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());                                      \
    }                                                                        \
  }

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.