ORCA: Optimization-based framework for Robotic Control Applications
src
common
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:
assertRobotLoaded
(robot); \
if(!robot->isInitialized()) \
orca_throw
(
Formatter
() <<
"["
<< getPrintableName() <<
"] Robot is not initialized. Initialize it by setting at least one state (robot->setRobotState())"
);
assertRobotLoaded
#define assertRobotLoaded(robot)
Definition:
TaskBase.cc:9
orca::utils::orca_throw
void orca_throw(const std::string &arg)
Definition:
Utils.h:151
orca::utils::Formatter
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() ?"
);
orca::utils::orca_throw
void orca_throw(const std::string &arg)
Definition:
Utils.h:151
orca::utils::Formatter
Definition:
Utils.h:103
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