Functions
MC_RBDYN_DLLAPI const mc_rbdyn::Robot &	mc_rbdyn::robotFromConfig (const mc_rtc::Configuration &config, const mc_rbdyn::Robots &robots, const std::string &prefix, bool required=false, const std::string &robotIndexKey="robotIndex", const std::string &robotNameKey="robot", const std::string &defaultRobotName="")
	Obtains a reference to a loaded robot from configuration (using robotName or robotIndex) More...

std::string MC_RBDYN_DLLAPI	mc_rbdyn::robotNameFromConfig (const mc_rtc::Configuration &config, const mc_rbdyn::Robots &robots, const std::string &prefix="", bool required=false, const std::string &robotIndexKey="robotIndex", const std::string &robotNameKey="robot", const std::string &defaultRobotName="")
	Helper to obtain the robot name from configuration. More...

unsigned int MC_RBDYN_DLLAPI	mc_rbdyn::robotIndexFromConfig (const mc_rtc::Configuration &config, const mc_rbdyn::Robots &robots, const std::string &prefix="", bool required=false, const std::string &robotIndexKey="robotIndex", const std::string &robotNameKey="robot", const std::string &defaultRobotName="")
	Helper to obtain the robot index from configuration. More...

Detailed Description

The intent of these functions is:

to facilitate supporting managing robots by name in the FSM, while maintaining compatibility with the existing FSMs using robotIndex.
to facilitate the upcoming transition from Tasks (requires robotIndex) to TVM (using only robotName). When the transition occurs, robotIndexFromConfig can be deprecated, and its uses be replaced with robotNameFromConfig instead.

Function Documentation

MC_RBDYN_DLLAPI const mc_rbdyn::Robot& mc_rbdyn::robotFromConfig	(	const mc_rtc::Configuration &	config,
		const mc_rbdyn::Robots &	robots,
		const std::string &	prefix,
		bool	required = `false`,
		const std::string &	robotIndexKey = `"robotIndex"`,
		const std::string &	robotNameKey = `"robot"`,
		const std::string &	defaultRobotName = `""`
	)

Obtains a reference to a loaded robot from configuration (using robotName or robotIndex)

If robotName is present, it is used to find the robot
Otherwise, it'll attempt to use robotIndex and inform the user that its use is deprecated in favor of robotName

Parameters

config	Configuration from which to look for robotName/robotIndex
robots	Loaded robots
prefix	Prefix used for printint outputs to the user (deprecation warning, non-existing robot, etc).
required	When true, throws if the robotName/robotIndex is invalid or missing. When false, returns the main robot if the robotName/robotIndex is invalid or missing.
robotIndexKey	Configuration key for robotIndex
robotNameKey	Configuration key for robotName
defaultRobotName	When empty, return the main robot name, otherwise use the specified name

Returns: Robot as configured by the robotName or robotIndex configuration entry.

unsigned int MC_RBDYN_DLLAPI mc_rbdyn::robotIndexFromConfig	(	const mc_rtc::Configuration &	config,
		const mc_rbdyn::Robots &	robots,
		const std::string &	prefix = `""`,
		bool	required = `false`,
		const std::string &	robotIndexKey = `"robotIndex"`,
		const std::string &	robotNameKey = `"robot"`,
		const std::string &	defaultRobotName = `""`
	)

Helper to obtain the robot index from configuration.

Note: This function will be removed when transitioning to TVM. To facilitate the transition from index-based to named-based robots, this function can be deprecated to help with the transition.

See also: const mc_rbdyn::Robot & robotFromConfig(const mc_rtc::Configuration & config, const mc_rbdyn::Robots & robots, const std::string & prefix, bool required);

std::string MC_RBDYN_DLLAPI mc_rbdyn::robotNameFromConfig	(	const mc_rtc::Configuration &	config,
		const mc_rbdyn::Robots &	robots,
		const std::string &	prefix = `""`,
		bool	required = `false`,
		const std::string &	robotIndexKey = `"robotIndex"`,
		const std::string &	robotNameKey = `"robot"`,
		const std::string &	defaultRobotName = `""`
	)

Helper to obtain the robot name from configuration.

See also: const mc_rbdyn::Robot & robotFromConfig(const mc_rtc::Configuration & config, const mc_rbdyn::Robots & robots, const std::string & prefix, bool required);