSON/YAML from old versions

This header contains the base block of all elements in the GUI system. For the implementation details of specific elements look into their dedicated header

This file contains classes that are used to configure the visual styles of various elements in the GUI

This header defines a number of utility functions related to forming path in the environment

They are thin wrapper around boost::filesystem to be later replaced by std::filesystem after Ubuntu 18.04 support is fully dropped

This header provides a number of function to help with the creation of rbd::parsers::Visual elements

Helpers for unique_ptr<void, void (*)(void *)>

Typedef Documentation

◆ clock

using mc_rtc::clock = typedef typename std::conditional<std::chrono::high_resolution_clock::is_steady, std::chrono::high_resolution_clock, std::chrono::steady_clock>::type

mc_rtc::clock is a clock that is always steady and thus suitable for performance measurements

◆ duration_ms

using mc_rtc::duration_ms = typedef std::chrono::duration<double, std::milli>

◆ duration_us

using mc_rtc::duration_us = typedef std::chrono::duration<double, std::micro>

◆ LTDLHandlePtr

using mc_rtc::LTDLHandlePtr = typedef std::shared_ptr<LTDLHandle>

◆ NodeHandlePtr

using mc_rtc::NodeHandlePtr = typedef std::shared_ptr<ros::NodeHandle>

◆ void_ptr

using mc_rtc::void_ptr = typedef std::unique_ptr<void, void (*)(void *)>

Function Documentation

◆ debug()

bool MC_RTC_UTILS_DLLAPI mc_rtc::debug ( )

noexcept

Returns true if mc_rtc was compiled in debug mode

◆ fromVectorOrElement() [1/2]

template<typename T >

std::vector<T> mc_rtc::fromVectorOrElement	(	const mc_rtc::Configuration &	config,
		const std::string &	key
	)

Attempts to convert a read a vector or single element as a vector

Variant of fromVectorOrElement(const mc_rtc::Configuration & config, const std::string & key, const std::vector<T> & defaultVec)

Exceptions

mc_rtc::Configuration::Exception If the key is not found or the configuration is neither convertible as std::vector<T> or T.

◆ fromVectorOrElement() [2/2]

template<typename T >

std::vector<T> mc_rtc::fromVectorOrElement	(	const mc_rtc::Configuration &	config,
		const std::string &	key,
		const std::vector< T > &	defaultVec
	)

Attempts to convert a read a vector or single element as a vector, use default value if it fails.

Example:

configVector: ["String1", "String2"]

configString: "String"

The following are valid

auto conf = mc_rtc::Configuration{};
conf.add("configVector", {"String1", "String2"})
conf.add("configString", "String1");
auto v1 = fromVectorOrElement<std::string>(conf("configVector"));
auto v2 = fromVectorOrElement<std::string>(conf("configString"));

Template Parameters

T	Type of the element to convert toward

Parameters

config	Configuration object from which to convert. This should contain either a vector of elements convertible to T ([T, T, ...]) or a single T element.
key	Name of the element to read

Returns: Vector containing all elements in the configuration vector or the single item. If it fails, return defaultVec.

◆ make_void_ptr() [1/2]

template<typename T , typename... Args>

void_ptr mc_rtc::make_void_ptr ( Args &&... args )

Creates a new void_ptr holding an object of type T

◆ make_void_ptr() [2/2]

template<typename T >

void_ptr mc_rtc::make_void_ptr ( std::unique_ptr< T > ptr )

Transfer ownership of a unique_ptr<T> to a void_ptr

◆ makeVisualBox()

rbd::parsers::Visual mc_rtc::makeVisualBox	(	const Eigen::Vector3d &	dim,
		const mc_rtc::gui::Color &	color
	)

inline

Returns a new Visual that holds a Box object

◆ makeVisualCylinder()

rbd::parsers::Visual mc_rtc::makeVisualCylinder	(	double	radius,
		double	length,
		const mc_rtc::gui::Color &	color
	)

inline

Returns a new Visual that holds a Cylinder object

◆ makeVisualMesh() [1/2]

rbd::parsers::Visual mc_rtc::makeVisualMesh	(	const std::string &	path,
		double	scale
	)

inline

Returns a new Visual that holds a Mesh object

◆ makeVisualMesh() [2/2]

rbd::parsers::Visual mc_rtc::makeVisualMesh	(	const std::string &	path,
		Eigen::Vector3d	scaleV
	)

inline

Returns a new Visual that holds a Mesh object

◆ makeVisualSphere()

rbd::parsers::Visual mc_rtc::makeVisualSphere	(	double	radius,
		const mc_rtc::gui::Color &	color
	)

inline

Returns a new Visual that holds a Sphere object

◆ makeVisualSuperellispoid()

rbd::parsers::Visual mc_rtc::makeVisualSuperellispoid	(	const Eigen::Vector3d &	size,
		double	epsilon1,
		double	epsilon2,
		const mc_rtc::gui::Color &	color
	)

inline

Returns a new Visual that holds a Superellipsoid object

◆ temp_directory_path()

