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

#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())");

#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() ?");