#include <mc_control/fsm/Controller.h>

Inheritance diagram for mc_control::fsm::details::BackendSpecificController< backend, SolverT >:

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Collaboration diagram for mc_control::fsm::details::BackendSpecificController< backend, SolverT >:

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Public Member Functions
	BackendSpecificController (mc_rbdyn::RobotModulePtr rm, double dt, const mc_rtc::Configuration &config, ControllerParameters params={})

const SolverT &	solver () const noexcept

SolverT &	solver () noexcept

Public Member Functions inherited from mc_control::fsm::Controller
	Controller (mc_rbdyn::RobotModulePtr rm, double dt, const mc_rtc::Configuration &config, ControllerParameters params={})

	~Controller () override

bool	run () override

bool	run (mc_solver::FeedbackType fType)

void	reset (const ControllerResetData &data) override

virtual void	interrupt ()

bool	running ()

bool	resume (const std::string &state)

std::shared_ptr< mc_tasks::PostureTask >	getPostureTask (const std::string &robot)

mc_solver::ContactConstraint &	contactConstraint ()

StateFactory &	factory ()

Public Member Functions inherited from mc_control::MCController
virtual	~MCController ()

virtual void	createObserverPipelines (const mc_rtc::Configuration &config)

virtual bool	runObserverPipelines ()

virtual bool	resetObserverPipelines ()
	Reset the observers. More...

bool	hasObserverPipeline (const std::string &name) const

bool	hasObserverPipeline () const

const std::vector< mc_observers::ObserverPipeline > &	observerPipelines () const

std::vector< mc_observers::ObserverPipeline > &	observerPipelines ()

const mc_observers::ObserverPipeline &	observerPipeline (const std::string &name) const

mc_observers::ObserverPipeline &	observerPipeline (const std::string &name)

const mc_observers::ObserverPipeline &	observerPipeline () const

mc_observers::ObserverPipeline &	observerPipeline ()

bool	run (mc_solver::FeedbackType fType)

virtual void	stop ()

void	addCollisions (const std::string &r1, const std::string &r2, const std::vector< mc_rbdyn::Collision > &collisions)

bool	hasCollision (const std::string &r1, const std::string &r2, const mc_rbdyn::Collision &col) const noexcept

bool	hasCollision (const std::string &r1, const std::string &r2, const std::string &c1, const std::string &c2) const noexcept

void	removeCollisions (const std::string &r1, const std::string &r2, const std::vector< mc_rbdyn::Collision > &collisions)

void	removeCollisions (const std::string &r1, const std::string &r2)

void	addContact (const Contact &c)

void	removeContact (const Contact &c)

void	clearContacts ()

const ContactSet &	contacts () const

bool	hasContact (const Contact &c) const

bool	hasRobot (const std::string &robot) const noexcept

const mc_rbdyn::Robots &	robots () const noexcept

mc_rbdyn::Robots &	robots () noexcept

const mc_solver::QPSolver &	solver () const noexcept

mc_solver::QPSolver &	solver () noexcept

mc_rtc::Logger &	logger () noexcept

std::shared_ptr< mc_rtc::gui::StateBuilder >	gui () const noexcept

mc_rtc::DataStore &	datastore () noexcept

const mc_rtc::DataStore &	datastore () const noexcept

virtual void	supported_robots (std::vector< std::string > &out) const

mc_rbdyn::Robot &	loadRobot (mc_rbdyn::RobotModulePtr rm, const std::string &name)

void	removeRobot (const std::string &name)

mc_rtc::Configuration &	config ()

const mc_rtc::Configuration &	config () const

Gripper &	gripper (const std::string &robot, const std::string &gripper)

template<typename T = void>
void	anchorFrame (const sva::PTransformd &)

template<typename T = void>
void	anchorFrameReal (const sva::PTransformd &)

template<typename T = void>
const sva::PTransformd &	anchorFrame () const

template<typename T = void>
const sva::PTransformd &	anchorFrameReal () const

mc_rtc::Configuration	robot_config (const std::string &robot_name) const

mc_rtc::Configuration	robot_config (const mc_rbdyn::Robot &robot) const

const mc_rbdyn::Robot &	robot () const noexcept

mc_rbdyn::Robot &	robot () noexcept

const mc_rbdyn::Robot &	robot (const std::string &name) const

mc_rbdyn::Robot &	robot (const std::string &name)

const mc_rbdyn::Robot &	env () const noexcept

mc_rbdyn::Robot &	env () noexcept

const mc_rbdyn::Robots &	realRobots () const noexcept

mc_rbdyn::Robots &	realRobots () noexcept

const mc_rbdyn::Robot &	realRobot () const noexcept

mc_rbdyn::Robot &	realRobot () noexcept

const mc_rbdyn::Robot &	realRobot (const std::string &name) const

mc_rbdyn::Robot &	realRobot (const std::string &name)

const mc_rbdyn::Robots &	outputRobots () const noexcept

mc_rbdyn::Robots &	outputRobots () noexcept

const mc_rbdyn::Robot &	outputRobot () const noexcept

mc_rbdyn::Robot &	outputRobot () noexcept

const mc_rbdyn::Robot &	outputRobot (const std::string &name) const

mc_rbdyn::Robot &	outputRobot (const std::string &name)

const mc_rbdyn::Robots &	outputRealRobots () const noexcept

mc_rbdyn::Robots &	outputRealRobots () noexcept

const mc_rbdyn::Robot &	outputRealRobot () const noexcept

mc_rbdyn::Robot &	outputRealRobot () noexcept

const mc_rbdyn::Robot &	outputRealRobot (const std::string &name) const

mc_rbdyn::Robot &	outputRealRobot (const std::string &name)

