Robot.h

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/*
 * Copyright 2015-2020 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc/gui/details/traits.h>
#include <mc_rtc/gui/elements.h>
#include <mc_rtc/gui/types.h>
 
#include <mc_rbdyn/Robot.h>
 
namespace mc_rtc::gui
{
 
namespace details
{
 
template<typename GetT>
struct RobotImpl : public Element
{
  static constexpr auto type = Elements::Robot;
 
  RobotImpl(const std::string & name, GetT get_fn) : Element(name), get_fn_(get_fn)
  { static_assert(CheckReturnType<GetT, mc_rbdyn::Robot>::value, "Robot element must return an mc_rbdyn::Robot"); }
 
  static constexpr size_t write_size() { return Element::write_size() + 3; }
 
  void write(mc_rtc::MessagePackBuilder & builder)
  {
    const mc_rbdyn::Robot & robot = get_fn_();
    Element::write(builder);
    builder.write(robot.module().parameters());
    builder.write(robot.mbc().q);
    builder.write(robot.posW());
  }
 
private:
  GetT get_fn_;
};
 
} // namespace details
 
template<typename GetT>
auto Robot(const std::string & name, GetT get_fn)
{ return details::RobotImpl(name, get_fn); }
 
} // namespace mc_rtc::gui