#include <mc_rbdyn/Robots.h>

Inheritance diagram for mc_rbdyn::Robots:

Collaboration diagram for mc_rbdyn::Robots:

[legend]

Classes
struct	NewRobotsToken

Public Types
using	value_type = mc_rbdyn::Robot

Public Types inherited from mc_rtc::shared< Robots >
using	ActualBase = typename std::conditional< std::is_same< void, void >::value, std::enable_shared_from_this< Robots >, void >::type

Public Member Functions
const std::vector< mc_rbdyn::RobotModule > &	robotModules () const

std::vector< rbd::MultiBody > &	mbs ()

const std::vector< rbd::MultiBody > &	mbs () const

std::vector< rbd::MultiBodyConfig > &	mbcs ()

const std::vector< rbd::MultiBodyConfig > &	mbcs () const

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

mc_rbdyn::Robots &	robots () noexcept

const mc_rbdyn::Robots &	robots () const noexcept

unsigned int	robotIndex () const

unsigned int	envIndex () const

unsigned int	robotIndex (const std::string &name) const

const RobotModule &	robotModule (size_t idx) const

Robot &	robot ()

const Robot &	robot () const

Robot &	env ()

const Robot &	env () const

Robot &	robot (size_t idx)

const Robot &	robot (size_t idx) const

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

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

size_type	size () const noexcept

void	reserve (size_type new_cap)

mc_rbdyn::Robot &	operator[] (size_t idx)

const mc_rbdyn::Robot &	operator[] (size_t idx) const

mc_rbdyn::Robot &	at (size_t idx)

const mc_rbdyn::Robot &	at (size_t idx) const

void	copy (mc_rbdyn::Robots &out) const

	Robots (NewRobotsToken)

Robot(s) loading/unloading functions
These functions allow to load or unload robot(s) from the Robots class
Robot &	load (const std::string &name, const RobotModule &module, const LoadRobotParameters &params={})

Robot &	load (const RobotModule &module, const LoadRobotParameters &params={})

void	load (const std::vector< std::shared_ptr< RobotModule >> &modules)

void	rename (const std::string &oldName, const std::string &newName)

Robot &	loadFromUrdf (const std::string &name, const std::string &urdf, const rbd::parsers::ParserParameters &parser_params={}, const LoadRobotParameters &load_params={})

void	robotCopy (const Robot &robot, const std::string &copyName)

void	removeRobot (const std::string &name)

void	removeRobot (unsigned int idx)

Public Member Functions inherited from mc_rtc::shared< Robots >
	operator std::shared_ptr< Robots > ()

	operator std::shared_ptr< const Robots > () const

Static Public Member Functions
static RobotsPtr	make () noexcept

template<class Deleter >
static RobotsPtr	make (Deleter deleter) noexcept

Protected Member Functions
	Robots (const Robots &rhs)=delete

Robots &	operator= (const Robots &rhs)=delete

	Robots (Robots &&robots)=delete

Robots &	operator= (Robots &&robots)=delete

void	updateIndexes ()

Protected Attributes
RobotModuleVector	robot_modules_

std::vector< RobotPtr >	robots_

std::vector< rbd::MultiBody >	mbs_

std::vector< rbd::MultiBodyConfig >	mbcs_

std::vector< rbd::MultiBodyGraph >	mbgs_

unsigned int	robotIndex_

unsigned int	envIndex_

std::unordered_map< std::string, unsigned int >	robotNameToIndex_
	Correspondance between robot name and index. More...