MC_RTC_UTILS_DLLAPI std::string mc_rtc::temp_directory_path ( const std::string & suffix = "" )

Returns the path to the OS temporary directory

Parameters

suffix Added (with a path separator) to the returned path

◆ type_name()

template<typename T >

std::string mc_rtc::type_name ( )

Return a human-readable type name

Only use for displaying messages as the name is not guaranteed to be the same across compilers and invokation

◆ user_config_directory_path()

MC_RTC_UTILS_DLLAPI std::string mc_rtc::user_config_directory_path ( const std::string & suffix = "" )

Returns the path to the user's config directory

On Linux/macOS this returns ${HOME}/.config/mc_rtc folder

On Windows this returns the APPDATA%/mc_rtc folder

Parameters

suffix Added (with a path separator) to the returned path

Variable Documentation

◆ Configuration

struct MC_RTC_UTILS_DLLAPI mc_rtc::Configuration

◆ ConfigurationArrayIterator

struct MC_RTC_UTILS_DLLAPI mc_rtc::ConfigurationArrayIterator

◆ getVisualBox

constexpr auto mc_rtc::getVisualBox = details::getVisualGeometry<rbd::parsers::Geometry::Type::BOX>

inlineconstexpr

Get the box data if the visual is a box, throws otherwise

◆ getVisualCylinder

constexpr auto mc_rtc::getVisualCylinder = details::getVisualGeometry<rbd::parsers::Geometry::Type::CYLINDER>

inlineconstexpr

Get the cylinder data if the visual is a cylinder, throws otherwise

◆ getVisualMesh

constexpr auto mc_rtc::getVisualMesh = details::getVisualGeometry<rbd::parsers::Geometry::Type::MESH>

inlineconstexpr

Get the mesh data if the visual is a mesh, throws otherwise

◆ getVisualSphere

constexpr auto mc_rtc::getVisualSphere = details::getVisualGeometry<rbd::parsers::Geometry::Type::SPHERE>

inlineconstexpr

Get the sphere data if the visual is a sphere, throws otherwise

◆ getVisualSuperellipsoid

constexpr auto mc_rtc::getVisualSuperellipsoid

inlineconstexpr

Initial value:

=

details::getVisualGeometry<rbd::parsers::Geometry::Type::SUPERELLIPSOID>

Get the superellipsoid data if the visual is a superellipsoid, throws otherwise

◆ OUT_BLUE

constexpr auto mc_rtc::OUT_BLUE = "\033[01;34m"

constexpr

◆ OUT_GREEN

constexpr auto mc_rtc::OUT_GREEN = "\033[01;32m"

constexpr

◆ OUT_NONE

constexpr auto mc_rtc::OUT_NONE = "\033[00m"

constexpr

◆ OUT_PURPLE

constexpr auto mc_rtc::OUT_PURPLE = "\033[01;35m"

constexpr

◆ OUT_RED

constexpr auto mc_rtc::OUT_RED = "\033[01;31m"

constexpr

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ clock

◆ duration_ms

◆ duration_us

◆ LTDLHandlePtr

◆ NodeHandlePtr

◆ void_ptr

Function Documentation

◆ debug()

◆ fromVectorOrElement() [1/2]

◆ fromVectorOrElement() [2/2]

◆ make_void_ptr() [1/2]

◆ make_void_ptr() [2/2]

◆ makeVisualBox()

◆ makeVisualCylinder()

◆ makeVisualMesh() [1/2]

◆ makeVisualMesh() [2/2]

◆ makeVisualSphere()

◆ makeVisualSuperellispoid()

◆ temp_directory_path()

◆ type_name()

◆ user_config_directory_path()

Variable Documentation

◆ Configuration

◆ ConfigurationArrayIterator

◆ getVisualBox

◆ getVisualCylinder

◆ getVisualMesh

◆ getVisualSphere

◆ getVisualSuperellipsoid

◆ OUT_BLUE

◆ OUT_GREEN

◆ OUT_NONE

◆ OUT_PURPLE

◆ OUT_RED