#include <mc_rbdyn/Robots.h>

Inheritance diagram for mc_rbdyn::Robots:

Collaboration diagram for mc_rbdyn::Robots:

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...

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

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>

◆ 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)

◆ 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

◆ 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

Member Typedef Documentation

◆ const_iterator

◆ const_reverse_iterator

◆ iterator

◆ 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]

◆ 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

◆ Robot

Member Data Documentation

◆ envIndex_

◆ mbcs_

◆ mbgs_

◆ mbs_

◆ robot_modules_