onRobotAddedSigT	onRobotAdded_

onRobotRemovedSigT	onRobotRemoved_

Friends
struct	Robot

Iterators
These functions provide an iterator interface to Robots
using	iterator = mc_rtc::SharedPtrVectorIterator< Robot >

using	const_iterator = mc_rtc::SharedPtrVectorConstIterator< Robot >

using	reverse_iterator = std::reverse_iterator< iterator >

using	const_reverse_iterator = std::reverse_iterator< const_iterator >

using	size_type = std::vector< RobotPtr >::size_type

iterator	begin () noexcept

const_iterator	begin () const noexcept

const_iterator	cbegin () const noexcept

iterator	end () noexcept

const_iterator	end () const noexcept

const_iterator	cend () const noexcept

reverse_iterator	rbegin () noexcept

const_reverse_iterator	rbegin () const noexcept

const_reverse_iterator	crbegin () const noexcept

reverse_iterator	rend () noexcept

const_reverse_iterator	rend () const noexcept

const_reverse_iterator	crend () const noexcept

Signals
These functions provide signals to events related to robot adding/removing
using	onRobotAddedSigT = mc_rtc::Signal< std::string >

using	onRobotAddedSlotT = onRobotAddedSigT::SlotT

using	onRobotRemovedSigT = mc_rtc::Signal< std::string >

using	onRobotRemovedSlotT = onRobotRemovedSigT::SlotT

onRobotAddedSigT::Proxy	onRobotAdded () const noexcept

onRobotRemovedSigT::Proxy	onRobotRemoved () const noexcept

Member Typedef Documentation

◆ const_iterator

using mc_rbdyn::Robots::const_iterator = mc_rtc::SharedPtrVectorConstIterator<Robot>

◆ const_reverse_iterator

using mc_rbdyn::Robots::const_reverse_iterator = std::reverse_iterator<const_iterator>

◆ iterator

using mc_rbdyn::Robots::iterator = mc_rtc::SharedPtrVectorIterator<Robot>

◆ onRobotAddedSigT

using mc_rbdyn::Robots::onRobotAddedSigT = mc_rtc::Signal<std::string>

This signal is emitted after a robot is added

The payload has the name of the newly added robot.

It is emitted after the robot has been added, i.e. robots(payload) has the newly added robot

◆ onRobotAddedSlotT

using mc_rbdyn::Robots::onRobotAddedSlotT = onRobotAddedSigT::SlotT

This signal is emitted after a robot is added

The payload has the name of the newly added robot.

It is emitted after the robot has been added, i.e. robots(payload) has the newly added robot

◆ onRobotRemovedSigT

using mc_rbdyn::Robots::onRobotRemovedSigT = mc_rtc::Signal<std::string>

This signal is emitted after a robot is added

The payload has the name of the newly added robot.

It is emitted after the robot has been added, i.e. robots(payload) has the newly added robot

◆ onRobotRemovedSlotT

using mc_rbdyn::Robots::onRobotRemovedSlotT = onRobotRemovedSigT::SlotT

This signal is emitted after a robot is added

The payload has the name of the newly added robot.

It is emitted after the robot has been added, i.e. robots(payload) has the newly added robot

◆ reverse_iterator

using mc_rbdyn::Robots::reverse_iterator = std::reverse_iterator<iterator>

◆ size_type

using mc_rbdyn::Robots::size_type = std::vector<RobotPtr>::size_type

◆ value_type

using mc_rbdyn::Robots::value_type = mc_rbdyn::Robot

Constructor & Destructor Documentation

◆ Robots() [1/3]

mc_rbdyn::Robots::Robots ( NewRobotsToken )

◆ Robots() [2/3]

mc_rbdyn::Robots::Robots ( const Robots & rhs )

protecteddelete

◆ Robots() [3/3]

mc_rbdyn::Robots::Robots ( Robots && robots )

protecteddelete

Member Function Documentation

◆ at() [1/2]

mc_rbdyn::Robot& mc_rbdyn::Robots::at ( size_t idx )

inline

Access the robot at provided index

Provided for backward compatibility

◆ at() [2/2]

const mc_rbdyn::Robot& mc_rbdyn::Robots::at ( size_t idx ) const

inline

Access the robot at provided index (const)

