mj_kdl_wrapper.hpp File Reference

#include <mujoco/mujoco.h>
#include <kdl/chain.hpp>
#include <kdl/frames.hpp>
#include <kdl/jntarray.hpp>
#include <array>
#include <cmath>
#include <cstdint>
#include <cstdio>
#include <cstring>
#include <deque>
#include <functional>
#include <memory>
#include <sstream>
#include <string>
#include <utility>
#include <vector>
#include <chrono>

Go to the source code of this file.

Classes
struct	mj_kdl::Status
struct	mj_kdl::AttachTarget
struct	mj_kdl::CtrlModeSpec
struct	mj_kdl::AttachmentSpec
struct	mj_kdl::RobotSpec
struct	mj_kdl::SceneObject
struct	mj_kdl::SiteSpec
struct	mj_kdl::CameraSpec
struct	mj_kdl::SceneSpec
struct	mj_kdl::ForceTorqueSensorSpec
struct	mj_kdl::ForceTorqueReading
struct	mj_kdl::ForceTorqueSensor
struct	mj_kdl::ToolFrameSpec
struct	mj_kdl::RobotPorts
struct	mj_kdl::Robot
struct	mj_kdl::Viewer
struct	mj_kdl::VideoRecorder
struct	mj_kdl::ResetOptions
struct	mj_kdl::ResetInfo
struct	mj_kdl::ResetContext
struct	mj_kdl::SceneJointReading
struct	mj_kdl::SceneJointSlot
struct	mj_kdl::SceneFreeBodyReading
struct	mj_kdl::SceneFreeBodySlot
struct	mj_kdl::SceneWrenchCommand
struct	mj_kdl::SceneWrenchSlot
struct	mj_kdl::SceneActuatorCommand
struct	mj_kdl::SceneActuatorSlot
struct	mj_kdl::SceneState
struct	mj_kdl::Env

Namespaces
namespace	mj_kdl

Macros
#define	MJ_FILENAME_   (::strrchr(__FILE__, '/') ? ::strrchr(__FILE__, '/') + 1 : __FILE__)
#define	MJ_LOG_(lvl_enum, color, label, expr)
#define	MJ_LOG_INFO(expr)
#define	MJ_LOG_WARN(expr)
#define	MJ_LOG_ERROR(expr)

Typedefs
using	mj_kdl::ResetHook = std::function<void(ResetContext *)>

Enumerations
enum class	mj_kdl::LogLevel { mj_kdl::LogLevel::INFO = 0 , mj_kdl::LogLevel::WARN = 1 , mj_kdl::LogLevel::ERROR = 2 , mj_kdl::LogLevel::NONE = 3 }
enum class	mj_kdl::AttachKind { mj_kdl::AttachKind::World , mj_kdl::AttachKind::Body , mj_kdl::AttachKind::Site , mj_kdl::AttachKind::Frame }
enum class	mj_kdl::CtrlMode { mj_kdl::CtrlMode::POSITION , mj_kdl::CtrlMode::TORQUE , mj_kdl::CtrlMode::VELOCITY }
enum class	mj_kdl::Shape { mj_kdl::Shape::Unspecified , mj_kdl::Shape::BOX , mj_kdl::Shape::SPHERE , mj_kdl::Shape::CYLINDER }
enum class	mj_kdl::Condim : int { mj_kdl::Condim::Tangential = 3 , mj_kdl::Condim::Torsional = 4 , mj_kdl::Condim::Rolling = 6 }
enum class	mj_kdl::VideoResolution {   mj_kdl::VideoResolution::R360p = 360 , mj_kdl::VideoResolution::R480p = 480 , mj_kdl::VideoResolution::R720p = 720 , mj_kdl::VideoResolution::R1080p = 1080 ,   mj_kdl::VideoResolution::R2K = 1440 , mj_kdl::VideoResolution::R4K = 2160 }

