Store the controller configuration. More...

#include <mc_control/mc_global_controller.h>

Collaboration diagram for mc_control::MCGlobalController::GlobalConfiguration:

Public Member Functions
	GlobalConfiguration (const std::string &conf, std::shared_ptr< mc_rbdyn::RobotModule > rm=nullptr, bool conf_only=false)

bool	enabled (const std::string &ctrl)

void	load_controllers_configs ()

void	load_plugin_configs ()

void	load_controller_plugin_configs (const std::string &controller, const std::vector< std::string > &plugins)

Public Attributes
bool	verbose_loader = true

bool	init_attitude_from_sensor = false

std::string	init_attitude_sensor

std::vector< std::string >	robot_module_paths

std::shared_ptr< mc_rbdyn::RobotModule >	main_robot_module

std::vector< std::string >	observer_module_paths

std::vector< std::string >	global_plugin_paths

std::vector< std::string >	global_plugins

std::vector< std::string >	global_plugins_autoload

std::unordered_map< std::string, mc_rtc::Configuration >	global_plugin_configs

std::vector< std::string >	controller_module_paths

std::vector< std::string >	enabled_controllers

std::string	initial_controller

std::unordered_map< std::string, mc_rtc::Configuration >	controllers_configs

double	timestep = 0.002

bool	include_halfsit_controller = true

bool	enable_log = true

mc_rtc::Logger::Policy	log_policy = mc_rtc::Logger::Policy::NON_THREADED

std::string	log_directory

std::string	log_template = "mc-control"

bool	enable_gui_server = true

ControllerServerConfiguration	gui_server_configuration

Configuration	config

Detailed Description

Store the controller configuration.

Constructor & Destructor Documentation

◆ GlobalConfiguration()

mc_control::MCGlobalController::GlobalConfiguration::GlobalConfiguration	(	const std::string &	conf,
		std::shared_ptr< mc_rbdyn::RobotModule >	rm = `nullptr`,
		bool	conf_only = `false`
	)

Constructor

Parameters

conf	Configuration file that should be loaded
Main	robot module, if null use the MainRobot entry in conf to initialize it
conf_only	If true, only load the specified configuration file

Member Function Documentation

◆ enabled()

bool mc_control::MCGlobalController::GlobalConfiguration::enabled ( const std::string & ctrl )

inline

◆ load_controller_plugin_configs()

void mc_control::MCGlobalController::GlobalConfiguration::load_controller_plugin_configs	(	const std::string &	controller,
		const std::vector< std::string > &	plugins
	)

◆ load_controllers_configs()

void mc_control::MCGlobalController::GlobalConfiguration::load_controllers_configs ( )

◆ load_plugin_configs()

void mc_control::MCGlobalController::GlobalConfiguration::load_plugin_configs ( )

Member Data Documentation

◆ config

Configuration mc_control::MCGlobalController::GlobalConfiguration::config

◆ controller_module_paths

std::vector<std::string> mc_control::MCGlobalController::GlobalConfiguration::controller_module_paths

◆ controllers_configs

std::unordered_map<std::string, mc_rtc::Configuration> mc_control::MCGlobalController::GlobalConfiguration::controllers_configs

◆ enable_gui_server

bool mc_control::MCGlobalController::GlobalConfiguration::enable_gui_server = true

◆ enable_log

bool mc_control::MCGlobalController::GlobalConfiguration::enable_log = true

◆ enabled_controllers

std::vector<std::string> mc_control::MCGlobalController::GlobalConfiguration::enabled_controllers

◆ global_plugin_configs

std::unordered_map<std::string, mc_rtc::Configuration> mc_control::MCGlobalController::GlobalConfiguration::global_plugin_configs

◆ global_plugin_paths

std::vector<std::string> mc_control::MCGlobalController::GlobalConfiguration::global_plugin_paths

◆ global_plugins

std::vector<std::string> mc_control::MCGlobalController::GlobalConfiguration::global_plugins

◆ global_plugins_autoload

std::vector<std::string> mc_control::MCGlobalController::GlobalConfiguration::global_plugins_autoload

◆ gui_server_configuration

ControllerServerConfiguration mc_control::MCGlobalController::GlobalConfiguration::gui_server_configuration

◆ include_halfsit_controller

bool mc_control::MCGlobalController::GlobalConfiguration::include_halfsit_controller = true

◆ init_attitude_from_sensor

bool mc_control::MCGlobalController::GlobalConfiguration::init_attitude_from_sensor = false

◆ init_attitude_sensor

std::string mc_control::MCGlobalController::GlobalConfiguration::init_attitude_sensor

◆ initial_controller

std::string mc_control::MCGlobalController::GlobalConfiguration::initial_controller

◆ log_directory

std::string mc_control::MCGlobalController::GlobalConfiguration::log_directory

◆ log_policy

mc_rtc::Logger::Policy mc_control::MCGlobalController::GlobalConfiguration::log_policy = mc_rtc::Logger::Policy::NON_THREADED

◆ log_template

std::string mc_control::MCGlobalController::GlobalConfiguration::log_template = "mc-control"

◆ main_robot_module

std::shared_ptr<mc_rbdyn::RobotModule> mc_control::MCGlobalController::GlobalConfiguration::main_robot_module

◆ observer_module_paths

std::vector<std::string> mc_control::MCGlobalController::GlobalConfiguration::observer_module_paths

◆ robot_module_paths

std::vector<std::string> mc_control::MCGlobalController::GlobalConfiguration::robot_module_paths

◆ timestep

double mc_control::MCGlobalController::GlobalConfiguration::timestep = 0.002

◆ verbose_loader

bool mc_control::MCGlobalController::GlobalConfiguration::verbose_loader = true

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

include/mc_control/mc_global_controller.h

Public Member Functions

Public Attributes