Provided for backward compatibility

◆ begin() [1/2]

const_iterator mc_rbdyn::Robots::begin ( ) const

noexcept

◆ begin() [2/2]

iterator mc_rbdyn::Robots::begin ( )

noexcept

◆ cbegin()

const_iterator mc_rbdyn::Robots::cbegin ( ) const

noexcept

◆ cend()

const_iterator mc_rbdyn::Robots::cend ( ) const

noexcept

◆ copy()

void mc_rbdyn::Robots::copy ( mc_rbdyn::Robots & out ) const

Copy this instance into another instance

out will be cleared and robots loaded in this instance will be copied into out

◆ crbegin()

const_reverse_iterator mc_rbdyn::Robots::crbegin ( ) const

noexcept

◆ crend()

const_reverse_iterator mc_rbdyn::Robots::crend ( ) const

noexcept

◆ end() [1/2]

const_iterator mc_rbdyn::Robots::end ( ) const

noexcept

◆ end() [2/2]

iterator mc_rbdyn::Robots::end ( )

noexcept

◆ env() [1/2]

Robot& mc_rbdyn::Robots::env ( )

◆ env() [2/2]

const Robot& mc_rbdyn::Robots::env ( ) const

◆ envIndex()

unsigned int mc_rbdyn::Robots::envIndex ( ) const

Index of the first non-actuated robot (or the last actuated robot if no unactuated robot are loaded)

◆ hasRobot()

bool mc_rbdyn::Robots::hasRobot ( const std::string & name ) const

True if the given robot is part of this intance

◆ load() [1/3]

Robot& mc_rbdyn::Robots::load	(	const RobotModule &	module,
		const LoadRobotParameters &	params = `{}`
	)

inline

Load a single robot from a RobotModule

Use the name in the module to load the robot

◆ load() [2/3]

Robot& mc_rbdyn::Robots::load	(	const std::string &	name,
		const RobotModule &	module,
		const LoadRobotParameters &	params = `{}`
	)

Load a single robot from a RobotModule with the provided parameters

Parameters

name	Name of the new robot. Must be unique.
module	The RobotModule to fetch data from for this robot
params

See also: LoadRobotParameters for a description of the parameters

Exceptions

If	a robot named <name> already exists

◆ load() [3/3]

void mc_rbdyn::Robots::load ( const std::vector< std::shared_ptr< RobotModule >> & modules )

Load multiple robots from as many RobotModule instances

Parameters

modules List of RobotModule to load the robots from

◆ loadFromUrdf()

Robot& mc_rbdyn::Robots::loadFromUrdf	(	const std::string &	name,
		const std::string &	urdf,
		const rbd::parsers::ParserParameters &	parser_params = `{}`,
		const LoadRobotParameters &	load_params = `{}`
	)

Load a robot directly from URDF content with the given parameters

Parameters

name	Name of the robot
urdf	URDF content to be parsed
parser_params	Parameters used to parse the URDF
load_params	Parameters used to load the robot

◆ make() [1/2]

static RobotsPtr mc_rbdyn::Robots::make ( )

inlinestaticnoexcept

Create a new Robots instance

◆ make() [2/2]

template<class Deleter >

static RobotsPtr mc_rbdyn::Robots::make ( Deleter deleter )

inlinestaticnoexcept

Create a new Robots instance with a custom deleter

◆ mbcs() [1/2]

std::vector<rbd::MultiBodyConfig>& mc_rbdyn::Robots::mbcs ( )

Give access to the underlying list of rbd::MultiBodyConfig objects

◆ mbcs() [2/2]

const std::vector<rbd::MultiBodyConfig>& mc_rbdyn::Robots::mbcs ( ) const

Give access to the underlying list of rbd::MultiBodyConfig objects (const)

◆ mbs() [1/2]

std::vector<rbd::MultiBody>& mc_rbdyn::Robots::mbs ( )

Give access to the underlying list of rbd::MultiBody objects

◆ mbs() [2/2]

const std::vector<rbd::MultiBody>& mc_rbdyn::Robots::mbs ( ) const

Give access to the underlying list of rbd::MultiBody objects (const)

◆ onRobotAdded()

onRobotAddedSigT::Proxy mc_rbdyn::Robots::onRobotAdded ( ) const

inlinenoexcept

This signal is emitted after a robot is added

The payload has the name of the newly added robot.

