mc_global_controller.h File Reference

#include <mc_control/ControllerServer.h>
#include <mc_control/GlobalPlugin_fwd.h>
#include <mc_control/MCController.h>
#include <mc_control/api.h>
#include <mc_rbdyn/RobotModule.h>
#include <mc_rtc/loader.h>
#include <mc_rtc/log/Logger.h>
#include <array>

Include dependency graph for mc_global_controller.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	mc_control::MCGlobalController
struct	mc_control::MCGlobalController::GlobalConfiguration
	Store the controller configuration. More...

Namespaces
	mc_control

Macros
Accessors to the robots:
robots contains the output of the controller pipeline, that is: controller -> converter -> grippers -> module.postprocess -> plugins realRobots contains the output of the observer pipeline, that is: observer pipeline -> converter -> module.postprocess -> plugins
#define	MAKE_ROBOTS_ACCESSOR(NAME, PTR)

Macro Definition Documentation

MAKE_ROBOTS_ACCESSOR

#define MAKE_ROBOTS_ACCESSOR	(		NAME,
			PTR
	)

Value:

  inline mc_rbdyn::Robots & NAME##s() noexcept                        \
  { return *controller().PTR##s_; }                                   \
  inline const mc_rbdyn::Robots & NAME##s() const noexcept            \
  { return *controller().PTR##s_; }                                   \
  inline mc_rbdyn::Robot & NAME() noexcept                            \
  { return NAME##s().robot(); }                                       \
  inline const mc_rbdyn::Robot & NAME() const noexcept                \
  { return NAME##s().robot(); }                                       \
  inline mc_rbdyn::Robot & NAME(const std::string & name)             \
  { return NAME##s().robot(name); }                                   \
  inline const mc_rbdyn::Robot & NAME(const std::string & name) const \
  { return NAME##s().robot(name); }