Functions
void	mj_kdl::set_log_level (LogLevel level)
LogLevel	mj_kdl::get_log_level ()
Status	mj_kdl::save_model_xml (const mjModel *model, const char *path)
Status	mj_kdl::init_robot_from_mjcf (Robot *r, Env *env, const char *base_body, const char *tip_body, const char *prefix="", const ToolFrameSpec *tool=nullptr)
Status	mj_kdl::init_robot_from_chain (Robot *r, Env *env, const KDL::Chain &chain, const std::vector< std::string > &joint_names, const char *prefix="", const ToolFrameSpec *tool=nullptr)
std::vector< double >	mj_kdl::joint_force_limits (const Robot *r, double fallback=1e6)
Status	mj_kdl::build_scene (mjModel **out_model, mjData **out_data, const SceneSpec *spec)
void	mj_kdl::destroy_scene (mjModel *model, mjData *data)
Status	mj_kdl::init_env (Env *env, const SceneSpec *spec)
ResetInfo	mj_kdl::reset (Env *env, const ResetOptions *options=nullptr)
Status	mj_kdl::open_viewer (Env *env, const char *title="MuJoCo")
void	mj_kdl::clear_trace (Viewer *v)
void	mj_kdl::add_trace_segment (Viewer *v, const KDL::Vector &a, const KDL::Vector &b, const float rgba[4]=nullptr)
void	mj_kdl::add_overlay_arrow (Viewer *v, const KDL::Vector &from, const KDL::Vector &dir, double length, const float rgba[4]=nullptr)
void	mj_kdl::cleanup (Robot *r)
void	mj_kdl::cleanup (Env *env)
Status	mj_kdl::init_video_recorder (VideoRecorder *vr, mjModel *model, const char *out_path, int width=1280, int height=720, int fps=60)
Status	mj_kdl::init_video_recorder (VideoRecorder *vr, mjModel *model, const char *out_path, VideoResolution resolution, int fps=60)
bool	mj_kdl::record_frame (VideoRecorder *vr, Env *env)
Status	mj_kdl::init_offscreen (VideoRecorder *vr, mjModel *model, int width, int height)
bool	mj_kdl::render_rgb (VideoRecorder *vr, Env *env, std::uint8_t *out)
bool	mj_kdl::render_rgb (VideoRecorder *vr, Env *env, std::function< void(const std::uint8_t *rgb)> done)
void	mj_kdl::cleanup (VideoRecorder *vr)
bool	mj_kdl::step (Env *env)
void	mj_kdl::pace_realtime (Env *env)
bool	mj_kdl::is_running (const Viewer *v)
bool	mj_kdl::key_pressed (const Viewer *v, int glfw_key)
void	mj_kdl::capture_key (Viewer *v, int glfw_key, bool capture=true)
void	mj_kdl::update (Env *env)
Status	mj_kdl::set_control_mode (Robot *r, CtrlMode mode)
Status	mj_kdl::set_control_mode (Env *env, int robot, CtrlMode mode)
SceneJointSlot *	mj_kdl::bind_scene_joint (SceneState *s, const char *joint_name)
SceneFreeBodySlot *	mj_kdl::bind_scene_free_body (SceneState *s, const char *body_name)
SceneWrenchSlot *	mj_kdl::bind_scene_wrench (SceneState *s, const char *body_name)
SceneActuatorSlot *	mj_kdl::bind_scene_actuator (SceneState *s, const char *name)
void	mj_kdl::set_joint_pos (Robot *r, const KDL::JntArray &q)
void	mj_kdl::set_body_pose (Env *env, const char *body_name, const double pos[3], const double *quat=nullptr)
Status	mj_kdl::scene_add_object (Env *env, const SceneObject &obj)
Status	mj_kdl::scene_remove_object (Env *env, const std::string &name)
bool	mj_kdl::get_site_frame (Env *env, const char *site_name, KDL::Frame *out)
bool	mj_kdl::get_body_frame (Env *env, const char *body_name, KDL::Frame *out)
bool	mj_kdl::use_camera (Viewer *v, const mjModel *model, const char *name)
void	mj_kdl::set_free_camera (Viewer *v, double distance, double azimuth, double elevation, const std::array< double, 3 > &lookat)

Variables
LogLevel	mj_kdl::g_log_level = LogLevel::INFO

Macro Definition Documentation

MJ_FILENAME_

#define MJ_FILENAME_   (::strrchr(__FILE__, '/') ? ::strrchr(__FILE__, '/') + 1 : __FILE__)

Definition at line 48 of file mj_kdl_wrapper.hpp.

MJ_LOG_

#define MJ_LOG_	(		lvl_enum,
			color,
			label,
			expr )

Value:

do {                                                              \
    if (::mj_kdl::LogLevel::lvl_enum >= ::mj_kdl::g_log_level) {  \
        std::ostringstream _mj_oss;                               \
        _mj_oss << expr; /* NOLINT(bugprone-macro-parentheses) */ \
        std::fprintf(                                             \
          stderr,                                                 \
          color "[mj_kdl " label "] %s:%d (%s): %s\033[0m\n",     \
          MJ_FILENAME_,                                           \
          __LINE__,                                               \
          __func__,                                               \
          _mj_oss.str().c_str()                                   \
        );                                                        \
    }                                                             \
} while (0)

Definition at line 50 of file mj_kdl_wrapper.hpp.

MJ_LOG_ERROR

#define MJ_LOG_ERROR

(

expr

)

Value:

MJ_LOG_(ERROR, "\033[31m", "ERROR", expr)

Definition at line 68 of file mj_kdl_wrapper.hpp.

MJ_LOG_INFO

#define MJ_LOG_INFO

(

expr

)

Value:

MJ_LOG_(INFO, "", "INFO ", expr)

Definition at line 66 of file mj_kdl_wrapper.hpp.

MJ_LOG_WARN

#define MJ_LOG_WARN

(

expr

)

Value:

MJ_LOG_(WARN, "\033[33m", "WARN ", expr)

Definition at line 67 of file mj_kdl_wrapper.hpp.