mj_kdl Namespace Reference

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

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

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

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

Variables
LogLevel	g_log_level = LogLevel::INFO

Typedef Documentation

ResetHook

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

Definition at line 521 of file mj_kdl_wrapper.hpp.

Function Documentation

write_png_rgb()

bool mj_kdl::write_png_rgb	(	const std::string &	path,
		const std::uint8_t *	rgb,
		int	width,
		int	height )