ORCA: Optimization-based framework for Robotic Control Applications
Macros | Functions
RobotModel.cc File Reference
#include "orca/robot/RobotModel.h"
#include "orca/utils/Utils.h"
#include "orca/math/Utils.h"
#include "RobotModel_iDynTree.impl"
#include <exception>
#include <stdexcept>
#include <string>
#include <fstream>
#include <streambuf>
#include <tinyxml.h>
#include <orca/common/Factory.h>
+ Include dependency graph for RobotModel.cc:

Macros

#define assertInitialized()
 
#define assertLoaded()
 
#define assertFrameExists(frame)
 

Functions

static bool getRobotNameFromTinyXML (TiXmlDocument *doc, std::string &model_name)
 

Macro Definition Documentation

#define assertFrameExists (   frame)
Value:
if(frame.empty()) \
orca_throw("Provided frame is empty"); \
if(!impl_->frameExists(frame)) { \
print(); \
orca_throw(Formatter() << "Frame '" << frame << "' is not part of the robot"); \
}
void orca_throw(const std::string &arg)
Definition: Utils.h:153
Definition: Utils.h:105
#define assertInitialized ( )
Value:
if(!is_initialized_) \
orca_throw("Robot model is not initialized with at least one state (via setRobotState)");
void orca_throw(const std::string &arg)
Definition: Utils.h:153
#define assertLoaded ( )
Value:
if(impl_->getNrOfDegreesOfFreedom() == 0) \
orca_throw("Robot model is not loaded");
void orca_throw(const std::string &arg)
Definition: Utils.h:153

Function Documentation

static bool getRobotNameFromTinyXML ( TiXmlDocument *  doc,
std::string &  model_name 
)
static