measure.cpp File Reference

#include "franky/motion/measure.hpp"
#include <sstream>
#include <utility>
#include <franka/robot_state.h>

Namespaces
	franky

Macros
#define	MEASURE_CMP_DEF(OP)
#define	MEASURE_OP_DEF(OP)

Functions
Measure	franky::measure_pow (const Measure &base, const Measure &exponent)
Measure	franky::operator- (const Measure &m)

Macro Definition Documentation

MEASURE_CMP_DEF

#define MEASURE_CMP_DEF

(

OP

)

Value:

Condition operator OP(const Measure &m1, const Measure &m2) { \
  std::stringstream ss;     \
  ss << m1.repr() << " " << #OP << " " << m2.repr(); \
  return Condition([m1, m2](const franka::RobotState &robot_state, double rel_time, double abs_time) { \
    return m1(robot_state, rel_time, abs_time) OP m2(robot_state, rel_time, abs_time); \
  }, ss.str()); \
}

MEASURE_OP_DEF

#define MEASURE_OP_DEF

(

OP

)

Value:

Measure operator OP(const Measure &m1, const Measure &m2) { \
  std::stringstream ss;     \
  ss << "(" << m1.repr() << ") " << #OP << " (" << m2.repr() << ")"; \
  return Measure([m1, m2](const franka::RobotState &robot_state, double rel_time, double abs_time) { \
    return m1(robot_state, rel_time, abs_time) OP m2(robot_state, rel_time, abs_time); \
  }, ss.str()); \
}