ORCA: Optimization-based framework for Robotic Control Applications
Macros
TaskBase.cc File Reference
#include "orca/common/TaskBase.h"
#include "orca/utils/Utils.h"
+ Include dependency graph for TaskBase.cc:

Macros

#define assertRobotLoaded(robot)
 
#define assertRobotInitialized(robot)
 

Macro Definition Documentation

◆ assertRobotInitialized

#define assertRobotInitialized (   robot)
Value:
if(!robot->isInitialized()) \
orca_throw(Formatter() << "[" << getPrintableName() << "] Robot is not initialized. Initialize it by setting at least one state (robot->setRobotState())");
#define assertRobotLoaded(robot)
Definition: TaskBase.cc:9
void orca_throw(const std::string &arg)
Definition: Utils.h:151
Definition: Utils.h:103

◆ assertRobotLoaded

#define assertRobotLoaded (   robot)
Value:
if(!robot) \
orca_throw(Formatter() << "[" << getPrintableName() << "] Robot is not set"); \
if(robot->getNrOfDegreesOfFreedom() <= 0) \
orca_throw(Formatter() << "[" << getPrintableName() << "] Robot pointer is valid, but does not seem to have any DOF. Did you loadModelFromURDF() ?");
void orca_throw(const std::string &arg)
Definition: Utils.h:151
Definition: Utils.h:103