measure.cpp File Reference

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

Namespaces
namespace	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 RobotState &robot_state, franka::Duration rel_time, franka::Duration 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 RobotState &robot_state, franka::Duration rel_time, franka::Duration abs_time) { \
          return m1(robot_state, rel_time, abs_time) OP m2(robot_state, rel_time, abs_time);            \
        },                                                                                              \
        ss.str());                                                                                      \
  }