#include <mujoco/mujoco.h>
#include <GLFW/glfw3.h>
#include <kdl/chain.hpp>
#include <kdl/jntarray.hpp>
#include <functional>
#include <string>
#include <vector>
#include <chrono>
#include <thread>
#include <cstdio>
#include <cstring>
#include <sstream>

Classes
struct	mj_kdl::AttachmentSpec

struct	mj_kdl::RobotSpec

struct	mj_kdl::TableSpec

struct	mj_kdl::SceneObject

struct	mj_kdl::SceneSpec

struct	mj_kdl::Robot

struct	mj_kdl::Viewer

struct	mj_kdl::VideoRecorder

Namespaces
namespace	mj_kdl

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

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

#define	LOG_INFO(expr) MJ_LOG_(INFO, "", "INFO ", expr)

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

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

Typedefs
using	mj_kdl::ControlCb = std::function< void(mjModel m, mjData d)>

Enumerations
enum class	mj_kdl::LogLevel { mj_kdl::LogLevel::NONE = 0 , mj_kdl::LogLevel::INFO = 1 , mj_kdl::LogLevel::WARN = 2 , mj_kdl::LogLevel::ERROR = 3 }

enum class	mj_kdl::Shape { mj_kdl::Shape::BOX , mj_kdl::Shape::SPHERE , mj_kdl::Shape::CYLINDER }

enum class	mj_kdl::CtrlMode { mj_kdl::CtrlMode::POSITION , mj_kdl::CtrlMode::TORQUE }

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 ()

bool	mj_kdl::save_model_xml (const mjModel model, const char path)

bool	mj_kdl::init_robot_from_mjcf (Robot r, mjModel model, mjData data, const char base_body, const char tip_body, const char prefix="", const char *tool_body=nullptr)

bool	mj_kdl::attach_to_spec (mjSpec robot_spec, const AttachmentSpec a)

bool	mj_kdl::build_scene (mjModel out_model, mjData out_data, const SceneSpec *spec)

void	mj_kdl::destroy_scene (mjModel model, mjData data)

bool	mj_kdl::init_window (Viewer v, Robot r, const char *title="MuJoCo", int width=1280, int height=720)

bool	mj_kdl::init_window_sim (Viewer v, Robot r, const char *title="MuJoCo")

void	mj_kdl::cleanup (Robot *r)

void	mj_kdl::cleanup (Viewer *v)

bool	mj_kdl::init_video_recorder (VideoRecorder vr, mjModel model, const char *out_path, int width=1280, int height=720, int fps=60)

bool	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, mjModel model, mjData *data)

void	mj_kdl::cleanup (VideoRecorder *vr)

void	mj_kdl::step (Robot *s)

void	mj_kdl::step_n (Robot *s, int n)

void	mj_kdl::reset (Robot *s)

bool	mj_kdl::is_running (const Viewer *v)

bool	mj_kdl::render (Viewer v, const Robot r)

bool	mj_kdl::render (Viewer v, mjModel m, mjData *d)

bool	mj_kdl::tick (Viewer v, Robot r)

bool	mj_kdl::tick (Viewer v, mjModel m, mjData *d)

void	mj_kdl::update (Robot *r)

void	mj_kdl::set_joint_pos (Robot *r, const KDL::JntArray &q, bool call_forward=true)

bool	mj_kdl::scene_add_object (mjModel model, mjData data, SceneSpec *spec, const SceneObject &obj)

bool	mj_kdl::scene_remove_object (mjModel model, mjData data, SceneSpec *spec, const std::string &name)

void	mj_kdl::run_simulate_ui (mjModel m, mjData d, const char *path, ControlCb physics_cb=nullptr)

void	mj_kdl::add_skybox_to_spec (mjSpec *spec)

void	mj_kdl::add_floor_to_spec (mjSpec *spec)

void	mj_kdl::add_table_to_spec (mjSpec *spec, const TableSpec &t)

void	mj_kdl::add_objects_to_spec (mjSpec *spec, const std::vector< SceneObject > &objects)

void	mj_kdl::configure_spec (mjSpec spec, const SceneSpec sc)

bool	mj_kdl::compile_and_make_data (mjSpec spec, mjModel out_model, mjData *out_data)

void	mj_kdl::ensure_plugins_loaded ()

Variables
LogLevel	mj_kdl::g_log_level = LogLevel::ERROR

Macro Definition Documentation

◆ LOG_ERROR

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

Definition at line 64 of file mj_kdl_wrapper.hpp.

◆ LOG_INFO

#define LOG_INFO ( expr ) MJ_LOG_(INFO, "", "INFO ", expr)

Definition at line 62 of file mj_kdl_wrapper.hpp.

◆ LOG_WARN

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

Definition at line 63 of file mj_kdl_wrapper.hpp.

◆ MJ_FILENAME_

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

Definition at line 44 of file mj_kdl_wrapper.hpp.

◆ MJ_LOG_

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

Value:

    do {                                                             \
        if (::mj_kdl::g_log_level >= ::mj_kdl::LogLevel::lvl_enum) { \
            std::ostringstream _mj_oss;                              \
            _mj_oss << expr;                                         \
            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 46 of file mj_kdl_wrapper.hpp.

Classes

Namespaces

Macros

Typedefs

Enumerations