Macros | Functions
device.cpp File Reference
#include "sot/core/device.hh"
#include <iostream>
#include <sot/core/debug.hh>
#include <sot/core/macros.hh>
#include <sot/core/integrator.hh>
#include <dynamic-graph/all-commands.h>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/real-time-logger.h>
#include <Eigen/Geometry>
#include <pinocchio/multibody/liegroup/special-euclidean.hpp>
#include <sot/core/matrix-geometry.hh>
Include dependency graph for device.cpp:

Go to the source code of this file.

Macros

#define CHECK_BOUNDS(val, lower, upper, what, eps)
 
#define ENABLE_RT_LOG
 

Functions

double saturateBounds (double &val, const double &lower, const double &upper)
 

Macro Definition Documentation

◆ CHECK_BOUNDS

#define CHECK_BOUNDS (   val,
  lower,
  upper,
  what,
  eps 
)
Value:
for (int i = 0; i < val.size(); ++i) { \
double old = val(i); \
if (saturateBounds(val(i), lower(i), upper(i)) > eps) { \
std::ostringstream oss; \
oss << "Robot " what " bound violation at DoF " << i << ": requested " \
<< old << " but set " << val(i) << '\n'; \
SEND_ERROR_STREAM_MSG(oss.str()); \
} \
}
int i
double saturateBounds(double &val, const double &lower, const double &upper)
Definition: device.cpp:40

Definition at line 57 of file device.cpp.

◆ ENABLE_RT_LOG

#define ENABLE_RT_LOG

Definition at line 14 of file device.cpp.

Function Documentation

◆ saturateBounds()

double saturateBounds ( double &  val,
const double &  lower,
const double &  upper 
)
inline

Definition at line 40 of file device.cpp.



sot-core
Author(s): Olivier Stasse, ostasse@laas.fr
autogenerated on Wed Jun 21 2023 02:51:26