It is emitted after the robot has been added, i.e. robots(payload) has the newly added robot

◆ onRobotRemoved()

onRobotRemovedSigT::Proxy mc_rbdyn::Robots::onRobotRemoved ( ) const

inlinenoexcept

This signal is emitted when a robot is about to be removed

The payload is the name of the robot that is about to be removed

It is emitted before the robot is effectively removed, i.e. robots(payload) still has the robot about to be removed

◆ operator=() [1/2]

Robots& mc_rbdyn::Robots::operator= ( const Robots & rhs )

protecteddelete

◆ operator=() [2/2]

Robots& mc_rbdyn::Robots::operator= ( Robots && robots )

protecteddelete

◆ operator[]() [1/2]

mc_rbdyn::Robot& mc_rbdyn::Robots::operator[] ( size_t idx )

inline

Access via operator[]

Provided for backward compatibility

◆ operator[]() [2/2]

const mc_rbdyn::Robot& mc_rbdyn::Robots::operator[] ( size_t idx ) const

inline

Access via operator[] (const)

Provided for backward compatibility

◆ rbegin() [1/2]

const_reverse_iterator mc_rbdyn::Robots::rbegin ( ) const

noexcept

◆ rbegin() [2/2]

reverse_iterator mc_rbdyn::Robots::rbegin ( )

noexcept

◆ removeRobot() [1/2]

void mc_rbdyn::Robots::removeRobot ( const std::string & name )

Load a single robot from a RobotModule with the provided parameters

Parameters

name	Name of the new robot. Must be unique.
module	The RobotModule to fetch data from for this robot
params

See also: LoadRobotParameters for a description of the parameters

Exceptions

If	a robot named <name> already exists

◆ removeRobot() [2/2]

void mc_rbdyn::Robots::removeRobot ( unsigned int idx )

Load a single robot from a RobotModule with the provided parameters

Parameters

name	Name of the new robot. Must be unique.
module	The RobotModule to fetch data from for this robot
params

See also: LoadRobotParameters for a description of the parameters

Exceptions

If	a robot named <name> already exists

◆ rename()

void mc_rbdyn::Robots::rename	(	const std::string &	oldName,
		const std::string &	newName
	)

Rename an existing robot

Note: This is generally unsafe to do late into the controller's life

◆ rend() [1/2]

const_reverse_iterator mc_rbdyn::Robots::rend ( ) const

noexcept

◆ rend() [2/2]

reverse_iterator mc_rbdyn::Robots::rend ( )

noexcept

◆ reserve()

void mc_rbdyn::Robots::reserve ( size_type new_cap )

Reserves space for a total number of new_cap Robots

Parameters

new_cap Reserve size

Has no effect if size > new_cap

◆ robot() [1/6]

Robot& mc_rbdyn::Robots::robot ( )

◆ robot() [2/6]

const Robot& mc_rbdyn::Robots::robot ( ) const

◆ robot() [3/6]

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

◆ robot() [4/6]

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

◆ robot() [5/6]

Robot& mc_rbdyn::Robots::robot ( size_t idx )

◆ robot() [6/6]

const Robot& mc_rbdyn::Robots::robot ( size_t idx ) const

◆ robotCopy()

void mc_rbdyn::Robots::robotCopy	(	const Robot &	robot,
		const std::string &	copyName
	)

Load a single robot from a RobotModule with the provided parameters

Parameters

name	Name of the new robot. Must be unique.
module	The RobotModule to fetch data from for this robot
params

See also: LoadRobotParameters for a description of the parameters

Exceptions

If	a robot named <name> already exists

◆ robotIndex() [1/2]

unsigned int mc_rbdyn::Robots::robotIndex ( ) const

Index of the main robot

◆ robotIndex() [2/2]

unsigned int mc_rbdyn::Robots::robotIndex ( const std::string & name ) const

Index of a robot by name, throws if the robot does not exist

◆ robotModule()

const RobotModule& mc_rbdyn::Robots::robotModule ( size_t idx ) const

◆ robotModules()

const std::vector<mc_rbdyn::RobotModule>& mc_rbdyn::Robots::robotModules ( ) const