Additional Inherited Members
Public Types inherited from mc_control::MCController
using	Backend = mc_solver::QPSolver::Backend

Static Public Member Functions inherited from mc_control::MCController
static void	set_loading_location (std::string_view location)

static void	set_name (std::string_view name)

Public Attributes inherited from mc_control::MCController
const double	timeStep

mc_rtc::unique_ptr< mc_solver::ContactConstraint >	contactConstraint

mc_rtc::unique_ptr< mc_solver::DynamicsConstraint >	dynamicsConstraint

mc_rtc::unique_ptr< mc_solver::KinematicsConstraint >	kinematicsConstraint

mc_rtc::unique_ptr< mc_solver::CollisionsConstraint >	selfCollisionConstraint

mc_rtc::unique_ptr< mc_solver::CompoundJointConstraint >	compoundJointConstraint

std::shared_ptr< mc_tasks::PostureTask >	postureTask

const std::string	name_

const std::string	loading_location_

Protected Types inherited from mc_control::MCController
using	ContactTableDataT = std::tuple< std::string, std::string, std::string, std::string, std::string, double >

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

Protected Member Functions inherited from mc_control::MCController
	MCController (std::shared_ptr< mc_rbdyn::RobotModule > robot, double dt, ControllerParameters params={})

	MCController (std::shared_ptr< mc_rbdyn::RobotModule > robot, double dt, const mc_rtc::Configuration &config, ControllerParameters params={})

	MCController (const std::vector< std::shared_ptr< mc_rbdyn::RobotModule >> &robot_modules, double dt, ControllerParameters params={})

	MCController (const std::vector< std::shared_ptr< mc_rbdyn::RobotModule >> &robot_modules, double dt, const mc_rtc::Configuration &config, ControllerParameters params={})

mc_rbdyn::Robot &	loadRobot (mc_rbdyn::RobotModulePtr rm, const std::string &name, mc_rbdyn::Robots &robots, const mc_rbdyn::LoadRobotParameters &params)

void	addRobotToLog (const mc_rbdyn::Robot &robot)

void	addRobotToGUI (const mc_rbdyn::Robot &robot)

void	updateContacts ()

Protected Attributes inherited from mc_control::fsm::Controller
std::map< std::string, std::shared_ptr< mc_tasks::PostureTask > >	posture_tasks_

std::map< std::string, double >	saved_posture_weights_

std::map< std::string, std::shared_ptr< mc_tasks::EndEffectorTask > >	ff_tasks_

StateFactory	factory_

bool	idle_keep_state_ = false

bool	running_ = false

bool	first_reset_ = true

Executor	executor_

Protected Attributes inherited from mc_control::MCController
std::shared_ptr< mc_solver::QPSolver >	qpsolver

mc_rbdyn::RobotsPtr	outputRobots_

mc_rbdyn::RobotsPtr	outputRealRobots_

std::vector< mc_rbdyn::RobotConverter >	converters_

std::vector< mc_observers::ObserverPipeline >	observerPipelines_

std::shared_ptr< mc_rtc::Logger >	logger_

std::shared_ptr< mc_rtc::gui::StateBuilder >	gui_

mc_rtc::Configuration	config_

mc_rtc::DataStore	datastore_

std::vector< mc_solver::ConstraintSetPtr >	constraints_

std::shared_ptr< mc_solver::ContactConstraint >	contact_constraint_ = nullptr

std::map< std::pair< std::string, std::string >, std::shared_ptr< mc_solver::CollisionsConstraint > >	collision_constraints_

ContactSet	contacts_

bool	contacts_changed_

std::vector< ContactTableDataT >	contacts_table_

duration_ms	updateContacts_dt_ {0}

Detailed Description

template<MCController::Backend backend, typename SolverT>
struct mc_control::fsm::details::BackendSpecificController< backend, SolverT >

Helper to declare backend-specific controllers

The difference with the default MCController class are:

the backend is always the one specified here
solver() returns the solver class specified here

Constructor & Destructor Documentation

◆ BackendSpecificController()

template<MCController::Backend backend, typename SolverT >

mc_control::fsm::details::BackendSpecificController< backend, SolverT >::BackendSpecificController	(	mc_rbdyn::RobotModulePtr	rm,
		double	dt,
		const mc_rtc::Configuration &	config,
		ControllerParameters	params = `{}`
	)

inline

Member Function Documentation

◆ solver() [1/2]

template<MCController::Backend backend, typename SolverT >

const SolverT& mc_control::fsm::details::BackendSpecificController< backend, SolverT >::solver ( ) const

inlinenoexcept

◆ solver() [2/2]

template<MCController::Backend backend, typename SolverT >

SolverT& mc_control::fsm::details::BackendSpecificController< backend, SolverT >::solver ( )

inlinenoexcept

The documentation for this struct was generated from the following file:

include/mc_control/fsm/Controller.h

Public Member Functions

Additional Inherited Members

Detailed Description

template<MCController::Backend backend, typename SolverT> struct mc_control::fsm::details::BackendSpecificController< backend, SolverT >

Constructor & Destructor Documentation

◆ BackendSpecificController()

Member Function Documentation

◆ solver() [1/2]

◆ solver() [2/2]

template<MCController::Backend backend, typename SolverT>
struct mc_control::fsm::details::BackendSpecificController< backend, SolverT >