mc_rbdyn::RobotConverter Struct Reference

Copies all common properties from one robot to another encoders, sensors, etc) More...

#include <mc_rbdyn/RobotConverter.h>

Collaboration diagram for mc_rbdyn::RobotConverter:

Public Member Functions
	RobotConverter (const mc_rbdyn::Robot &inputRobot, mc_rbdyn::Robot &outputRobot, const RobotConverterConfig &config)
void	convert (const mc_rbdyn::Robot &inputRobot, mc_rbdyn::Robot &outputRobot) const
	Copies the common properties of the input robot to the output robot. More...
const RobotConverterConfig &	config () const noexcept

Protected Member Functions
void	precompute (const mc_rbdyn::Robot &inputRobot, const mc_rbdyn::Robot &outputRobot)
	Precomputes the mappings of common properties between input/output robot according to the chosen config_. More...
void	encodersToOutput (const mc_rbdyn::Robot &inputRobot, mc_rbdyn::Robot &outputRobot) const

Protected Attributes
RobotConverterConfig	config_
std::vector< std::pair< unsigned int, unsigned int > >	commonJointIndices_ {}
std::vector< std::pair< unsigned int, unsigned int > >	commonEncoderToJointIndices_ {}
std::vector< std::pair< unsigned int, unsigned int > >	mimicJoints_ {}

Detailed Description

Copies all common properties from one robot to another encoders, sensors, etc)

Warning

When using the RobotConverter to output to a real robot system, be careful about your choice of options or RobotConverterConfig, not all combinations of options are safe (e.g mbcToOutMbc=false and encodersToOutMbc=false would result in all joints going to zero).

Constructor & Destructor Documentation

RobotConverter()

mc_rbdyn::RobotConverter::RobotConverter	(	const mc_rbdyn::Robot &	inputRobot,
		mc_rbdyn::Robot &	outputRobot,
		const RobotConverterConfig &	config
	)

Initialize the converter and run it once on the output robot

Parameters

inputRobot	Same robot that will be fed to convert
outputRobot	Same robot that will be fed to convert
config	Config used by this converter

Member Function Documentation

config()

const RobotConverterConfig& mc_rbdyn::RobotConverter::config ( ) const

inlinenoexcept

convert()

void mc_rbdyn::RobotConverter::convert	(	const mc_rbdyn::Robot &	inputRobot,
		mc_rbdyn::Robot &	outputRobot
	)		const

Copies the common properties of the input robot to the output robot.

See mc_rbdyn::RobotConverterConfig for available copy options.

encodersToOutput()

void mc_rbdyn::RobotConverter::encodersToOutput ( const mc_rbdyn::Robot &  inputRobot, mc_rbdyn::Robot &  outputRobot  ) const

protected

Copy encoders to output robot configuration

precompute()

void mc_rbdyn::RobotConverter::precompute ( const mc_rbdyn::Robot &  inputRobot, const mc_rbdyn::Robot &  outputRobot  )

protected

Precomputes the mappings of common properties between input/output robot according to the chosen config_.

Member Data Documentation

commonEncoderToJointIndices_

std::vector<std::pair<unsigned int, unsigned int> > mc_rbdyn::RobotConverter::commonEncoderToJointIndices_ {}

protected

commonJointIndices_

std::vector<std::pair<unsigned int, unsigned int> > mc_rbdyn::RobotConverter::commonJointIndices_ {}

protected

config_

RobotConverterConfig mc_rbdyn::RobotConverter::config_

protected

mimicJoints_

std::vector<std::pair<unsigned int, unsigned int> > mc_rbdyn::RobotConverter::mimicJoints_ {}

protected

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

• include/mc_rbdyn/RobotConverter.h