Give access to the underlying list of RobotModule objects

◆ robots() [1/2]

const mc_rbdyn::Robots& mc_rbdyn::Robots::robots ( ) const

inlinenoexcept

Give access to self for backward compatibility (const)

◆ robots() [2/2]

mc_rbdyn::Robots& mc_rbdyn::Robots::robots ( )

inlinenoexcept

Give access to self for backward compatibility

◆ size()

size_type mc_rbdyn::Robots::size ( ) const

noexcept

Number of robots

Returns: The number of robots

◆ updateIndexes()

void mc_rbdyn::Robots::updateIndexes ( )

protected

Friends And Related Function Documentation

◆ Robot

friend struct Robot

friend

Member Data Documentation

◆ envIndex_

unsigned int mc_rbdyn::Robots::envIndex_

protected

◆ mbcs_

std::vector<rbd::MultiBodyConfig> mc_rbdyn::Robots::mbcs_

protected

◆ mbgs_

std::vector<rbd::MultiBodyGraph> mc_rbdyn::Robots::mbgs_

protected

◆ mbs_

std::vector<rbd::MultiBody> mc_rbdyn::Robots::mbs_

protected

◆ onRobotAdded_

onRobotAddedSigT mc_rbdyn::Robots::onRobotAdded_

mutableprotected

◆ onRobotRemoved_

onRobotRemovedSigT mc_rbdyn::Robots::onRobotRemoved_

mutableprotected

◆ robot_modules_

RobotModuleVector mc_rbdyn::Robots::robot_modules_

protected

◆ robotIndex_

unsigned int mc_rbdyn::Robots::robotIndex_

protected

◆ robotNameToIndex_

std::unordered_map<std::string, unsigned int> mc_rbdyn::Robots::robotNameToIndex_

protected

Correspondance between robot name and index.

◆ robots_

std::vector<RobotPtr> mc_rbdyn::Robots::robots_

protected

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

include/mc_rbdyn/Robots.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Iterators

Signals

Member Typedef Documentation

◆ const_iterator

◆ const_reverse_iterator

◆ iterator

◆ onRobotAddedSigT

◆ onRobotAddedSlotT

◆ onRobotRemovedSigT

◆ onRobotRemovedSlotT

◆ reverse_iterator

◆ size_type

◆ value_type

Constructor & Destructor Documentation

◆ Robots() [1/3]

◆ Robots() [2/3]

◆ Robots() [3/3]

Member Function Documentation

◆ at() [1/2]

◆ at() [2/2]

◆ begin() [1/2]

◆ begin() [2/2]

◆ cbegin()

◆ cend()

◆ copy()

◆ crbegin()

◆ crend()

◆ end() [1/2]

◆ end() [2/2]

◆ env() [1/2]

◆ env() [2/2]

◆ envIndex()

◆ hasRobot()

◆ load() [1/3]

◆ load() [2/3]

◆ load() [3/3]

◆ loadFromUrdf()

◆ make() [1/2]

◆ make() [2/2]

◆ mbcs() [1/2]

◆ mbcs() [2/2]

◆ mbs() [1/2]

◆ mbs() [2/2]

◆ onRobotAdded()

◆ onRobotRemoved()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ rbegin() [1/2]

◆ rbegin() [2/2]

◆ removeRobot() [1/2]

◆ removeRobot() [2/2]

◆ rename()

◆ rend() [1/2]

◆ rend() [2/2]

◆ reserve()

◆ robot() [1/6]

◆ robot() [2/6]

◆ robot() [3/6]

◆ robot() [4/6]

◆ robot() [5/6]

◆ robot() [6/6]

◆ robotCopy()

◆ robotIndex() [1/2]

◆ robotIndex() [2/2]

◆ robotModule()

◆ robotModules()

◆ robots() [1/2]

◆ robots() [2/2]

◆ size()

◆ updateIndexes()

Friends And Related Function Documentation