[mc_rtc/Configuration] Improvements for Schema introduction #393
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Added --- - [mc_control] Added motor status to joint sensor (#395) - [mc_control/FSM] Posture tasks' reset can be disabled (#389) - [mc_rtc/Configuration] Added support for `std::variant` (#393) - [mc_rtc/Configuration] Added `Configuration::find` (#393) - [mc_rtc/GUI] Added form elements to provide more complex forms (#394) Changes --- - [mc_control/FSM] FSM embedded in a Meta state no longer reset the posture at transition by default (#389) Fixes --- - [mc_observers] KinematicInertial uses the correct function from state-observation (#391) - [mc_solver] Fix a crash in monitor activation - [mc_tvm] Correctly include refAccel in Orientation|PositionFunction
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This PR introduces changes to
mc_rtc::Configurationthat will be used in a subsequent PR that introduces a schema-like structure builder to mc_rtc. It is the first of three PRs leading tomc_rtc::SchemaintroductionThe following features have been added:
std::variantConfiguration::find(key),Configuration(key, others...)andConfiguration.find<T>(keys, others...)I started to refactor the use
Configuration::has(e.g. replace the very common usage ofif(cfg.has("foo")) { foo = cfg("foo"); do_something(foo); }withif(auto foo = cfg.find("foo")) { do_something(foo); }but many of these instances will be better served by introducing Schema-like structures so I'll wait for this PR to come